feat(gripper): specify whether or not a gripper move should stay enga…

…ged after an error (#13214) * update hardware message to add stay engaged param * stay engaged when grip * use stay engaged in hardware controller
Opentrons · Aug 2, 2023 · 35edf78 · 35edf78
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commit 35edf78
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Showing 13 changed files with 34 additions and 8 deletions.
diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -660,8 +660,11 @@ async def gripper_grip_jaw(
         self,
         duty_cycle: float,
         stop_condition: MoveStopCondition = MoveStopCondition.none,
+        stay_engaged: bool = True,
     ) -> None:
-        move_group = create_gripper_jaw_grip_group(duty_cycle, stop_condition)
+        move_group = create_gripper_jaw_grip_group(
+            duty_cycle, stop_condition, stay_engaged
+        )
         runner = MoveGroupRunner(move_groups=[move_group])
         positions = await runner.run(can_messenger=self._messenger)
         self._handle_motor_status_response(positions)

diff --git a/api/src/opentrons/hardware_control/backends/ot3simulator.py b/api/src/opentrons/hardware_control/backends/ot3simulator.py
@@ -353,9 +353,10 @@ async def gripper_grip_jaw(
         self,
         duty_cycle: float,
         stop_condition: MoveStopCondition = MoveStopCondition.none,
+        stay_engaged: bool = True,
     ) -> None:
         """Move gripper inward."""
-        _ = create_gripper_jaw_grip_group(duty_cycle, stop_condition)
+        _ = create_gripper_jaw_grip_group(duty_cycle, stop_condition, stay_engaged)
 
     @ensure_yield
     async def gripper_home_jaw(self, duty_cycle: float) -> None:

diff --git a/api/src/opentrons/hardware_control/backends/ot3utils.py b/api/src/opentrons/hardware_control/backends/ot3utils.py
@@ -428,12 +428,14 @@ def create_gear_motor_home_group(
 def create_gripper_jaw_grip_group(
     duty_cycle: float,
     stop_condition: MoveStopCondition = MoveStopCondition.none,
+    stay_engaged: bool = True,
 ) -> MoveGroup:
     step = create_gripper_jaw_step(
         duration=np.float64(GRIPPER_JAW_GRIP_TIME),
         duty_cycle=np.float32(round(duty_cycle)),
         stop_condition=stop_condition,
         move_type=MoveType.grip,
+        stay_engaged=stay_engaged,
     )
     move_group: MoveGroup = [step]
     return move_group

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1395,10 +1395,12 @@ async def update_config(self, **kwargs: Any) -> None:
         self._config = replace(self._config, **kwargs)
 
     @ExecutionManagerProvider.wait_for_running
-    async def _grip(self, duty_cycle: float) -> None:
+    async def _grip(self, duty_cycle: float, stay_engaged: bool = True) -> None:
         """Move the gripper jaw inward to close."""
         try:
-            await self._backend.gripper_grip_jaw(duty_cycle=duty_cycle)
+            await self._backend.gripper_grip_jaw(
+                duty_cycle=duty_cycle, stay_engaged=stay_engaged
+            )
             await self._cache_encoder_position()
         except Exception:
             self._log.exception(
@@ -1431,12 +1433,14 @@ async def _hold_jaw_width(self, jaw_width_mm: float) -> None:
             self._log.exception("Gripper set width failed")
             raise
 
-    async def grip(self, force_newtons: Optional[float] = None) -> None:
+    async def grip(
+        self, force_newtons: Optional[float] = None, stay_engaged: bool = True
+    ) -> None:
         self._gripper_handler.check_ready_for_jaw_move()
         dc = self._gripper_handler.get_duty_cycle_by_grip_force(
             force_newtons or self._gripper_handler.get_gripper().default_grip_force
         )
-        await self._grip(duty_cycle=dc)
+        await self._grip(duty_cycle=dc, stay_engaged=stay_engaged)
         self._gripper_handler.set_jaw_state(GripperJawState.GRIPPING)
 
     async def ungrip(self, force_newtons: Optional[float] = None) -> None:

diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py
@@ -141,7 +141,7 @@ async def move_labware_with_gripper(
 
             # Keep the gripper in idly gripped position to avoid colliding with
             # things like the thermocycler latches
-            await ot3api.grip(force_newtons=IDLE_STATE_GRIP_FORCE)
+            await ot3api.grip(force_newtons=IDLE_STATE_GRIP_FORCE, stay_engaged=False)
 
     async def ensure_movement_not_obstructed_by_module(
         self, labware_id: str, new_location: LabwareLocation

diff --git a/api/tests/opentrons/hardware_control/test_ot3_api.py b/api/tests/opentrons/hardware_control/test_ot3_api.py
@@ -966,6 +966,7 @@ async def test_gripper_action_works_with_gripper(
     await ot3_hardware.grip(5.0)
     mock_grip.assert_called_once_with(
         gc.duty_cycle_by_force(5.0, gripper_config.grip_force_profile),
+        stay_engaged=True,
     )
 
     await ot3_hardware.ungrip()

diff --git a/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py b/api/tests/opentrons/protocol_engine/execution/test_labware_movement_handler.py
@@ -258,7 +258,9 @@ async def test_move_labware_with_gripper(
         await ot3_hardware_api.move_to(
             mount=gripper, abs_position=expected_waypoints[5]
         ),
-        await ot3_hardware_api.grip(force_newtons=IDLE_STATE_GRIP_FORCE),
+        await ot3_hardware_api.grip(
+            force_newtons=IDLE_STATE_GRIP_FORCE, stay_engaged=False
+        ),
     )
 
 

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -526,6 +526,7 @@ class GripperMoveRequestPayload(AddToMoveGroupRequestPayload):
 
     duty_cycle: utils.UInt32Field
     encoder_position_um: utils.Int32Field
+    stay_engaged: utils.UInt8Field
 
 
 @dataclass(eq=False)

diff --git a/hardware/opentrons_hardware/hardware_control/gripper_settings.py b/hardware/opentrons_hardware/hardware_control/gripper_settings.py
@@ -128,6 +128,7 @@ async def grip(
     seq_id: int,
     duration_sec: float,
     duty_cycle: int,
+    stay_engaged: bool = False,
 ) -> None:
     """Start grip motion."""
     await can_messenger.send(
@@ -141,6 +142,7 @@ async def grip(
                 ),
                 duty_cycle=UInt32Field(duty_cycle),
                 encoder_position_um=Int32Field(0),
+                stay_engaged=UInt8Field(int(stay_engaged)),
             )
         ),
     )
@@ -162,6 +164,7 @@ async def home(
                 duration=UInt32Field(0),
                 duty_cycle=UInt32Field(duty_cycle),
                 encoder_position_um=Int32Field(0),
+                stay_engaged=UInt8Field(0),
             )
         ),
     )
@@ -173,6 +176,7 @@ async def move(
     seq_id: int,
     duty_cycle: int,
     encoder_position_um: int,
+    stay_engaged: bool = False,
 ) -> None:
     """Start linear motion."""
     await can_messenger.send(
@@ -184,6 +188,7 @@ async def move(
                 duration=UInt32Field(0),
                 duty_cycle=UInt32Field(duty_cycle),
                 encoder_position_um=Int32Field(encoder_position_um),
+                stay_engaged=UInt8Field(int(stay_engaged)),
             )
         ),
     )
diff --git a/hardware/opentrons_hardware/hardware_control/motion.py b/hardware/opentrons_hardware/hardware_control/motion.py
@@ -71,6 +71,7 @@ class MoveGroupSingleGripperStep:
     pwm_duty_cycle: np.float32
     encoder_position_um: np.int32
     pwm_frequency: np.float32 = np.float32(320000)
+    stay_engaged: bool = False
     stop_condition: MoveStopCondition = MoveStopCondition.gripper_force
     move_type: MoveType = MoveType.grip
 
@@ -214,6 +215,7 @@ def create_gripper_jaw_step(
     duty_cycle: np.float32,
     encoder_position_um: np.int32 = np.int32(0),
     frequency: np.float32 = np.float32(320000),
+    stay_engaged: bool = False,
     stop_condition: MoveStopCondition = MoveStopCondition.gripper_force,
     move_type: MoveType = MoveType.grip,
 ) -> MoveGroupStep:
@@ -223,6 +225,7 @@ def create_gripper_jaw_step(
         duration_sec=duration,
         pwm_frequency=frequency,
         pwm_duty_cycle=duty_cycle,
+        stay_engaged=stay_engaged,
         stop_condition=stop_condition,
         move_type=move_type,
         encoder_position_um=encoder_position_um,

diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -301,6 +301,7 @@ def _get_brushed_motor_message(
             ),
             duty_cycle=UInt32Field(int(step.pwm_duty_cycle)),
             encoder_position_um=Int32Field(int(step.encoder_position_um)),
+            stay_engaged=UInt8Field(int(step.stay_engaged)),
         )
         if step.move_type == MoveType.home:
             return GripperHomeRequest(payload=payload)

diff --git a/hardware/opentrons_hardware/scripts/gripper_lifetime.py b/hardware/opentrons_hardware/scripts/gripper_lifetime.py
@@ -102,6 +102,7 @@ async def run(args: argparse.Namespace) -> None:
                     pwm_frequency=float32(pwm_freq),
                     pwm_duty_cycle=float32(pwm_duty),
                     encoder_position_um=int32(0),
+                    stay_engaged=True,
                 )
             }
         ]

diff --git a/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py b/hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py
@@ -191,6 +191,7 @@ def move_group_gripper_multiple() -> MoveGroups:
                     duration_sec=float64(1),
                     pwm_duty_cycle=float32(50),
                     encoder_position_um=int32(0),
+                    stay_engaged=True,
                     stop_condition=MoveStopCondition.gripper_force,
                     move_type=MoveType.grip,
                 ),
@@ -203,6 +204,7 @@ def move_group_gripper_multiple() -> MoveGroups:
                     duration_sec=float64(1),
                     pwm_duty_cycle=float32(50),
                     encoder_position_um=int32(80000),
+                    stay_engaged=False,
                     stop_condition=MoveStopCondition.encoder_position,
                     move_type=MoveType.linear,
                 ),