Let's support z-coordinates in offsets.

Opentrons · Dec 18, 2023 · 308c637 · 308c637
1 parent 435fb46
commit 308c637
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py
@@ -59,7 +59,7 @@ class MoveToAddressableAreaParams(PipetteIdMixin, MovementMixin):
         description=(
             "If `true`, the pipette will retract to its highest possible height"
             " and stay there instead of descending to the destination."
-            " `minimumZHeight` and the z-coordinate of `offset` will be ignored."
+            " `minimumZHeight` will be ignored."
         ),
     )
 

diff --git a/api/src/opentrons/protocol_engine/state/motion.py b/api/src/opentrons/protocol_engine/state/motion.py
@@ -163,15 +163,19 @@ def get_movement_waypoints_to_addressable_area(
                 addressable_area_name
             )
         )
-        destination = base_destination + Point(x=offset.x, y=offset.y, z=offset.z)
         if stay_at_max_travel_z:
-            destination = Point(
-                destination.x,
-                destination.y,
+            base_destination_at_max_z = Point(
+                base_destination.x,
+                base_destination.y,
                 # FIX BEFORE MERGE: Explain this hack.
                 # Possibly related: https://github.com/Opentrons/opentrons/pull/6882#discussion_r514248062
                 max_travel_z - _STAY_AT_MAX_TRAVEL_Z_MARGIN,
             )
+            destination = base_destination_at_max_z + Point(
+                offset.x, offset.y, offset.z
+            )
+        else:
+            destination = base_destination + Point(offset.x, offset.y, offset.z)
 
         # TODO(jbl 11-28-2023) This may need to change for partial tip configurations on a 96
         destination_cp = CriticalPoint.XY_CENTER