fix(api): ignore non-present axes in unsafe cmds

api/src/opentrons/hardware_control/api.py

@@ -917,6 +917,16 @@ def engaged_axes(self) -> Dict[Axis, bool]:
     async def disengage_axes(self, which: List[Axis]) -> None:
         await self._backend.disengage_axes([ot2_axis_to_string(ax) for ax in which])
 
+    def axis_is_present(self, axis: Axis) -> bool:
+        is_ot2 = axis in Axis.ot2_axes()
+        if not is_ot2:
+            return False
+        if axis in Axis.pipette_axes():
+            mount = Axis.to_ot2_mount(axis)
+            if self.attached_pipettes.get(mount) is None:
+                return False
+        return True
+
     @ExecutionManagerProvider.wait_for_running
     async def _fast_home(self, axes: Sequence[str], margin: float) -> Dict[str, float]:
         converted_axes = "".join(axes)

api/src/opentrons/hardware_control/ot3api.py

@@ -1640,7 +1640,12 @@ async def disengage_axes(self, which: List[Axis]) -> None:
         await self._backend.disengage_axes(which)
 
     async def engage_axes(self, which: List[Axis]) -> None:
-        await self._backend.engage_axes(which)
+        await self._backend.engage_axes(
+            [axis for axis in which if self._backend.axis_is_present(axis)]
+        )
+
+    def axis_is_present(self, axis: Axis) -> bool:
+        return self._backend.axis_is_present(axis)
 
     async def get_limit_switches(self) -> Dict[Axis, bool]:
         res = await self._backend.get_limit_switches()

api/src/opentrons/hardware_control/protocols/hardware_manager.py

@@ -1,7 +1,7 @@
 from typing import Dict, Optional
 from typing_extensions import Protocol
 
-from ..types import SubSystem, SubSystemState
+from ..types import SubSystem, SubSystemState, Axis
 
 
 class HardwareManager(Protocol):
@@ -45,3 +45,7 @@ def attached_subsystems(self) -> Dict[SubSystem, SubSystemState]:
     async def get_serial_number(self) -> Optional[str]:
         """Get the robot serial number, if provisioned. If not provisioned, will be None."""
         ...
+
+    def axis_is_present(self, axis: Axis) -> bool:
+        """Get whether a motor axis is present on the machine."""
+        ...

api/src/opentrons/protocol_engine/commands/unsafe/unsafe_engage_axes.py

@@ -52,10 +52,7 @@ async def execute(
         """Enable exes."""
         ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         await ot3_hardware_api.engage_axes(
-            [
-                self._gantry_mover.motor_axis_to_hardware_axis(axis)
-                for axis in params.axes
-            ]
+            self._gantry_mover.motor_axes_to_present_hardware_axes(params.axes)
         )
         return SuccessData(
             public=UnsafeEngageAxesResult(),

api/src/opentrons/protocol_engine/commands/unsafe/update_position_estimators.py

@@ -58,10 +58,7 @@ async def execute(
         """Update axis position estimators from their encoders."""
         ot3_hardware_api = ensure_ot3_hardware(self._hardware_api)
         await ot3_hardware_api.update_axis_position_estimations(
-            [
-                self._gantry_mover.motor_axis_to_hardware_axis(axis)
-                for axis in params.axes
-            ]
+            self._gantry_mover.motor_axes_to_present_hardware_axes(params.axes)
         )
         return SuccessData(
             public=UpdatePositionEstimatorsResult(),

api/src/opentrons/protocol_engine/execution/gantry_mover.py

@@ -85,6 +85,12 @@ def motor_axis_to_hardware_axis(self, motor_axis: MotorAxis) -> HardwareAxis:
         """Transform an engine motor axis into a hardware axis."""
         ...
 
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Transform a list of engine axes into a list of hardware axes, filtering out non-present axes."""
+        ...
+
 
 class HardwareGantryMover(GantryMover):
     """Hardware API based gantry movement handler."""
@@ -93,6 +99,18 @@ def __init__(self, hardware_api: HardwareControlAPI, state_view: StateView) -> N
         self._hardware_api = hardware_api
         self._state_view = state_view
 
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Get hardware axes from engine axes while filtering out non-present axes."""
+        return [
+            self.motor_axis_to_hardware_axis(motor_axis)
+            for motor_axis in motor_axes
+            if self._hardware_api.axis_is_present(
+                self.motor_axis_to_hardware_axis(motor_axis)
+            )
+        ]
+
     def motor_axis_to_hardware_axis(self, motor_axis: MotorAxis) -> HardwareAxis:
         """Transform an engine motor axis into a hardware axis."""
         return _MOTOR_AXIS_TO_HARDWARE_AXIS[motor_axis]
@@ -313,6 +331,14 @@ async def prepare_for_mount_movement(self, mount: Mount) -> None:
         """Retract the 'idle' mount if necessary."""
         pass
 
+    def motor_axes_to_present_hardware_axes(
+        self, motor_axes: List[MotorAxis]
+    ) -> List[HardwareAxis]:
+        """Get present hardware axes from a list of engine axes. In simulation, all axes are present."""
+        return [
+            self.motor_axis_to_hardware_axis(motor_axis) for motor_axis in motor_axes
+        ]
+
 
 def create_gantry_mover(
     state_view: StateView, hardware_api: HardwareControlAPI

api/tests/opentrons/protocol_engine/commands/unsafe/test_engage_axes.py

@@ -22,21 +22,28 @@ async def test_engage_axes_implementation(
     )
 
     data = UnsafeEngageAxesParams(
-        axes=[MotorAxis.LEFT_Z, MotorAxis.LEFT_PLUNGER, MotorAxis.X, MotorAxis.Y]
-    )
-
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_Z)).then_return(
-        Axis.Z_L
+        axes=[
+            MotorAxis.LEFT_Z,
+            MotorAxis.LEFT_PLUNGER,
+            MotorAxis.X,
+            MotorAxis.Y,
+            MotorAxis.RIGHT_Z,
+            MotorAxis.RIGHT_PLUNGER,
+        ]
     )
     decoy.when(
-        gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_PLUNGER)
-    ).then_return(Axis.P_L)
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.X)).then_return(
-        Axis.X
-    )
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.Y)).then_return(
-        Axis.Y
-    )
+        gantry_mover.motor_axes_to_present_hardware_axes(
+            [
+                MotorAxis.LEFT_Z,
+                MotorAxis.LEFT_PLUNGER,
+                MotorAxis.X,
+                MotorAxis.Y,
+                MotorAxis.RIGHT_Z,
+                MotorAxis.RIGHT_PLUNGER,
+            ]
+        )
+    ).then_return([Axis.Z_L, Axis.P_L, Axis.X, Axis.Y])
+
     decoy.when(
         await ot3_hardware_api.update_axis_position_estimations(
             [Axis.Z_L, Axis.P_L, Axis.X, Axis.Y]

api/tests/opentrons/protocol_engine/commands/unsafe/test_update_position_estimators.py

@@ -22,21 +22,27 @@ async def test_update_position_estimators_implementation(
     )
 
     data = UpdatePositionEstimatorsParams(
-        axes=[MotorAxis.LEFT_Z, MotorAxis.LEFT_PLUNGER, MotorAxis.X, MotorAxis.Y]
-    )
-
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_Z)).then_return(
-        Axis.Z_L
+        axes=[
+            MotorAxis.LEFT_Z,
+            MotorAxis.LEFT_PLUNGER,
+            MotorAxis.X,
+            MotorAxis.Y,
+            MotorAxis.RIGHT_Z,
+            MotorAxis.RIGHT_PLUNGER,
+        ]
     )
     decoy.when(
-        gantry_mover.motor_axis_to_hardware_axis(MotorAxis.LEFT_PLUNGER)
-    ).then_return(Axis.P_L)
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.X)).then_return(
-        Axis.X
-    )
-    decoy.when(gantry_mover.motor_axis_to_hardware_axis(MotorAxis.Y)).then_return(
-        Axis.Y
-    )
+        gantry_mover.motor_axes_to_present_hardware_axes(
+            [
+                MotorAxis.LEFT_Z,
+                MotorAxis.LEFT_PLUNGER,
+                MotorAxis.X,
+                MotorAxis.Y,
+                MotorAxis.RIGHT_Z,
+                MotorAxis.RIGHT_PLUNGER,
+            ]
+        )
+    ).then_return([Axis.Z_L, Axis.P_L, Axis.X, Axis.Y])
     decoy.when(
         await ot3_hardware_api.update_axis_position_estimations(
             [Axis.Z_L, Axis.P_L, Axis.X, Axis.Y]