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fix(app): Update gripper homing behavior during gripper Error Recovery #16691

Merged
merged 3 commits into from
Nov 5, 2024
Merged

fix(app): Update gripper homing behavior during gripper Error Recovery #16691

merged 3 commits into from
Nov 5, 2024

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mjhuff
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@mjhuff mjhuff commented Nov 5, 2024 •
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Closes RQA-3489 and RQA-3487

Overview

Although Opentrons/ot3-firmware#813 fixes the current behavior and unblocks gripper recovery, updating the position estimators isn't sufficiently accurate for post-recovery, protocol run commands. Instead, we should home everything minus the pipette plungers.

There is some minor copy update on one view only per discussion w/ design (this screen).

Test Plan and Hands on Testing

  • Ran gripper recovery, verifying correct behavior.
  • Confirmed remainder of protocol run worked as expected, too.

Changelog

  • The gantry now homes during gripper recovery.

Review requests

  • Does the order of axis homing look correct?

Risk assessment

low

@mjhuff mjhuff requested a review from a team as a code owner November 5, 2024 17:06
@mjhuff mjhuff changed the title fix(app): Update gripper homing behavior fix(app): Update gripper homing behavior during gripper Error Recovery Nov 5, 2024
sfoster1
sfoster1 approved these changes Nov 5, 2024
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Nice

@mjhuff mjhuff merged commit 3cf6f34 into chore_release-8.2.0 Nov 5, 2024
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@mjhuff mjhuff deleted the app_fix-update-estimators-recovery branch November 5, 2024 18:23
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@sfoster1 sfoster1 sfoster1 approved these changes

@ecormany ecormany Awaiting requested review from ecormany

@TamarZanzouri TamarZanzouri Awaiting requested review from TamarZanzouri

@smb2268 smb2268 Awaiting requested review from smb2268

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@mjhuff @sfoster1