fix(api): pass the calibrated jaw max offset value when we resetting instrument

api/src/opentrons/hardware_control/instruments/ot3/gripper.py

@@ -33,7 +33,7 @@
  Geometry,
 )
 
-RECONFIG_KEYS = {"quirks"}
+RECONFIG_KEYS = {"quirks", "grip_force_profile"}
 
 MAX_ACCEPTABLE_JAW_DISPLACEMENT: Final = 20
 
@@ -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:
@@ -325,11 +326,13 @@ def _reload_gripper(
  changed.add(k)
  if changed.intersection(RECONFIG_KEYS):
  # Something has changed that requires reconfig
+ # we shoud recalibrate the jaw as well
  return (
  Gripper(
  new_config,
  cal_offset,
  attached_instr._gripper_id,
+ None,
  ),
  False,
  )

api/src/opentrons/hardware_control/instruments/ot3/gripper_handler.py

@@ -51,6 +51,7 @@ 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,
  )
  self._gripper = new_gripper
 

api/tests/opentrons/hardware_control/test_gripper.py

@@ -74,6 +74,7 @@ def test_reload_instrument_cal_ot3(fake_offset: "GripperCalibrationOffset") -> N
  fake_gripper_conf,
  fake_offset,
  "fakeid123",
+ jaw_max_offset=15,
  )
  # if only calibration is changed
  new_cal = instrument_calibration.GripperCalibrationOffset(
@@ -87,10 +88,37 @@ def test_reload_instrument_cal_ot3(fake_offset: "GripperCalibrationOffset") -> N
 
  # it's the same gripper
  assert new_gripper == old_gripper
+ # jaw offset should persists as well
+ assert new_gripper._jaw_max_offset == old_gripper._jaw_max_offset
  # we said upstream could skip
  assert skip
 
 
+@pytest.mark.ot3_only
+def test_reload_instrument_cal_ot3_conf_changed(
+ fake_offset: "GripperCalibrationOffset",
+) -> None:
+ old_gripper = gripper.Gripper(
+ fake_gripper_conf,
+ fake_offset,
+ "fakeid123",
+ jaw_max_offset=15,
+ )
+ new_conf = fake_gripper_conf.copy(
+ update={"grip_force_profile": {"default_grip_force": 1}}
+ )
+ assert new_conf != old_gripper.config
+
+ new_gripper, skip = gripper._reload_gripper(new_conf, old_gripper, fake_offset)
+
+ # it's not the same gripper
+ assert new_gripper != old_gripper
+ # do not pass in the old jaw max offse
+ assert not new_gripper._jaw_max_offset
+ # we said upstream could skip
+ assert not skip
+
+
 @pytest.mark.ot3_only
 def test_jaw_calibration_error_checking() -> None:
  subject = gripper.Gripper(fake_gripper_conf, fake_offset, "fakeid123")