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andySiglerpmoegenburg
andySigler
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pmoegenburg
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chore(shared-data): Add pipette definition for P50S v3.6 (#14863)
<!-- Thanks for taking the time to open a pull request! Please make sure you've read the "Opening Pull Requests" section of our Contributing Guide: https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests To ensure your code is reviewed quickly and thoroughly, please fill out the sections below to the best of your ability! --> # Overview Pipette definitions for P50S v3.6, which accounts for a small hardware modification which affects the accuracy function. NOTE: function in the PR is still copied over from the v3.5 model. Updated v3.6 function will be added in a followup PR after testing is complete. <!-- Use this section to describe your pull-request at a high level. If the PR addresses any open issues, please tag the issues here. --> # Test Plan <!-- Use this section to describe the steps that you took to test your Pull Request. If you did not perform any testing provide justification why. OT-3 Developers: You should default to testing on actual physical hardware. Once again, if you did not perform testing against hardware, justify why. Note: It can be helpful to write a test plan before doing development Example Test Plan (HTTP API Change) - Verified that new optional argument `dance-party` causes the robot to flash its lights, move the pipettes, then home. - Verified that when you omit the `dance-party` option the robot homes normally - Added protocol that uses `dance-party` argument to G-Code Testing Suite - Ran protocol that did not use `dance-party` argument and everything was successful - Added unit tests to validate that changes to pydantic model are correct --> # Changelog <!-- List out the changes to the code in this PR. Please try your best to categorize your changes and describe what has changed and why. Example changelog: - Fixed app crash when trying to calibrate an illegal pipette - Added state to API to track pipette usage - Updated API docs to mention only two pipettes are supported IMPORTANT: MAKE SURE ANY BREAKING CHANGES ARE PROPERLY COMMUNICATED --> # Review requests <!-- Describe any requests for your reviewers here. --> # Risk assessment <!-- Carefully go over your pull request and look at the other parts of the codebase it may affect. Look for the possibility, even if you think it's small, that your change may affect some other part of the system - for instance, changing return tip behavior in protocol may also change the behavior of labware calibration. Identify the other parts of the system your codebase may affect, so that in addition to your own review and testing, other people who may not have the system internalized as much as you can focus their attention and testing there. --> --------- Co-authored-by: pmoegenburg <[email protected]>
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‎shared-data/pipette/definitions/1/pipetteModelSpecs.json

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"returnTipHeight": 0.78,
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"idleCurrent": 0.3
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},
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"p50_single_v3.6": {
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"name": "p50_single_flex",
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"backCompatNames": [],
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"top": {
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"value": 0.5,
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"min": 0,
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"max": 45,
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"units": "mm",
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"type": "float"
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},
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"bottom": {
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"value": 71.5,
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"min": 55,
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"max": 80,
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"type": "float",
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"units": "mm"
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},
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"blowout": {
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"value": 76.5,
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"min": 60,
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"max": 85,
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"units": "mm",
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"type": "float"
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},
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"dropTip": {
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"value": 90.5,
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"min": 78,
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"max": 119,
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"units": "mm",
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"type": "float"
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},
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"pickUpCurrent": {
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"value": 0.15,
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"min": 0.05,
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"max": 2.0,
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"units": "amps",
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"type": "float"
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},
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"pickUpDistance": {
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"value": 15,
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"min": 1,
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"max": 30,
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"units": "mm",
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"type": "float"
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},
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"pickUpIncrement": {
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"value": 0.0,
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"min": 0.0,
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"max": 10.0,
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"units": "mm",
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"type": "float"
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},
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"pickUpPresses": {
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"value": 1,
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"min": 0,
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"max": 10,
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"units": "presses",
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"type": "int"
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},
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"pickUpSpeed": {
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"value": 5,
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"min": 1,
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"max": 30,
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"units": "mm/s",
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"type": "float"
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},
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"nozzleOffset": [-8.0, -22.0, -259.15],
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"modelOffset": [0.0, 0.0, 25.14],
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"ulPerMm": [
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{
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"aspirate": [
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[0.6464, 0.4817, 0.0427],
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[1.0889, 0.2539, 0.1591],
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[1.5136, 0.1624, 0.2587],
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[1.9108, 0.1042, 0.3467],
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[2.2941, 0.0719, 0.4085],
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[2.9978, 0.037, 0.4886],
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[3.7731, 0.0378, 0.4863],
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[4.7575, 0.0516, 0.4342],
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[5.5024, 0.011, 0.6275],
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[6.2686, 0.0114, 0.6253],
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[7.005, 0.0054, 0.6625],
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[8.5207, 0.0063, 0.6563],
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[10.0034, 0.003, 0.6844],
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[11.5075, 0.0031, 0.6833],
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[13.0327, 0.0032, 0.6829],
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[14.5356, 0.0018, 0.7003],
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[17.5447, 0.0014, 0.7063],
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[20.5576, 0.0011, 0.7126],
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[23.5624, 0.0007, 0.7197],
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[26.5785, 0.0007, 0.721],
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[29.593, 0.0005, 0.7248],
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[32.6109, 0.0004, 0.7268],
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[35.6384, 0.0004, 0.727],
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[38.6439, 0.0002, 0.7343],
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[41.6815, 0.0004, 0.7284],
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[44.6895, 0.0002, 0.7372],
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[47.6926, 0.0001, 0.7393],
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[51.4567, 0.0001, 0.7382]
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],
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"dispense": [
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[0.6464, 0.4817, 0.0427],
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[1.0889, 0.2539, 0.1591],
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[1.5136, 0.1624, 0.2587],
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[1.9108, 0.1042, 0.3467],
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[2.2941, 0.0719, 0.4085],
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[2.9978, 0.037, 0.4886],
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[3.7731, 0.0378, 0.4863],
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[4.7575, 0.0516, 0.4342],
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[5.5024, 0.011, 0.6275],
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[6.2686, 0.0114, 0.6253],
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[7.005, 0.0054, 0.6625],
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[8.5207, 0.0063, 0.6563],
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[10.0034, 0.003, 0.6844],
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[11.5075, 0.0031, 0.6833],
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[13.0327, 0.0032, 0.6829],
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[14.5356, 0.0018, 0.7003],
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[17.5447, 0.0014, 0.7063],
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[20.5576, 0.0011, 0.7126],
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[23.5624, 0.0007, 0.7197],
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[26.5785, 0.0007, 0.721],
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[29.593, 0.0005, 0.7248],
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[32.6109, 0.0004, 0.7268],
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[35.6384, 0.0004, 0.727],
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[38.6439, 0.0002, 0.7343],
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[41.6815, 0.0004, 0.7284],
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[44.6895, 0.0002, 0.7372],
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[47.6926, 0.0001, 0.7393],
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[51.4567, 0.0001, 0.7382]
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]
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}
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],
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"plungerCurrent": {
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"value": 1.0,
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"min": 0.1,
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"max": 1.5,
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"units": "amps",
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"type": "float"
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},
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"dropTipCurrent": {
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"value": 1.0,
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"min": 0.1,
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"max": 1.25,
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"units": "amps",
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"type": "float"
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},
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"dropTipSpeed": {
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"value": 7,
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"min": 0.001,
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"max": 30,
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"units": "mm/sec",
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"type": "float"
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},
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"tipOverlap": {
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"default": 10.5,
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"opentrons/opentrons_96_tiprack_50ul/1": 10.5
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},
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"tipLength": {
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"value": 78.3,
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"units": "mm",
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"type": "float",
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"min": 0,
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"max": 100
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},
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"quirks": [],
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"returnTipHeight": 0.78,
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"idleCurrent": 0.3
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},
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"p50_single_v4.3": {
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"name": "p50_single_flex",
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"backCompatNames": [],

‎shared-data/pipette/definitions/2/general/single_channel/p50/3_6.json

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{
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"$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
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"displayName": "Flex 1-Channel 50 μL",
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"model": "p50",
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"displayCategory": "FLEX",
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"pickUpTipConfigurations": {
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"pressFit": {
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"presses": 1,
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"speedByTipCount": {
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"1": 10.0
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},
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"increment": 0.0,
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"distanceByTipCount": {
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"1": 13.0
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},
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"currentByTipCount": {
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"1": 0.2
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}
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}
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},
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"dropTipConfigurations": {
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"plungerEject": {
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"current": 1.0,
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"speed": 15
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}
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},
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"plungerMotorConfigurations": {
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"idle": 0.3,
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"run": 1.0
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},
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"plungerPositionsConfigurations": {
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"default": {
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"top": 0.0,
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"bottom": 71.5,
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"blowout": 76.5,
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"drop": 90.5
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},
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"lowVolumeDefault": {
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"top": 0.0,
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"bottom": 61.5,
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"blowout": 76.5,
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"drop": 90.5
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}
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},
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"availableSensors": {
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"sensors": ["pressure", "capacitive", "environment"],
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"pressure": {
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"count": 1
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},
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"capacitive": {
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"count": 1
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},
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"environment": {
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"count": 1
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}
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},
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"partialTipConfigurations": {
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"partialTipSupported": false,
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"availableConfigurations": null
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},
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"backCompatNames": [],
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"channels": 1,
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"shaftDiameter": 1.0,
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"shaftULperMM": 0.785,
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"backlashDistance": 0.1,
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"quirks": [],
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"plungerHomingConfigurations": {
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"current": 1.0,
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"speed": 30
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}
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}

‎shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json

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{
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"$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json",
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"pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf",
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"nozzleOffset": [-8.0, -22.0, -259.15],
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"pipetteBoundingBoxOffsets": {
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"backLeftCorner": [-8.0, -22.0, -259.15],
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"frontRightCorner": [-8.0, -22.0, -259.15]
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},
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"orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }],
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"orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }],
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"nozzleMap": {
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"A1": [-8.0, -22.0, -259.15]
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}
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}

‎shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json

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{
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"$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json",
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"supportedTips": {
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"t50": {
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"uiMaxFlowRate": 47,
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"defaultAspirateFlowRate": {
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"default": 35,
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"valuesByApiLevel": { "2.14": 35 }
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},
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"defaultDispenseFlowRate": {
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"default": 57,
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"valuesByApiLevel": { "2.14": 57 }
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},
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"defaultBlowOutFlowRate": {
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"default": 57,
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"valuesByApiLevel": { "2.14": 57 }
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},
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"defaultFlowAcceleration": 1200.0,
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"defaultTipLength": 57.9,
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"defaultReturnTipHeight": 0.71,
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"aspirate": {
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"default": {
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"1": [
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[0.462, 0.5646, 0.0415],
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[0.648, 0.3716, 0.1307],
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[1.032, 0.2742, 0.1938],
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[1.37, 0.1499, 0.3221],
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[2.014, 0.1044, 0.3845],
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[2.772, 0.0432, 0.5076],
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[3.05, -0.0809, 0.8517],
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[3.4, 0.0256, 0.5268],
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[3.962, 0.0612, 0.4057],
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[4.438, 0.0572, 0.4217],
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[5.164, 0.018, 0.5955],
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[5.966, 0.0095, 0.6393],
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[7.38, 0.0075, 0.6514],
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[9.128, 0.0049, 0.6705],
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[10.16, 0.0033, 0.6854],
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[13.812, 0.0024, 0.6948],
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[27.204, 0.0008, 0.7165],
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[50.614, 0.0002, 0.7328],
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[53.046, -0.0005, 0.7676]
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]
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}
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},
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"dispense": {
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"default": {
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"1": [
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[0.462, 0.5646, 0.0415],
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[0.648, 0.3716, 0.1307],
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[1.032, 0.2742, 0.1938],
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[1.37, 0.1499, 0.3221],
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[2.014, 0.1044, 0.3845],
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[2.772, 0.0432, 0.5076],
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[3.05, -0.0809, 0.8517],
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[3.4, 0.0256, 0.5268],
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[3.962, 0.0612, 0.4057],
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[4.438, 0.0572, 0.4217],
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[5.164, 0.018, 0.5955],
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[5.966, 0.0095, 0.6393],
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[7.38, 0.0075, 0.6514],
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[9.128, 0.0049, 0.6705],
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[10.16, 0.0033, 0.6854],
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[13.812, 0.0024, 0.6948],
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[27.204, 0.0008, 0.7165],
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[50.614, 0.0002, 0.7328],
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[53.046, -0.0005, 0.7676]
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]
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}
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},
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"defaultPushOutVolume": 2
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}
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},
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"defaultTipOverlapDictionary": {
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"default": 10.5,
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"opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
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"opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
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},
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"maxVolume": 50,
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"minVolume": 5,
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"defaultTipracks": [
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"opentrons/opentrons_flex_96_tiprack_50ul/1",
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"opentrons/opentrons_flex_96_filtertiprack_50ul/1"
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]
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}

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