@opentrons/shared-data 0.1.0-alpha.0 → 0.1.0-alpha.1

package/command/schemas/8.json

@@ -71,6 +71,9 @@
     {
       "$ref": "#/definitions/MoveToAddressableAreaCreate"
     },
+    {
+      "$ref": "#/definitions/MoveToAddressableAreaForDropTipCreate"
+    },
     {
       "$ref": "#/definitions/PrepareToAspirateCreate"
     },
@@ -95,6 +98,12 @@
     {
       "$ref": "#/definitions/SetStatusBarCreate"
     },
+    {
+      "$ref": "#/definitions/VerifyTipPresenceCreate"
+    },
+    {
+      "$ref": "#/definitions/GetTipPresenceCreate"
+    },
     {
       "$ref": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate"
     },
@@ -1990,6 +1999,90 @@
       },
       "required": ["params"]
     },
+    "MoveToAddressableAreaForDropTipParams": {
+      "title": "MoveToAddressableAreaForDropTipParams",
+      "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.",
+      "type": "object",
+      "properties": {
+        "minimumZHeight": {
+          "title": "Minimumzheight",
+          "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.",
+          "type": "number"
+        },
+        "forceDirect": {
+          "title": "Forcedirect",
+          "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.",
+          "default": false,
+          "type": "boolean"
+        },
+        "speed": {
+          "title": "Speed",
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "type": "number"
+        },
+        "pipetteId": {
+          "title": "Pipetteid",
+          "description": "Identifier of pipette to use for liquid handling.",
+          "type": "string"
+        },
+        "addressableAreaName": {
+          "title": "Addressableareaname",
+          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+          "type": "string"
+        },
+        "offset": {
+          "title": "Offset",
+          "description": "Relative offset of addressable area to move pipette's critical point.",
+          "default": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
+          },
+          "allOf": [
+            {
+              "$ref": "#/definitions/AddressableOffsetVector"
+            }
+          ]
+        },
+        "alternateDropLocation": {
+          "title": "Alternatedroplocation",
+          "description": "Whether to alternate location where tip is dropped within the addressable area. If True, this command will ignore the offset provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the area.",
+          "default": false,
+          "type": "boolean"
+        }
+      },
+      "required": ["pipetteId", "addressableAreaName"]
+    },
+    "MoveToAddressableAreaForDropTipCreate": {
+      "title": "MoveToAddressableAreaForDropTipCreate",
+      "description": "Move to addressable area for drop tip command creation request model.",
+      "type": "object",
+      "properties": {
+        "commandType": {
+          "title": "Commandtype",
+          "default": "moveToAddressableAreaForDropTip",
+          "enum": ["moveToAddressableAreaForDropTip"],
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/definitions/MoveToAddressableAreaForDropTipParams"
+        },
+        "intent": {
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "allOf": [
+            {
+              "$ref": "#/definitions/CommandIntent"
+            }
+          ]
+        },
+        "key": {
+          "title": "Key",
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "type": "string"
+        }
+      },
+      "required": ["params"]
+    },
     "PrepareToAspirateParams": {
       "title": "PrepareToAspirateParams",
       "description": "Parameters required to prepare a specific pipette for aspiration.",
@@ -2199,6 +2292,12 @@
           "title": "Positionid",
           "description": "An optional ID to assign to this command instance. Auto-assigned if not defined.",
           "type": "string"
+        },
+        "failOnNotHomed": {
+          "title": "Failonnothomed",
+          "default": true,
+          "descrption": "Require all axes to be homed before saving position.",
+          "type": "boolean"
         }
       },
       "required": ["pipetteId"]
@@ -2400,6 +2499,106 @@
       },
       "required": ["params"]
     },
+    "TipPresenceStatus": {
+      "title": "TipPresenceStatus",
+      "description": "Tip presence status reported by a pipette.",
+      "enum": ["present", "absent", "unknown"],
+      "type": "string"
+    },
+    "VerifyTipPresenceParams": {
+      "title": "VerifyTipPresenceParams",
+      "description": "Payload required for a VerifyTipPresence command.",
+      "type": "object",
+      "properties": {
+        "pipetteId": {
+          "title": "Pipetteid",
+          "description": "Identifier of pipette to use for liquid handling.",
+          "type": "string"
+        },
+        "expectedState": {
+          "description": "The expected tip presence status on the pipette.",
+          "allOf": [
+            {
+              "$ref": "#/definitions/TipPresenceStatus"
+            }
+          ]
+        }
+      },
+      "required": ["pipetteId", "expectedState"]
+    },
+    "VerifyTipPresenceCreate": {
+      "title": "VerifyTipPresenceCreate",
+      "description": "VerifyTipPresence command creation request model.",
+      "type": "object",
+      "properties": {
+        "commandType": {
+          "title": "Commandtype",
+          "default": "verifyTipPresence",
+          "enum": ["verifyTipPresence"],
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/definitions/VerifyTipPresenceParams"
+        },
+        "intent": {
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "allOf": [
+            {
+              "$ref": "#/definitions/CommandIntent"
+            }
+          ]
+        },
+        "key": {
+          "title": "Key",
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "type": "string"
+        }
+      },
+      "required": ["params"]
+    },
+    "GetTipPresenceParams": {
+      "title": "GetTipPresenceParams",
+      "description": "Payload required for a GetTipPresence command.",
+      "type": "object",
+      "properties": {
+        "pipetteId": {
+          "title": "Pipetteid",
+          "description": "Identifier of pipette to use for liquid handling.",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"]
+    },
+    "GetTipPresenceCreate": {
+      "title": "GetTipPresenceCreate",
+      "description": "GetTipPresence command creation request model.",
+      "type": "object",
+      "properties": {
+        "commandType": {
+          "title": "Commandtype",
+          "default": "getTipPresence",
+          "enum": ["getTipPresence"],
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/definitions/GetTipPresenceParams"
+        },
+        "intent": {
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "allOf": [
+            {
+              "$ref": "#/definitions/CommandIntent"
+            }
+          ]
+        },
+        "key": {
+          "title": "Key",
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "type": "string"
+        }
+      },
+      "required": ["params"]
+    },
     "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams": {
       "title": "WaitForTemperatureParams",
       "description": "Input parameters to wait for a Heater-Shaker's target temperature.",

package/command/types/gantry.ts

@@ -156,6 +156,7 @@ interface MoveRelativeParams {
 interface SavePositionParams {
   pipetteId: string // pipette to use in measurement
   positionId?: string // position ID, auto-assigned if left blank
+  failOnNotHomed?: boolean // Defaults to true if blank. Require every possible axis to be homed to save.
 }
 
 interface HomeParams {

package/command/types/pipetting.ts

@@ -1,8 +1,8 @@
 import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
 export type PipettingRunTimeCommand =
   | AspirateInPlaceRunTimeCommand
-  | AspirateRunTimeCommand
   | AspirateInPlaceRunTimeCommand
+  | AspirateRunTimeCommand
   | BlowoutInPlaceRunTimeCommand
   | BlowoutRunTimeCommand
   | ConfigureForVolumeRunTimeCommand
@@ -10,9 +10,12 @@ export type PipettingRunTimeCommand =
   | DispenseRunTimeCommand
   | DropTipInPlaceRunTimeCommand
   | DropTipRunTimeCommand
+  | GetTipPresenceRunTimeCommand
+  | MoveToAddressableAreaForDropTipRunTimeCommand
   | PickUpTipRunTimeCommand
   | PrepareToAspirateRunTimeCommand
   | TouchTipRunTimeCommand
+  | VerifyTipPresenceRunTimeCommand
 
 export type PipettingCreateCommand =
   | AspirateCreateCommand
@@ -24,9 +27,12 @@ export type PipettingCreateCommand =
   | DispenseInPlaceCreateCommand
   | DropTipCreateCommand
   | DropTipInPlaceCreateCommand
+  | GetTipPresenceCreateCommand
+  | MoveToAddressableAreaForDropTipCreateCommand
   | PickUpTipCreateCommand
   | PrepareToAspirateCreateCommand
   | TouchTipCreateCommand
+  | VerifyTipPresenceCreateCommand
 
 export interface ConfigureForVolumeCreateCommand
   extends CommonCommandCreateInfo {
@@ -140,6 +146,17 @@ export interface DropTipInPlaceRunTimeCommand
   result?: any
 }
 
+export interface MoveToAddressableAreaForDropTipCreateCommand
+  extends CommonCommandCreateInfo {
+  commandType: 'moveToAddressableAreaForDropTip'
+  params: MoveToAddressableAreaForDropTipParams
+}
+export interface MoveToAddressableAreaForDropTipRunTimeCommand
+  extends CommonCommandRunTimeInfo,
+    MoveToAddressableAreaForDropTipCreateCommand {
+  result?: any
+}
+
 export interface PrepareToAspirateCreateCommand
   extends CommonCommandCreateInfo {
   commandType: 'prepareToAspirate'
@@ -152,6 +169,29 @@ export interface PrepareToAspirateRunTimeCommand
   result?: any
 }
 
+export interface GetTipPresenceCreateCommand extends CommonCommandCreateInfo {
+  commandType: 'getTipPresence'
+  params: PipetteIdentityParams
+}
+
+export interface GetTipPresenceRunTimeCommand
+  extends CommonCommandRunTimeInfo,
+    GetTipPresenceCreateCommand {
+  result?: TipPresenceResult
+}
+
+export interface VerifyTipPresenceCreateCommand
+  extends CommonCommandCreateInfo {
+  commandType: 'verifyTipPresence'
+  params: VerifyTipPresenceParams
+}
+
+export interface VerifyTipPresenceRunTimeCommand
+  extends CommonCommandRunTimeInfo,
+    VerifyTipPresenceCreateCommand {
+  result?: any
+}
+
 export type AspDispAirgapParams = FlowRateParams &
   PipetteAccessParams &
   VolumeParams &
@@ -172,9 +212,25 @@ export type DropTipParams = PipetteAccessParams & {
   }
 }
 export type PickUpTipParams = TouchTipParams
+
+interface AddressableOffsetVector {
+  x: number
+  y: number
+  z: number
+}
 export interface DropTipInPlaceParams {
   pipetteId: string
 }
+
+export interface MoveToAddressableAreaForDropTipParams {
+  pipetteId: string
+  addressableAreaName: string
+  offset?: AddressableOffsetVector
+  alternateDropLocation?: boolean
+  speed?: number
+  minimumZHeight?: number
+  forceDirect?: boolean
+}
 export interface BlowoutInPlaceParams {
   pipetteId: string
   flowRate: number // µL/s
@@ -223,6 +279,15 @@ interface WellLocationParam {
   }
 }
 
+interface VerifyTipPresenceParams extends PipetteIdentityParams {
+  expectedState?: 'present' | 'absent'
+}
+
 interface BasicLiquidHandlingResult {
   volume: number // Amount of liquid in uL handled in the operation
 }
+
+interface TipPresenceResult {
+  // ot2 should alwasy return unknown
+  status?: 'present' | 'absent' | 'unknown'
+}

package/command/types/setup.ts

@@ -175,11 +175,11 @@ interface LoadFixtureParams {
   fixtureId?: string
 }
 
-const COLUMN = 'COLUMN'
+export const COLUMN = 'COLUMN'
 const SINGLE = 'SINGLE'
 const ROW = 'ROW'
 const QUADRANT = 'QUADRANT'
-const ALL = 'ALL'
+export const ALL = 'ALL'
 
 export type NozzleConfigurationStyle =
   | typeof COLUMN
@@ -189,7 +189,7 @@ export type NozzleConfigurationStyle =
   | typeof ALL
 
 interface NozzleConfigurationParams {
-  primaryNozzle: string
+  primaryNozzle?: string
   style: NozzleConfigurationStyle
 }
 

package/deck/definitions/4/ot2_short_trash.json

@@ -215,15 +215,14 @@
       {
         "id": "shortFixedTrash",
         "areaType": "fixedTrash",
-        "offsetFromCutoutFixture": [0.0, 0.0, 0.0],
+        "offsetFromCutoutFixture": [29.285, -2.835, 0],
         "boundingBox": {
-          "xDimension": 172.86,
-          "yDimension": 165.86,
+          "xDimension": 107.11,
+          "yDimension": 165.67,
           "zDimension": 58
         },
         "displayName": "Slot 12/Short Fixed Trash",
-        "ableToDropTips": true,
-        "dropTipsOffset": [82.84, 80.0, 58]
+        "ableToDropTips": true
       }
     ],
     "cutouts": [
@@ -373,7 +372,8 @@
         "cutout8",
         "cutout9",
         "cutout10",
-        "cutout11"
+        "cutout11",
+        "cutout12"
       ],
       "displayName": "Standard Slot",
       "providesAddressableAreas": {
@@ -389,7 +389,8 @@
         "cutout10": ["10"],
         "cutout11": ["11"],
         "cutout12": ["12"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "fixedTrashSlot",
@@ -397,7 +398,8 @@
       "displayName": "Fixed Trash",
       "providesAddressableAreas": {
         "cutout12": ["shortFixedTrash"]
-      }
+      },
+      "height": 58
     }
   ]
 }

package/deck/definitions/4/ot2_standard.json

@@ -215,15 +215,14 @@
       {
         "id": "fixedTrash",
         "areaType": "fixedTrash",
-        "offsetFromCutoutFixture": [0.0, 0.0, 0.0],
+        "offsetFromCutoutFixture": [29.285, -2.835, 0],
         "boundingBox": {
-          "xDimension": 172.86,
-          "yDimension": 165.86,
+          "xDimension": 107.11,
+          "yDimension": 165.67,
           "zDimension": 82
         },
         "displayName": "Slot 12/Fixed Trash",
-        "ableToDropTips": true,
-        "dropTipsOffset": [82.84, 80.0, 82.0]
+        "ableToDropTips": true
       }
     ],
     "cutouts": [
@@ -373,7 +372,8 @@
         "cutout8",
         "cutout9",
         "cutout10",
-        "cutout11"
+        "cutout11",
+        "cutout12"
       ],
       "displayName": "Standard Slot",
       "providesAddressableAreas": {
@@ -389,7 +389,8 @@
         "cutout10": ["10"],
         "cutout11": ["11"],
         "cutout12": ["12"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "fixedTrashSlot",
@@ -397,7 +398,8 @@
       "displayName": "Fixed Trash",
       "providesAddressableAreas": {
         "cutout12": ["fixedTrash"]
-      }
+      },
+      "height": 82
     }
   ]
 }