refactor(api): only ignore stalls for downward portion of force pickup routine (#14725)

Author: caila-marashaj

api/src/opentrons/hardware_control/ot3api.py

@@ -2093,14 +2093,17 @@ async def _force_pick_up_tip(
     ) -> None:
         for press in pipette_spec.tip_action_moves:
             async with self._backend.motor_current(run_currents=press.currents):
-                target_down = target_position_from_relative(
+                target = target_position_from_relative(
                     mount, top_types.Point(z=press.distance), self._current_position
                 )
-                await self._move(target_down, speed=press.speed, expect_stalls=True)
-            if press.distance < 0:
-                # we expect a stall has happened during a downward movement into the tiprack, so
-                # we want to update the motor estimation
-                await self._update_position_estimation([Axis.by_mount(mount)])
+                if press.distance < 0:
+                    # we expect a stall has happened during a downward movement into the tiprack, so
+                    # we want to update the motor estimation
+                    await self._move(target, speed=press.speed, expect_stalls=True)
+                    await self._update_position_estimation([Axis.by_mount(mount)])
+                else:
+                    # we should not ignore stalls that happen during the retract part of the routine
+                    await self._move(target, speed=press.speed, expect_stalls=False)
 
     async def _tip_motor_action(
         self, mount: OT3Mount, pipette_spec: List[TipActionMoveSpec]