Addition of left mount collision passes

Opentrons · Jan 22, 2024 · 87ad09e · 87ad09e
1 parent ad55f6c
commit 87ad09e
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Showing 2 changed files with 9 additions and 0 deletions.
diff --git a/api/src/opentrons/protocol_engine/execution/labware_movement.py b/api/src/opentrons/protocol_engine/execution/labware_movement.py
@@ -99,6 +99,7 @@ async def move_labware_with_gripper(  # noqa: C901
                     if not self._state_store.geometry.validate_gripper_labware_tip_collision(
                         gripper_homed_position_z=166.125,
                         pipettes_homed_position_z=248.0,
+                        pipette_id=pipette_id,
                         tip=tip,
                         labware_id=labware_id,
                         current_location=current_location,
@@ -142,6 +143,7 @@ async def move_labware_with_gripper(  # noqa: C901
                 if not self._state_store.geometry.validate_gripper_labware_tip_collision(
                     gripper_homed_position_z=gripper_homed_position.z,
                     pipettes_homed_position_z=pipetted_homed_position.z,
+                    pipette_id=pipette_id,
                     tip=tip,
                     labware_id=labware_id,
                     current_location=current_location,

diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/api/src/opentrons/protocol_engine/state/geometry.py
@@ -982,11 +982,18 @@ def validate_gripper_labware_tip_collision(
         self,
         gripper_homed_position_z: float,
         pipettes_homed_position_z: float,
+        pipette_id: str,
         tip: TipGeometry,
         labware_id: str,
         current_location: OnDeckLabwareLocation,
     ) -> bool:
         """Check for potential collision of tips against labware to be lifted."""
+        # TODO(mm, 2024-01-22): Remove the Left mount 1 and 8 channel special case once we are doing X axis validation
+        mount = self._pipettes.get_mount(pipette_id)
+        if mount == MountType.LEFT:
+            if self._pipettes.get_channels(pipette_id) in [1, 8]:
+                return True
+
         labware_top_z_when_gripped = gripper_homed_position_z + (
             self.get_labware_highest_z(labware_id=labware_id)
             - self.get_labware_grip_point(