fixed position of acceleration in tipaction msg

api/src/opentrons/hardware_control/ot3api.py

@@ -1681,7 +1681,7 @@ async def _motor_pick_up_tip(
 
  gear_motor_origin = await self._backend.gear_motor_position_estimation()
  gear_origin_dict = {OT3Axis.Q: gear_motor_origin[0]}
- gear_motor_target = pipette_spec.pick_up_distance + pipette_spec.home_buffer
+ gear_motor_target = pipette_spec.pick_up_distance
  gear_target_dict = {OT3Axis.Q: gear_motor_target}
  moves = self._build_moves(gear_origin_dict, gear_target_dict)
  blocks = moves[0][0].blocks

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -555,9 +555,9 @@ class TipActionRequestPayload(AddToMoveGroupRequestPayload):
  """A request to perform a tip action."""
 
  velocity: utils.Int32Field
- acceleration: utils.Int32Field
  action: PipetteTipActionTypeField
  request_stop_condition: MoveStopConditionField
+ acceleration: utils.Int32Field
 
 
 @dataclass(eq=False)

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -324,6 +324,8 @@ def _get_tip_action_motor_message(
  velocity=self._convert_velocity(
  step.velocity_mm_sec, tip_interrupts_per_sec
  ),
+ action=PipetteTipActionTypeField(step.action),
+ request_stop_condition=MoveStopConditionField(step.stop_condition),
  acceleration=Int32Field(
  int(
  (
@@ -335,8 +337,6 @@ def _get_tip_action_motor_message(
  * (2**31)
  )
  ),
- action=PipetteTipActionTypeField(step.action),
- request_stop_condition=MoveStopConditionField(step.stop_condition),
  )
  return TipActionRequest(payload=tip_action_payload)