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

package/deck/definitions/4/ot3_standard.json

@@ -256,145 +256,146 @@
       {
         "id": "movableTrashD1",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-101.5, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-90.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in D1",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashC1",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-101.5, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-90.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in C1",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashB1",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-101.5, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-90.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in B1",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashA1",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-101.5, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-90.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in A1",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashD3",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-17.0, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-6.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in D3",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashC3",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-17.0, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-6.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in C3",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashB3",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-17.0, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-6.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in B3",
+        "ableToDropTips": true
       },
       {
         "id": "movableTrashA3",
         "areaType": "movableTrash",
-        "offsetFromCutoutFixture": [-17.0, -2.75, 0.0],
+        "offsetFromCutoutFixture": [-6.25, 4, 0.0],
         "boundingBox": {
-          "xDimension": 246.5,
-          "yDimension": 91.5,
+          "xDimension": 225,
+          "yDimension": 78,
           "zDimension": 40
         },
-        "displayName": "Trash Bin",
-        "ableToDropTips": true,
-        "dropTipsOffset": [123.25, 45.75, 40.0]
+        "displayName": "Trash Bin in A3",
+        "ableToDropTips": true
       },
       {
-        "id": "1and8ChannelWasteChute",
+        "id": "1ChannelWasteChute",
         "areaType": "wasteChute",
-        "offsetFromCutoutFixture": [-13.5, 0, 0],
+        "offsetFromCutoutFixture": [64, 36, 114.5],
         "boundingBox": {
-          "xDimension": 155.0,
-          "yDimension": 86.0,
-          "zDimension": 154.0
+          "xDimension": 0,
+          "yDimension": 0,
+          "zDimension": 0
+        },
+        "displayName": "Waste Chute",
+        "ableToDropTips": true
+      },
+      {
+        "id": "8ChannelWasteChute",
+        "areaType": "wasteChute",
+        "offsetFromCutoutFixture": [64, -27, 114.5],
+        "boundingBox": {
+          "xDimension": 0,
+          "yDimension": 63,
+          "zDimension": 0
         },
-        "displayName": "1/8 Channel Waste Chute",
-        "ableToDropTips": true,
-        "dropTipsOffset": [64.0, 21.91, 144.0]
+        "displayName": "Waste Chute",
+        "ableToDropTips": true
       },
       {
         "id": "96ChannelWasteChute",
         "areaType": "wasteChute",
-        "offsetFromCutoutFixture": [-13.5, 0, 0],
+        "offsetFromCutoutFixture": [14.445, -20.915, 114.5],
         "boundingBox": {
-          "xDimension": 155.0,
-          "yDimension": 86.0,
-          "zDimension": 154.0
+          "xDimension": 99,
+          "yDimension": 63,
+          "zDimension": 0
         },
-        "displayName": "96 Channel Waste Chute",
-        "ableToDropTips": true,
-        "dropTipsOffset": [14.445, 42.085, 115]
+        "displayName": "Waste Chute",
+        "ableToDropTips": true
       },
       {
         "id": "gripperWasteChute",
         "areaType": "wasteChute",
-        "offsetFromCutoutFixture": [-13.5, 0, 0],
+        "offsetFromCutoutFixture": [64, 29, 136.5],
         "boundingBox": {
-          "xDimension": 155.0,
-          "yDimension": 86.0,
-          "zDimension": 154.0
+          "xDimension": 0,
+          "yDimension": 0,
+          "zDimension": 0
         },
-        "displayName": "Gripper Waste Chute",
-        "ableToDropLabware": true,
-        "dropLabwareOffset": [64, 29, 136.5]
+        "displayName": "Waste Chute",
+        "ableToDropLabware": true
       }
     ],
     "cutouts": [
@@ -479,7 +480,8 @@
         "cutoutC1": ["C1"],
         "cutoutB1": ["B1"],
         "cutoutA1": ["A1"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "singleCenterSlot",
@@ -490,7 +492,8 @@
         "cutoutC2": ["C2"],
         "cutoutB2": ["B2"],
         "cutoutA2": ["A2"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "singleRightSlot",
@@ -501,7 +504,8 @@
         "cutoutC3": ["C3"],
         "cutoutB3": ["B3"],
         "cutoutA3": ["A3"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "stagingAreaRightSlot",
@@ -512,7 +516,8 @@
         "cutoutC3": ["C3", "C4"],
         "cutoutB3": ["B3", "B4"],
         "cutoutA3": ["A3", "A4"]
-      }
+      },
+      "height": 0
     },
     {
       "id": "trashBinAdapter",
@@ -536,15 +541,17 @@
         "cutoutC3": ["movableTrashC3"],
         "cutoutB3": ["movableTrashB3"],
         "cutoutA3": ["movableTrashA3"]
-      }
+      },
+      "height": 40
     },
     {
       "id": "wasteChuteRightAdapterCovered",
       "mayMountTo": ["cutoutD3"],
       "displayName": "Waste Chute Adapter for 1 or 8 Channel Pipettes",
       "providesAddressableAreas": {
-        "cutoutD3": ["1and8ChannelWasteChute"]
-      }
+        "cutoutD3": ["1ChannelWasteChute", "8ChannelWasteChute"]
+      },
+      "height": 124.5
     },
     {
       "id": "wasteChuteRightAdapterNoCover",
@@ -552,19 +559,22 @@
       "displayName": "Waste Chute Adapter for 96 Channel Pipette or Gripper",
       "providesAddressableAreas": {
         "cutoutD3": [
-          "1and8ChannelWasteChute",
+          "1ChannelWasteChute",
+          "8ChannelWasteChute",
           "96ChannelWasteChute",
           "gripperWasteChute"
         ]
-      }
+      },
+      "height": 124.5
     },
     {
       "id": "stagingAreaSlotWithWasteChuteRightAdapterCovered",
       "mayMountTo": ["cutoutD3"],
       "displayName": "Staging Slot With Waste Chute Adapter for 96 Channel Pipette or Gripper",
       "providesAddressableAreas": {
-        "cutoutD3": ["1and8ChannelWasteChute", "D4"]
-      }
+        "cutoutD3": ["1ChannelWasteChute", "8ChannelWasteChute", "D4"]
+      },
+      "height": 124.5
     },
     {
       "id": "stagingAreaSlotWithWasteChuteRightAdapterNoCover",
@@ -572,12 +582,14 @@
       "displayName": "Staging Slot With Waste Chute Adapter and Staging Area Slot",
       "providesAddressableAreas": {
         "cutoutD3": [
-          "1and8ChannelWasteChute",
+          "1ChannelWasteChute",
+          "8ChannelWasteChute",
           "96ChannelWasteChute",
           "gripperWasteChute",
           "D4"
         ]
-      }
+      },
+      "height": 124.5
     }
   ],
   "gripperOffsets": {

package/deck/schemas/4.json

@@ -41,7 +41,6 @@
     },
     "boundingBox": {
       "type": "object",
-      "description": "The active area (both pipettes can reach) of a fixture on the deck",
       "required": ["xDimension", "yDimension", "zDimension"],
       "properties": {
         "xDimension": { "$ref": "#/definitions/positiveNumber" },
@@ -119,9 +118,9 @@
       "properties": {
         "addressableAreas": {
           "type": "array",
-          "description": "Ordered slots available for placing labware",
           "items": {
             "type": "object",
+            "description": "An addressable area is a named area in 3D space that the robot can interact with--for example, as a place to drop tips, or hold a labware.",
             "required": [
               "id",
               "areaType",
@@ -135,7 +134,7 @@
                 "type": "string"
               },
               "areaType": {
-                "description": "The type of deck item, defining allowed behavior.",
+                "description": "The type of addressable area, defining allowed behavior.",
                 "type": "string",
                 "enum": [
                   "slot",
@@ -147,17 +146,18 @@
               },
               "offsetFromCutoutFixture": {
                 "$ref": "#/definitions/xyzArray",
-                "description": "Relative offset of the addressable area as it sits on the cutout slot."
+                "description": "The offset from the origin of the cutout fixture that's providing this addressable area (which is currently identical to the position of the underlying cutout), to the -x, -y, -z corner of this addressable area's bounding box."
               },
               "matingSurfaceUnitVector": {
                 "$ref": "#/definitions/unitVector",
-                "description": "An optional diagonal direction of force, defined by spring location, which governs the mating surface of objects placed in slot."
+                "description": "An optional diagonal direction of force, defined by spring location, which governs the mating surface of objects placed in this addressable area. Meant to be used when this addressable area is a slot."
               },
               "boundingBox": {
+                "description": "The active area (both pipettes can reach) of this addressable area.",
                 "$ref": "#/definitions/boundingBox"
               },
               "displayName": {
-                "description": "A human-readable nickname for this area e.g. \"Slot A1\" or \"Movable Trash\"",
+                "description": "A human-readable nickname for this area e.g. \"Slot A1\" or \"Trash Bin in A1\"",
                 "type": "string"
               },
               "compatibleModuleTypes": {
@@ -168,20 +168,12 @@
                 }
               },
               "ableToDropTips": {
-                "description": "Whether tips are allowed to be dropped into this area.",
+                "description": "Whether tips are allowed to be dropped into this area. If `true`, the top-center of the `boundingBox` should be a good location for the bottom-center of all the tips when they're dropped.",
                 "type": "boolean"
               },
               "ableToDropLabware": {
-                "description": "Whether labware is allowed to be dropped (different then being placed) into this area.",
+                "description": "Whether labware is allowed to be dropped (different from being placed) into this area. If `true`, the top-center of the `boundingBox` should be a good location for the bottom-center of the labware when it's dropped.",
                 "type": "boolean"
-              },
-              "dropTipsOffset": {
-                "description": "Relative positional offset of where the pipette should drop tips from.",
-                "$ref": "#/definitions/xyzArray"
-              },
-              "dropLabwareOffset": {
-                "description": "Relative positional offset of where the gripper should drop labware from.",
-                "$ref": "#/definitions/xyzArray"
               }
             }
           }
@@ -260,12 +252,14 @@
     "cutoutFixtures": {
       "type": "array",
       "items": {
+        "description": "A cutout fixture is a physical thing that can be mounted onto one of the deck cutouts.",
         "type": "object",
         "required": [
           "id",
           "mayMountTo",
           "displayName",
-          "providesAddressableAreas"
+          "providesAddressableAreas",
+          "height"
         ],
         "properties": {
           "id": {
@@ -284,7 +278,7 @@
             "type": "string"
           },
           "providesAddressableAreas": {
-            "description": "A mapping of mayMountTo locations to addressableArea ids.",
+            "description": "The addressable areas that this cutout fixture provides, when it's mounted. It can provide different addressable areas depending on where it's mounted. Keys must match values from this object's `mayMountTo`. Values must match `id`s from `addressableAreas`.",
             "type": "object",
             "additionalProperties": {
               "type": "array",
@@ -292,6 +286,10 @@
                 "type": "string"
               }
             }
+          },
+          "height": {
+            "description": "The vertical distance (mm) from the cutout fixture's origin to its tallest physical feature that an instrument could collide with.",
+            "type": "number"
           }
         }
       }

package/deck/types/schemaV4.ts

@@ -23,7 +23,8 @@ export type FlexAddressableAreaName =
   | 'movableTrashC3'
   | 'movableTrashD1'
   | 'movableTrashD3'
-  | '1and8ChannelWasteChute'
+  | '1ChannelWasteChute'
+  | '8ChannelWasteChute'
   | '96ChannelWasteChute'
   | 'gripperWasteChute'
 
@@ -39,6 +40,7 @@ export type OT2AddressableAreaName =
   | '9'
   | '10'
   | '11'
+  | '12'
   | 'fixedTrash'
 
 export type AddressableAreaName =

package/errors/definitions/1/errors.json

@@ -114,6 +114,10 @@
       "detail": "Execution Cancelled",
       "category": "roboticsControlError"
     },
+    "2015": {
+      "detail": "Gripper Pickup Failed",
+      "category": "roboticsControlError"
+    },
     "3000": {
       "detail": "A robotics interaction error occurred.",
       "category": "roboticsInteractionError"

package/gripper/definitions/1/gripperV1.1.json

@@ -23,6 +23,7 @@
     "jawWidth": {
       "min": 60.0,
       "max": 92.0
-    }
+    },
+    "maxAllowedGripError": 6.0
   }
 }

package/gripper/definitions/1/gripperV1.2.json

@@ -23,6 +23,7 @@
     "jawWidth": {
       "min": 60.0,
       "max": 92.0
-    }
+    },
+    "maxAllowedGripError": 6.0
   }
 }

package/gripper/definitions/1/gripperV1.json

@@ -22,6 +22,7 @@
     "jawWidth": {
       "min": 58.0,
       "max": 90.0
-    }
+    },
+    "maxAllowedGripError": 6.0
   }
 }

package/gripper/schemas/1.json

@@ -109,6 +109,11 @@
           "additionalProperties": {
             "type": "number"
           }
+        },
+        "maxAllowedGripError": {
+          "title": "MaxAllowedGripError",
+          "minimum": 0.0,
+          "type": "number"
         }
       },
       "required": [

package/labware/definitions/2/biorad_96_wellplate_200ul_pcr/2.json

@@ -1024,6 +1024,11 @@
       "x": 0,
       "y": 0,
       "z": 15.41
+    },
+    "opentrons_96_pcr_adapter": {
+      "x": 0,
+      "y": 0,
+      "z": 10.16
     }
   },
   "stackingOffsetWithModule": {
@@ -1031,6 +1036,11 @@
       "x": 0,
       "y": 0,
       "z": 10.75
+    },
+    "magneticBlockV1": {
+      "x": 0,
+      "y": 0,
+      "z": 3.87
     }
   }
 }

package/labware/definitions/2/opentrons_flex_96_tiprack_adapter/1.json

@@ -24,7 +24,7 @@
   ],
   "parameters": {
     "format": "96Standard",
-    "quirks": [],
+    "quirks": ["tiprackAdapterFor96Channel"],
     "isTiprack": false,
     "isMagneticModuleCompatible": false,
     "loadName": "opentrons_flex_96_tiprack_adapter"