From 0b976813422d4be7779a23dddeab00423822f9cf Mon Sep 17 00:00:00 2001
From: Caila Marashaj <98041399+caila-marashaj@users.noreply.github.com>
Date: Fri, 6 Oct 2023 14:09:59 -0400
Subject: [PATCH] feat(api): check for tip presence on 96 channel pipette
 (#13703)

---
 .../instruments/ot3/pipette.py                |  4 ++
 api/src/opentrons/hardware_control/ot3api.py  | 40 ++++++++++++++++++-
 .../backends/test_ot3_utils.py                |  2 +-
 .../2/general/eight_channel/p10/1_0.json      |  3 +-
 .../2/general/eight_channel/p10/1_3.json      |  3 +-
 .../2/general/eight_channel/p10/1_4.json      |  3 +-
 .../2/general/eight_channel/p10/1_5.json      |  3 +-
 .../2/general/eight_channel/p10/1_6.json      |  3 +-
 .../2/general/eight_channel/p1000/1_0.json    |  3 +-
 .../2/general/eight_channel/p1000/3_0.json    |  3 +-
 .../2/general/eight_channel/p1000/3_3.json    |  3 +-
 .../2/general/eight_channel/p1000/3_4.json    |  3 +-
 .../2/general/eight_channel/p1000/3_5.json    |  3 +-
 .../2/general/eight_channel/p20/2_0.json      |  3 +-
 .../2/general/eight_channel/p20/2_1.json      |  3 +-
 .../2/general/eight_channel/p300/1_0.json     |  3 +-
 .../2/general/eight_channel/p300/1_3.json     |  3 +-
 .../2/general/eight_channel/p300/1_4.json     |  3 +-
 .../2/general/eight_channel/p300/1_5.json     |  3 +-
 .../2/general/eight_channel/p300/2_0.json     |  3 +-
 .../2/general/eight_channel/p300/2_1.json     |  3 +-
 .../2/general/eight_channel/p50/1_0.json      |  3 +-
 .../2/general/eight_channel/p50/1_3.json      |  3 +-
 .../2/general/eight_channel/p50/1_4.json      |  3 +-
 .../2/general/eight_channel/p50/1_5.json      |  3 +-
 .../2/general/eight_channel/p50/3_0.json      |  3 +-
 .../2/general/eight_channel/p50/3_3.json      |  3 +-
 .../2/general/eight_channel/p50/3_4.json      |  3 +-
 .../2/general/eight_channel/p50/3_5.json      |  3 +-
 .../general/ninety_six_channel/p1000/1_0.json |  3 +-
 .../general/ninety_six_channel/p1000/3_0.json |  3 +-
 .../general/ninety_six_channel/p1000/3_3.json |  3 +-
 .../general/ninety_six_channel/p1000/3_4.json |  3 +-
 .../general/ninety_six_channel/p1000/3_5.json |  3 +-
 .../2/general/single_channel/p10/1_0.json     |  3 +-
 .../2/general/single_channel/p10/1_3.json     |  3 +-
 .../2/general/single_channel/p10/1_4.json     |  3 +-
 .../2/general/single_channel/p10/1_5.json     |  3 +-
 .../2/general/single_channel/p1000/1_0.json   |  3 +-
 .../2/general/single_channel/p1000/1_3.json   |  3 +-
 .../2/general/single_channel/p1000/1_4.json   |  3 +-
 .../2/general/single_channel/p1000/1_5.json   |  3 +-
 .../2/general/single_channel/p1000/2_0.json   |  3 +-
 .../2/general/single_channel/p1000/2_1.json   |  3 +-
 .../2/general/single_channel/p1000/2_2.json   |  3 +-
 .../2/general/single_channel/p1000/3_0.json   |  3 +-
 .../2/general/single_channel/p1000/3_3.json   |  3 +-
 .../2/general/single_channel/p1000/3_4.json   |  3 +-
 .../2/general/single_channel/p1000/3_5.json   |  3 +-
 .../2/general/single_channel/p20/2_0.json     |  3 +-
 .../2/general/single_channel/p20/2_1.json     |  3 +-
 .../2/general/single_channel/p20/2_2.json     |  3 +-
 .../2/general/single_channel/p300/1_0.json    |  3 +-
 .../2/general/single_channel/p300/1_3.json    |  3 +-
 .../2/general/single_channel/p300/1_4.json    |  3 +-
 .../2/general/single_channel/p300/1_5.json    |  3 +-
 .../2/general/single_channel/p300/2_0.json    |  3 +-
 .../2/general/single_channel/p300/2_1.json    |  3 +-
 .../2/general/single_channel/p50/1_0.json     |  3 +-
 .../2/general/single_channel/p50/1_3.json     |  3 +-
 .../2/general/single_channel/p50/1_4.json     |  3 +-
 .../2/general/single_channel/p50/1_5.json     |  3 +-
 .../2/general/single_channel/p50/3_0.json     |  3 +-
 .../2/general/single_channel/p50/3_3.json     |  3 +-
 .../2/general/single_channel/p50/3_4.json     |  3 +-
 .../2/general/single_channel/p50/3_5.json     |  3 +-
 .../pipette/pipette_definition.py             |  5 +++
 .../scripts/update_configuration_files.py     |  2 -
 68 files changed, 175 insertions(+), 67 deletions(-)

diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
index 57b131ecc41..6a7639157e4 100644
--- a/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
+++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette.py
@@ -509,6 +509,10 @@ def remove_tip(self) -> None:
     def has_tip(self) -> bool:
         return self._has_tip
 
+    @property
+    def tip_presence_check_dist_mm(self) -> float:
+        return self._config.tip_presence_check_distance_mm
+
     # Cache max is chosen somewhat arbitrarily. With a float is input we don't
     # want this to unbounded.
     @functools.lru_cache(maxsize=100)
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 99a423c918d..d41ce92efa8 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -34,7 +34,9 @@
     pipette_load_name_conversions as pipette_load_name,
 )
 from opentrons_shared_data.robot.dev_types import RobotType
-from opentrons_shared_data.errors.exceptions import StallOrCollisionDetectedError
+from opentrons_shared_data.errors.exceptions import (
+    StallOrCollisionDetectedError,
+)
 
 from opentrons import types as top_types
 from opentrons.config import robot_configs, feature_flags as ff
@@ -1895,6 +1897,42 @@ async def blow_out(
             blowout_spec.instr.set_current_volume(0)
             blowout_spec.instr.ready_to_aspirate = False
 
+    async def get_tip_presence_status(self, mount: OT3Mount) -> bool:
+        """
+        Check tip presence status. If a high throughput pipette is present,
+        move the tip motors down before checking the sensor status.
+        """
+        checked_mount = OT3Mount.from_mount(mount)
+        high_throughput = self._gantry_load == GantryLoad.HIGH_THROUGHPUT
+        if high_throughput:
+            # check if we're already at the tip_presence_check position, if we are dont move
+
+            instrument = self._pipette_handler.get_pipette(checked_mount)
+            tip_presence_check_target = instrument.tip_presence_check_dist_mm
+
+            # if position is not known, home gear motors before any potential movement
+            if self._backend.gear_motor_position is None:
+                await self.home_gear_motors()
+
+            tip_motor_pos_float = axis_convert(self._backend.gear_motor_position, 0.0)[
+                Axis.of_main_tool_actuator(checked_mount)
+            ]
+
+            # only move tip motors if they are not already below the sensor
+            if tip_motor_pos_float < tip_presence_check_target:
+                clamp_moves = self._build_moves(
+                    {Axis.Q: tip_motor_pos_float}, {Axis.Q: tip_presence_check_target}
+                )
+                await self._backend.tip_action(moves=clamp_moves[0])
+        tip_status = await self._backend.get_tip_present_state(
+            mount=checked_mount, expect_multiple_responses=high_throughput
+        )
+
+        if high_throughput:
+            # return tip motors to neutral position
+            await self.home_gear_motors()
+        return tip_status
+
     async def _force_pick_up_tip(
         self, mount: OT3Mount, pipette_spec: PickUpTipSpec
     ) -> None:
diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
index 800c6e72d08..9cf0de99f44 100644
--- a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
+++ b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
@@ -72,7 +72,7 @@ def test_filter_zero_duration_step() -> None:
         Axis.P_R: 0,
     }
     moves = [Move.build_dummy([Axis.X, Axis.Y, Axis.Z_L, Axis.Z_R, Axis.P_L])]
-    for block in (moves[0].blocks[0], moves[0].blocks[1]):
+    for block in moves[0].blocks:
         block.distance = f64(25.0)
         block.time = f64(1.0)
         block.initial_speed = f64(25.0)
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
index 44e1bf84760..4f353672189 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
index b71b9f112e2..9090efaccb2 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
index 7884060abb7..d7967eb7f8e 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
index e8447efdce0..9974fe1c989 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
index e8447efdce0..9974fe1c989 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p10/1_6.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
index 2da0be49f08..f8c2397938d 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/1_0.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
index 502ada5dd9b..325e06edfc3 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_0.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json
index 502ada5dd9b..325e06edfc3 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_3.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json
index f8e508bdfd7..74ab62080fe 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_4.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json
index f8e508bdfd7..74ab62080fe 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p1000/3_5.json
@@ -51,5 +51,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json
index c02138a297e..5ff09279c1d 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json
index c02138a297e..5ff09279c1d 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p20/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json
index 23354433c5f..fc8202bb490 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json
index 66ba1354970..158246e8859 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json
index 66ba1354970..158246e8859 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json
index f2813129e2e..707f591d644 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json
index c8b47ddd04c..faf79930bbf 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json
index c8b47ddd04c..faf79930bbf 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p300/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json
index 04979895755..3db295cf144 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json
index 9b4d07690a7..a930751ec6c 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json
index 4ec2c916d3e..187dc21b9b0 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json
index 744cd90444e..c2249446a6b 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json
index 4f4ace328ab..a6dceda8f18 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_0.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json
index 4f4ace328ab..a6dceda8f18 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_3.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json
index 8ebb55ff42f..c7b005e1049 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_4.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json
index 8ebb55ff42f..c7b005e1049 100644
--- a/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json
+++ b/shared-data/pipette/definitions/2/general/eight_channel/p50/3_5.json
@@ -57,5 +57,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json
index 7d972aa3b17..d9c3d8d7d49 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/1_0.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json
index c18e9fded71..31694ec9441 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_0.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json
index c18e9fded71..31694ec9441 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_3.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 2.0,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json
index bac55b3996f..7edce03d6c8 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_4.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 0.8,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json
index bac55b3996f..7edce03d6c8 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p1000/3_5.json
@@ -52,5 +52,6 @@
   "plungerHomingConfigurations": {
     "current": 0.8,
     "speed": 5
-  }
+  },
+  "tipPresenceCheckDistanceMM": "8.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json
index 8cc699533ec..87bc9d96d64 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json
index 1e6765e00b4..6ffa340a8b3 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json
index a044395382c..abd69fc06d4 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json
index a044395382c..abd69fc06d4 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p10/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json
index c5e73bc3e7e..fdd7421a49d 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json
index 38a62cda856..bf9dbf3c137 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json
index 38a62cda856..bf9dbf3c137 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json
index a2fc3c6edc2..cc2384deda6 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.5,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json
index 3c1777feffe..1faf7ce5e5f 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json
index 7609ef93972..0600d164c98 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json
index 7609ef93972..0600d164c98 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/2_2.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json
index 972a8516216..1aa35765c0b 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_0.json
@@ -50,5 +50,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json
index 972a8516216..1aa35765c0b 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_3.json
@@ -50,5 +50,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json
index 98c7d9707e0..9f88a64897d 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_4.json
@@ -50,5 +50,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json
index 98c7d9707e0..9f88a64897d 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p1000/3_5.json
@@ -50,5 +50,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json
index 7d8dc7fa606..26e9a9c8f3f 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json
index a7a3649cdea..2a14e95d535 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json
index a7a3649cdea..2a14e95d535 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p20/2_2.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json
index 4f174a5eb8c..32b3a0c76cc 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json
index 8e7663ad458..eb334ea9835 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json
index 5bc84742f62..72c24e1ebdf 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json
index 5bc84742f62..72c24e1ebdf 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/1_5.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json
index 5a9dae759b4..0d0e56e1368 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json
index 3686e581240..961c04a067d 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p300/2_1.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json
index a23409dfdf9..b413e7fc45f 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_0.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json
index 34329f19cbd..a355b7fa796 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_3.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json
index a6e1872d352..291b79b5751 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_4.json
@@ -45,5 +45,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json
index 7a4f2053d1d..96f0051da60 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/1_5.json
@@ -47,5 +47,6 @@
   "plungerHomingConfigurations": {
     "current": 0.3,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json
index 32b0e88ab38..7381b5fe52c 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_0.json
@@ -56,5 +56,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json
index 32b0e88ab38..7381b5fe52c 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_3.json
@@ -56,5 +56,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json
index 470c9a9985c..7c606e35508 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_4.json
@@ -56,5 +56,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json
index 470c9a9985c..7c606e35508 100644
--- a/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_5.json
@@ -56,5 +56,6 @@
   "plungerHomingConfigurations": {
     "current": 1.0,
     "speed": 30
-  }
+  },
+  "tipPresenceCheckDistanceMM": "0.0"
 }
diff --git a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
index 4214f376396..5a92f884ed9 100644
--- a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
+++ b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
@@ -246,6 +246,11 @@ class PipettePhysicalPropertiesDefinition(BaseModel):
     quirks: List[pip_types.Quirks] = Field(
         ..., description="The list of quirks available for the loaded configuration"
     )
+    tip_presence_check_distance_mm: float = Field(
+        default=0,
+        description="The distance the high throughput tip motors will travel to check tip status.",
+        alias="tipPresenceCheckDistanceMM",
+    )
 
     @validator("pipette_type", pre=True)
     def convert_pipette_model_string(cls, v: str) -> pip_types.PipetteModelType:
diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
index eaf2665af9b..16c434d9897 100644
--- a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
+++ b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
@@ -145,7 +145,6 @@ def update(
     Recursively update the given dictionary to ensure no data is lost when updating.
     """
     next_key = next(iter_of_configs, None)
-    breakpoint()
     if next_key and isinstance(dict_to_update[next_key], dict):
         dict_to_update[next_key] = update(
             dict_to_update.get(next_key, {}), iter_of_configs, value_to_update
@@ -160,7 +159,6 @@ def build_nozzle_map(
 ) -> Dict[str, List[float]]:
     Y_OFFSET = 9
     X_OFFSET = -9
-    breakpoint()
     if channels == PipetteChannelType.SINGLE_CHANNEL:
         return {"A1": nozzle_offset}
     elif channels == PipetteChannelType.EIGHT_CHANNEL: