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bug: Aspirating with "/runs/{run_id}/commands" does not lower the tip to proper location #14623
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Thanks for the detailed report.
This is expected behavior when working with Protocol Engine commands, including the
Hm, yeah. I suspect that's a bug or limitation in the way we're translating old protocols (Python Protocol API v≤2.13, JSONv≤5) into the new command shapes. I suspect if you looked at the output of a new protocol, it would have the correct |
Overview
When utilizing the "/runs/{run_id}/commands" to aspirate from a well, the tip is positioned just beneath the top of the well, rather than the anticipated location, which is directly above the well's bottom.
Steps to reproduce
POST /runs
/pipettes
POST f"/runs/{run_id}/commands"
4.1
POST f"/runs/{run_id}/labware_definitions"
4.2
POST f"/runs/{run_id}/labware_offsets"
4.3
POST f"/runs/{run_id}/commands"
POST f"/runs/{run_id}/commands"
POST f"/runs/{run_id}/commands"
Add dispense and drop tip, if needed
Start run execution with
POST f"/runs/{run_id}/actions"
Current behavior
When aspirating the tip's position is 1mm below the top of the well, so it doesn't reach the liquid.
Further inspection of the
aspirate
command usingGET f"/runs/{run_id}/commands/{command_id}"
gives this result:Inspection of the same command, but executed from a protocol created from the opentron app gives this result:
showing that the request params are the same, but the results are the ones expected.
Expected behavior
According to https://docs.opentrons.com/v2/robot_position.html#default-positions:
So we expect that the tip will aspirate from that position.
Operating system
None
System and robot setup or anything else?
No response
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