pass the calibrated jaw max offset value when we reset the gripper

Opentrons · Apr 26, 2024 · ec181c6 · ec181c6
1 parent 35e4e10
commit ec181c6
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/api/src/opentrons/hardware_control/instruments/ot3/gripper.py b/api/src/opentrons/hardware_control/instruments/ot3/gripper.py
@@ -52,6 +52,7 @@ def __init__(
         config: GripperDefinition,
         gripper_cal_offset: GripperCalibrationOffset,
         gripper_id: str,
+        jaw_max_offset: Optional[float] = None,
     ) -> None:
         self._config = config
         self._model = config.model
@@ -83,7 +84,7 @@ def __init__(
         self._log.info(
             f"loaded: {self._model}, gripper offset: {self._calibration_offset}"
         )
-        self._jaw_max_offset: Optional[float] = None
+        self._jaw_max_offset = jaw_max_offset
 
     @property
     def grip_force_profile(self) -> GripForceProfile:
@@ -330,6 +331,9 @@ def _reload_gripper(
                     new_config,
                     cal_offset,
                     attached_instr._gripper_id,
+                    attached_instr._jaw_max_offset
+                    if attached_instr.has_jaw_width_calibration
+                    else None,
                 ),
                 False,
             )

diff --git a/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py
@@ -51,6 +51,9 @@ def reset_gripper(self) -> None:
             og_gripper.config,
             load_gripper_calibration_offset(og_gripper.gripper_id),
             og_gripper.gripper_id,
+            og_gripper._jaw_max_offset
+            if og_gripper.has_jaw_width_calibration
+            else None,
         )
         self._gripper = new_gripper