make the nodes pipette nodes but include them if their mount is moving

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -45,7 +45,7 @@
     motor_nodes,
     LIMIT_SWITCH_OVERTRAVEL_DISTANCE,
     map_pipette_type_to_sensor_id,
-    moving_axes_in_move_group,
+    moving_pipettes_in_move_group,
     gripper_jaw_state_from_fw,
     get_system_constraints,
     get_system_constraints_for_calibration,
@@ -664,12 +664,8 @@ async def move(
             else False,
         )
 
-        mounts_moving = [
-            k
-            for k in moving_axes_in_move_group(move_group)
-            if k
-            in [NodeId.pipette_left, NodeId.pipette_right, NodeId.head_l, NodeId.head_r]
-        ]
+        mounts_moving = moving_pipettes_in_move_group(move_group)
+
         async with self._monitor_overpressure(mounts_moving):
             positions = await runner.run(can_messenger=self._messenger)
         self._handle_motor_status_response(positions)

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -498,6 +498,20 @@ def create_gripper_jaw_hold_group(encoder_position_um: int) -> MoveGroup:
     return move_group
 
 
+def moving_pipettes_in_move_group(group: MoveGroup) -> List[NodeId]:
+    """Utility function to get which pipette nodes are moving either in z or their plunger."""
+    all_nodes = [node for step in group for node, _ in step.items()]
+    moving_nodes = moving_axes_in_move_group(group)
+    pipettes_moving: List[NodeId] = [
+        k for k in moving_nodes if k in [NodeId.pipette_left, NodeId.pipette_right]
+    ]
+    if NodeId.head_l in moving_nodes and NodeId.pipette_left in all_nodes:
+        pipettes_moving.append(NodeId.pipette_left)
+    if NodeId.head_r in moving_nodes and NodeId.pipette_right in all_nodes:
+        pipettes_moving.append(NodeId.pipette_right)
+    return pipettes_moving
+
+
 def moving_axes_in_move_group(group: MoveGroup) -> Set[NodeId]:
     """Utility function to get only the moving nodes in a move group."""
     ret: Set[NodeId] = set()