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Opentrons · Mar 11, 2024 · 637698b · 637698b
1 parent 11babab
commit 637698b
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/api/src/opentrons/motion_planning/waypoints.py b/api/src/opentrons/motion_planning/waypoints.py
@@ -144,7 +144,7 @@ def get_gripper_labware_movement_waypoints(
     waypoints_with_jaw_status = [
         GripperMovementWaypointsWithJawStatus(
             position=Point(pick_up_location.x, pick_up_location.y, gripper_home_z),
-            jaw_open=False,
+            jaw_open=True,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(

diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py
@@ -153,6 +153,7 @@ async def move_labware_with_gripper(
             )
             labware_grip_force = self._state_store.labware.get_grip_force(labware_id)
             holding_labware = False
+            await ot3api.ungrip()
             for waypoint_data in movement_waypoints:
                 if waypoint_data.jaw_open:
                     if waypoint_data.dropping:
@@ -191,7 +192,8 @@ async def move_labware_with_gripper(
                 )
 
             # this makes sure gripper jaw is closed between two move labware calls
-            await ot3api.idle_gripper()
+            # await ot3api.idle_gripper()
+            await ot3api.ungrip()
 
     async def ensure_movement_not_obstructed_by_module(
         self, labware_id: str, new_location: LabwareLocation

diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/api/src/opentrons/protocol_engine/state/geometry.py
@@ -1071,12 +1071,12 @@ def _labware_gripper_offsets(
         """
         parent_location = self._labware.get_location(labware_id)
         assert isinstance(
-            parent_location, (DeckSlotLocation, ModuleLocation, OnLabwareLocation)
-        ), "No gripper offsets for off-deck labware"
+            parent_location, (DeckSlotLocation, ModuleLocation, AddressableAreaLocation)
+        ), f"No gripper offsets for off-deck labware: {type(parent_location)}"
 
         if isinstance(parent_location, DeckSlotLocation):
             slot_name = parent_location.slotName
-        elif isinstance(parent_location, OnLabwareLocation):
+        elif isinstance(parent_location, AddressableAreaLocation):
             slot_name = self._labware.get_parent_location(labware_id).slotName
         else:
             module_loc = self._modules.get_location(parent_location.moduleId)