fix(api): Correctly update engine state during tracking aspirate/dispense #20195
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…ed together in dynamic actions.
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tested, and looks good! |
skowalski08
approved these changes
Nov 19, 2025
sfoster1
approved these changes
Nov 19, 2025
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sfoster1
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Nice, looks good to me if it works!
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Overview
We were not appending the aspirate/dispense result to the move result. This means that the engine's state was not getting updated with the current labware, so the *_while_tracking commands were not updating the pipettes current location.
This means that if you did an action in labware_1, then did a aspirate/dispense_while_tracking in labware_2 and then moved back to labware_1 the engine would think that the pipettes current location was still in labware 1 and it would calculate the safe Z movement and properly use waypoints to travel back to labware_1.