fix(api): ungrip gripper should home g (#16933)

Opentrons · Nov 21, 2024 · f764319 · f764319
1 parent d8ad367
commit f764319
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_ungrip_labware.py
@@ -1,6 +1,8 @@
 """Ungrip labware payload, result, and implementaiton."""
 
 from __future__ import annotations
+
+from opentrons.hardware_control.types import Axis
 from opentrons.protocol_engine.errors.exceptions import GripperNotAttachedError
 from pydantic import BaseModel
 from typing import Optional, Type
@@ -46,7 +48,7 @@ async def execute(
         ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         if not ot3_hardware_api.has_gripper():
             raise GripperNotAttachedError("No gripper found to perform ungrip.")
-        await ot3_hardware_api.ungrip()
+        await ot3_hardware_api.home([Axis.G])
         return SuccessData(
             public=UnsafeUngripLabwareResult(),
         )

diff --git a/api/tests/opentrons/protocol_engine/commands/unsafe/test_ungrip_labware.py b/api/tests/opentrons/protocol_engine/commands/unsafe/test_ungrip_labware.py
@@ -1,6 +1,7 @@
 """Test update-position-estimator commands."""
 from decoy import Decoy
 
+from opentrons.hardware_control.types import Axis
 from opentrons.protocol_engine.commands.unsafe.unsafe_ungrip_labware import (
     UnsafeUngripLabwareParams,
     UnsafeUngripLabwareResult,
@@ -25,7 +26,7 @@ async def test_ungrip_labware_implementation(
     assert result == SuccessData(public=UnsafeUngripLabwareResult())
 
     decoy.verify(
-        await ot3_hardware_api.ungrip(),
+        await ot3_hardware_api.home([Axis.G]),
     )
 
 

diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
@@ -355,8 +355,8 @@ export const HOME_PIPETTE_Z_AXES: CreateCommand = {
 }
 
 export const RELEASE_GRIPPER_JAW: CreateCommand = {
-  commandType: 'home',
-  params: { axes: ['extensionJaw'] },
+  commandType: 'unsafe/ungripLabware',
+  params: {},
   intent: 'fixit',
 }