refactor(api): Move more vector arithmetic from Pydantic models to Point (#18699)

## Changelog

* Delete arithmetic methods like `__add__()` from Pydantic models like
  `LabwareOffsetVector`. Now, callers should convert the model to a
  `Point` and use `Point`'s arithmetic methods.
* To make it easier to convert to `Point`, instead of defining
  `to_point()` on every vector-like Pydantic model, add a
  `Point.from_xyz_attrs(model)` method that works on anything with
  `x`/`y`/`z` attributes. Delete the existing `to_point()` methods.

The intent is to encourage us to consistently use `Point`s for
everything mathematical, and reserve Pydantic models for just the
interface boundaries where we're converting to/from JSON. I think we
want to do this because:

* We have a *lot* of vector-like Pydantic models (`LabwareOffsetVector`,
  `Vec3f`, `Vector3D`, etc.). We are working to consolidate these, but I
  doubt that we'll ever have one Pydantic vector model to rule them all.
  In part, because parsing/serialization contexts have different needs.
  Sometimes we want the fields to have defaults, sometimes we don't;
  sometimes we care about float vs. int, sometimes we don't.
* Some of these Pydantic models, in particular in
  `protocol_engine/types/module.py`, really ought to live in
  `shared-data`. We can't move them to `shared-data` if they have a
  dependency on `opentrons.types.Point`.

Author: SyntaxColoring

api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py

@@ -12,6 +12,7 @@
 
 from ...state.update_types import StateUpdate
 
+from opentrons.types import Point
 
 from opentrons.drivers.types import AbsorbanceReaderLidStatus
 
@@ -113,7 +114,10 @@ async def execute(self, params: CloseLidParams) -> SuccessData[CloseLidResult]:
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_offset_data=lid_gripper_offsets,
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
             )
             state_update.set_absorbance_reader_lid(

api/src/opentrons/protocol_engine/commands/absorbance_reader/open_lid.py

@@ -10,6 +10,7 @@
 from ...errors import CannotPerformModuleAction
 
 from opentrons.protocol_engine.types import AddressableAreaLocation
+from opentrons.types import Point
 
 from opentrons.drivers.types import AbsorbanceReaderLidStatus
 
@@ -115,7 +116,10 @@ async def execute(self, params: OpenLidParams) -> SuccessData[OpenLidResult]:
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_offset_data=lid_gripper_offsets,
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
             )
             state_update.set_absorbance_reader_lid(

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

@@ -35,7 +35,6 @@
     AddressableAreaLocation,
     LabwareMovementStrategy,
     LabwareOffsetVector,
-    LabwareMovementOffsetData,
     LabwareLocationSequence,
     NotOnDeckLocationSequenceComponent,
     OFF_DECK_LOCATION,
@@ -186,7 +185,7 @@ async def execute(self, params: MoveLabwareParams) -> _ExecuteReturn:  # noqa: C
         )
         definition_uri = current_labware.definitionUri
         post_drop_slide_offset: Optional[Point] = None
-        trash_lid_drop_offset: Optional[LabwareOffsetVector] = None
+        trash_lid_drop_offset: Optional[Point] = None
 
         if self._state_view.labware.is_fixed_trash(params.labwareId):
             raise LabwareMovementNotAllowedError(
@@ -243,16 +242,14 @@ async def execute(self, params: MoveLabwareParams) -> _ExecuteReturn:  # noqa: C
                 if labware_validation.validate_definition_is_lid(
                     self._state_view.labware.get_definition(params.labwareId)
                 ):
-                    lid_disposable_offfets = (
+                    lid_disposable_offsets = (
                         current_labware_definition.gripperOffsets.get(
                             "lidDisposalOffsets"
                         )
                     )
-                    if lid_disposable_offfets is not None:
-                        trash_lid_drop_offset = LabwareOffsetVector(
-                            x=lid_disposable_offfets.dropOffset.x,
-                            y=lid_disposable_offfets.dropOffset.y,
-                            z=lid_disposable_offfets.dropOffset.z,
+                    if lid_disposable_offsets is not None:
+                        trash_lid_drop_offset = Point.from_xyz_attrs(
+                            lid_disposable_offsets.dropOffset
                         )
                     else:
                         raise LabwareOffsetDoesNotExistError(
@@ -354,13 +351,20 @@ async def execute(self, params: MoveLabwareParams) -> _ExecuteReturn:  # noqa: C
             validated_new_loc = self._state_view.geometry.ensure_valid_gripper_location(
                 available_new_location,
             )
-            user_offset_data = LabwareMovementOffsetData(
-                pickUpOffset=params.pickUpOffset or LabwareOffsetVector(x=0, y=0, z=0),
-                dropOffset=params.dropOffset or LabwareOffsetVector(x=0, y=0, z=0),
+
+            user_pick_up_offset = (
+                Point.from_xyz_attrs(params.pickUpOffset)
+                if params.pickUpOffset is not None
+                else Point()
+            )
+            user_drop_offset = (
+                Point.from_xyz_attrs(params.dropOffset)
+                if params.dropOffset is not None
+                else Point()
             )
 
             if trash_lid_drop_offset:
-                user_offset_data.dropOffset += trash_lid_drop_offset
+                user_drop_offset += trash_lid_drop_offset
 
             immediate_destination_location_sequence = (
                 self._state_view.geometry.get_predicted_location_sequence(
@@ -378,7 +382,8 @@ async def execute(self, params: MoveLabwareParams) -> _ExecuteReturn:  # noqa: C
                     labware_id=params.labwareId,
                     current_location=validated_current_loc,
                     new_location=validated_new_loc,
-                    user_offset_data=user_offset_data,
+                    user_pick_up_offset=user_pick_up_offset,
+                    user_drop_offset=user_drop_offset,
                     post_drop_slide_offset=post_drop_slide_offset,
                 )
             except (

api/src/opentrons/protocol_engine/execution/labware_movement.py

@@ -30,7 +30,6 @@
 from ..types import (
     OnLabwareLocation,
     LabwareLocation,
-    LabwareMovementOffsetData,
     OnDeckLabwareLocation,
 )
 
@@ -96,7 +95,8 @@ async def move_labware_with_gripper(
         labware_id: str,
         current_location: OnDeckLabwareLocation,
         new_location: OnDeckLabwareLocation,
-        user_offset_data: LabwareMovementOffsetData,
+        user_pick_up_offset: Point,
+        user_drop_offset: Point,
         post_drop_slide_offset: Optional[Point],
     ) -> None:
         ...
@@ -108,7 +108,8 @@ async def move_labware_with_gripper(
         labware_definition: LabwareDefinition,
         current_location: OnDeckLabwareLocation,
         new_location: OnDeckLabwareLocation,
-        user_offset_data: LabwareMovementOffsetData,
+        user_pick_up_offset: Point,
+        user_drop_offset: Point,
         post_drop_slide_offset: Optional[Point],
     ) -> None:
         ...
@@ -120,7 +121,8 @@ async def move_labware_with_gripper(  # noqa: C901
         labware_definition: LabwareDefinition | None = None,
         current_location: OnDeckLabwareLocation,
         new_location: OnDeckLabwareLocation,
-        user_offset_data: LabwareMovementOffsetData,
+        user_pick_up_offset: Point,
+        user_drop_offset: Point,
         post_drop_slide_offset: Optional[Point],
     ) -> None:
         """Physically move a labware from one location to another using the gripper.
@@ -193,7 +195,8 @@ async def move_labware_with_gripper(  # noqa: C901
                 self._state_store.geometry.get_final_labware_movement_offset_vectors(
                     from_location=current_location,
                     to_location=new_location,
-                    additional_offset_vector=user_offset_data,
+                    additional_pick_up_offset=user_pick_up_offset,
+                    additional_drop_offset=user_drop_offset,
                     current_labware=labware_definition,
                 )
             )

api/src/opentrons/protocol_engine/state/_labware_origin_math.py

@@ -8,7 +8,6 @@
     LabwareDefinition,
     LabwareDefinition2,
     LabwareDefinition3,
-    Vector3D,
 )
 from opentrons_shared_data.labware.types import (
     SlotFootprintAsChildFeature,
@@ -18,7 +17,6 @@
     LabwareParentDefinition,
     ModuleDefinition,
     ModuleModel,
-    LabwareOffsetVector,
     DeckLocationDefinition,
     LabwareLocation,
     ModuleLocation,
@@ -32,7 +30,7 @@
 def get_parent_placement_origin_to_lw_origin(
     child_labware: LabwareDefinition,
     parent_deck_item: ModuleDefinition,
-    module_parent_to_child_offset: LabwareOffsetVector,
+    module_parent_to_child_offset: Point,
     deck_definition: DeckDefinitionV5,
     is_topmost_labware: bool,
     labware_location: ModuleLocation,
@@ -67,7 +65,7 @@ def get_parent_placement_origin_to_lw_origin(
 def get_parent_placement_origin_to_lw_origin(
     child_labware: LabwareDefinition,
     parent_deck_item: LabwareParentDefinition,
-    module_parent_to_child_offset: Union[LabwareOffsetVector, None],
+    module_parent_to_child_offset: Union[Point, None],
     deck_definition: DeckDefinitionV5,
     is_topmost_labware: bool,
     labware_location: LabwareLocation,
@@ -95,7 +93,7 @@ def get_parent_placement_origin_to_lw_origin(
         # For compatibility with historical (buggy?) behavior,
         # we only consider it when the child labware is the topmost labware in a stackup.
         parent_deck_item_origin_to_child_labware_origin = (
-            _to_point(child_labware.cornerOffsetFromSlot)
+            Point.from_xyz_attrs(child_labware.cornerOffsetFromSlot)
             if is_topmost_labware
             else Point(0, 0, 0)
         )
@@ -120,7 +118,7 @@ def get_parent_placement_origin_to_lw_origin(
 def _get_parent_deck_item_origin_to_child_labware_placement_origin(
     child_labware: LabwareDefinition,
     parent_deck_item: LabwareParentDefinition,
-    module_parent_to_child_offset: Union[LabwareOffsetVector, None],
+    module_parent_to_child_offset: Union[Point, None],
     deck_definition: DeckDefinitionV5,
     labware_location: LabwareLocation,
 ) -> Point:
@@ -140,9 +138,7 @@ def _get_parent_deck_item_origin_to_child_labware_placement_origin(
             )
         )
 
-        module_offset_point = _to_point_from_lw_offset_vector(
-            module_parent_to_child_offset
-        )
+        module_offset_point = Point.from_xyz_attrs(module_parent_to_child_offset)
         return module_offset_point - child_labware_overlap_with_parent_deck_item
 
     elif isinstance(labware_location, OnLabwareLocation):
@@ -189,7 +185,7 @@ def _get_child_labware_overlap_with_parent_labware(
             f"No default labware overlap specified for parent labware: {parent_labware_name}"
         )
     else:
-        return _to_point(overlap)
+        return Point.from_xyz_attrs(overlap)
 
 
 def _get_child_labware_overlap_with_parent_module(
@@ -207,7 +203,7 @@ def _get_child_labware_overlap_with_parent_module(
         else:
             return Point(x=0, y=0, z=0)
 
-    return _to_point(child_labware_overlap)
+    return Point.from_xyz_attrs(child_labware_overlap)
 
 
 def _is_thermocycler_on_ot2(
@@ -223,16 +219,6 @@ def _is_thermocycler_on_ot2(
     )
 
 
-def _to_point(vector: Vector3D) -> Point:
-    """Convert a Vector3D to a Point."""
-    return Point(x=vector.x, y=vector.y, z=vector.z)
-
-
-def _to_point_from_lw_offset_vector(offset_vector: LabwareOffsetVector) -> Point:
-    """Convert a LabwareOffsetVector to a Point."""
-    return Point(x=offset_vector.x, y=offset_vector.y, z=offset_vector.z)
-
-
 def _get_back_left_bottom_position(labware: LabwareDefinition3) -> Point:
     """Get the back left bottom position from a v3 labware definition."""
     footprint_as_child = _get_labware_footprint_as_child(labware)