chore(hardware-testing): Mergeback robot testing tags (#13985)

* chage the pre__pos and press_pos

* modify Gauge height and Grip height

* add gripper move to

* home gripper after complete the cycles

* format lint

---------

Co-authored-by: Andy-Hu <[email protected]>
Co-authored-by: Andiiiiiiyy <[email protected]>

hardware-testing/hardware_testing/production_qc/gripper_assembly_qc_ot3/test_width.py

@@ -16,8 +16,8 @@
 from hardware_testing.opentrons_api.types import Axis, OT3Mount, Point
 
 FAILURE_THRESHOLD_MM = -3
-GAUGE_HEIGHT_MM = 40
-GRIP_HEIGHT_MM = 30
+GAUGE_HEIGHT_MM = 75
+GRIP_HEIGHT_MM = 48
 TEST_WIDTHS_MM: List[float] = [60, 85.75, 62]
 SLOT_WIDTH_GAUGE: List[Optional[int]] = [None, 3, 9]
 GRIP_FORCES_NEWTON: List[float] = [10, 15, 20]

hardware-testing/hardware_testing/production_qc/z_stage_qc_ot3.py

@@ -223,9 +223,9 @@ async def _force_gauge(
  await api.home([z_ax])
  home_pos = await api.gantry_position(mount)
  LOG.info(f"Home Position: {home_pos}")
- pre_test_pos = home_pos._replace(z=home_pos.z - 110)
+ pre_test_pos = home_pos._replace(z=home_pos.z - 15)
  LOG.info(f"Pre-Test Position: {pre_test_pos}")
- press_pos = home_pos._replace(z=pre_test_pos.z - 113)
+ press_pos = home_pos._replace(z=pre_test_pos.z - 30)
  LOG.info(f"Press Position: {press_pos}")
 
  qc_pass = True

hardware-testing/hardware_testing/scripts/gripper_move.py

@@ -0,0 +1,82 @@
+"""Demo OT3 Gantry Functionality."""
+# Author: Carlos Ferandez <[email protected]
+import argparse
+import asyncio
+import time
+
+from hardware_testing.opentrons_api.types import (
+ OT3Mount,
+ Axis,
+ Point,
+)
+from hardware_testing.opentrons_api.helpers_ot3 import (
+ build_async_ot3_hardware_api,
+)
+
+
+async def _main() -> None:
+ hw_api = await build_async_ot3_hardware_api(
+ is_simulating=args.simulate, use_defaults=True
+ )
+ await asyncio.sleep(1)
+ await hw_api.cache_instruments()
+ timeout_start = time.time()
+ timeout = 60 * 60 * 3
+ count = 0
+ x_offset = 80
+ y_offset = 44
+ try:
+ await hw_api.home()
+ await asyncio.sleep(1)
+ await hw_api.set_lights(rails=True)
+ home_position = await hw_api.current_position_ot3(mount)
+ await hw_api.grip(force_newtons=None, stay_engaged=True)
+ print(f"home: {home_position}")
+ x_home = home_position[Axis.X] - x_offset
+ y_home = home_position[Axis.Y] - y_offset
+ z_home = home_position[Axis.Z_G]
+ while time.time() < timeout_start + timeout:
+ # while True:
+ print(f"time: {time.time()-timeout_start}")
+ await hw_api.move_to(mount, Point(x_home, y_home, z_home))
+ await hw_api.move_to(mount, Point(x_home, y_home, z_home - 190))
+ count += 1
+ print(f"cycle: {count}")
+ await hw_api.home()
+ except KeyboardInterrupt:
+ await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.G])
+ finally:
+ await hw_api.disengage_axes([Axis.X, Axis.Y, Axis.G])
+ await hw_api.clean_up()
+
+
+if __name__ == "__main__":
+ slot_locs = [
+ "A1",
+ "A2",
+ "A3",
+ "B1",
+ "B2",
+ "B3:",
+ "C1",
+ "C2",
+ "C3",
+ "D1",
+ "D2",
+ "D3",
+ ]
+ parser = argparse.ArgumentParser()
+ parser.add_argument("--simulate", action="store_true")
+ parser.add_argument("--trough", action="store_true")
+ parser.add_argument("--tiprack", action="store_true")
+ parser.add_argument(
+ "--mount", type=str, choices=["left", "right", "gripper"], default="gripper"
+ )
+ args = parser.parse_args()
+ if args.mount == "left":
+ mount = OT3Mount.LEFT
+ if args.mount == "gripper":
+ mount = OT3Mount.GRIPPER
+ else:
+ mount = OT3Mount.RIGHT
+ asyncio.run(_main())