@opentrons/shared-data 0.1.7-alpha.0 → 0.2.0-alpha.0

package/module/schemas/3.json

@@ -51,6 +51,50 @@
           "description": "Attributes for the element"
         }
       }
+    },
+    "vector3D": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["x", "y", "z"],
+      "properties": {
+        "x": {
+          "type": "number"
+        },
+        "y": {
+          "type": "number"
+        },
+        "z": {
+          "type": "number"
+        }
+      }
+    },
+    "vector2D": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["x", "y"],
+      "properties": {
+        "x": {
+          "type": "number"
+        },
+        "y": {
+          "type": "number"
+        }
+      }
+    },
+    "axisAlignedBoundingBox3D": {
+      "type": "object",
+      "required": ["backLeftBottom", "frontRightTop"],
+      "additionalProperties": false,
+      "properties": {
+        "backLeftBottom": {
+          "description": "(-x, +y, -z) relative to the labware origin.",
+          "$ref": "#/definitions/vector3D"
+        },
+        "frontRightTop": {
+          "description": "(+x, -y, +z) relative to the labware origin.",
+          "$ref": "#/definitions/vector3D"
+        }
+      }
     }
   },
   "description": "Module specification",
@@ -61,13 +105,13 @@
     "model",
     "labwareOffset",
     "cornerOffsetFromSlot",
+    "features",
     "dimensions",
     "calibrationPoint",
     "displayName",
     "quirks",
     "slotTransforms",
     "compatibleWith",
-    "twoDimensionalRendering",
     "incompatibleWithDecks"
   ],
   "additionalProperties": false,
@@ -92,7 +136,53 @@
       "type": "string",
       "pattern": "^(temperatureModule|magneticModule|thermocyclerModule|heaterShakerModule|magneticBlock|absorbanceReader|flexStackerModule)V[0-9]+$"
     },
-    "labwareOffset": { "$ref": "#/definitions/coordinates" },
+    "labwareOffset": {
+      "$ref": "#/definitions/coordinates",
+      "description": "The offset from the left-front-bottom corner of the slot holding this module, to the left-front-bottom corner of the labware interface atop this module."
+    },
+    "extents": {
+      "description": "The outer dimensions of the addressable area. Includes offsets from `cornerOffsetFromSlot`.",
+      "type": "object",
+      "required": ["total"],
+      "additionalProperties": false,
+      "properties": {
+        "total": {
+          "description": "The all-encompassing outer dimensions of the labware.",
+          "$ref": "#/definitions/axisAlignedBoundingBox3D"
+        }
+      }
+    },
+    "features": {
+      "type": "object",
+      "description": "Locating features when this module is a part of a stackup.",
+      "required": [],
+      "properties": {
+        "slotFootprintAsChild": {
+          "description": "The 3D plane of the module that makes physical contact with a parent entity. Constrained by the dimensions of a slot.",
+          "type": "object",
+          "required": ["backLeft", "frontRight", "z"],
+          "properties": {
+            "backLeft": {
+              "description": "(-x, +y) relative to the labware origin.",
+              "$ref": "#/definitions/vector2D"
+            },
+            "frontRight": {
+              "description": "(+x, -y) relative to the labware origin.",
+              "$ref": "#/definitions/vector2D"
+            },
+            "z": {
+              "description": "Always zero by convention. Z-coordinate of the footprint plane.",
+              "type": "number"
+            },
+            "springDirectionalForce": {
+              "description": "Applicable when the module contains a spring that influences its position when placed on a parent deck item.",
+              "type": "string",
+              "enum": ["backLeftBottom"]
+            }
+          }
+        }
+      }
+    },
     "dimensions": {
       "type": "object",
       "required": [
@@ -107,10 +197,22 @@
         "lidHeight": { "type": "number" },
         "xDimension": { "type": "number" },
         "yDimension": { "type": "number" },
-        "footprintXDimension": { "type": "number" },
-        "footprintYDimension": { "type": "number" },
-        "labwareInterfaceXDimension": { "type": "number" },
-        "labwareInterfaceYDimension": { "type": "number" },
+        "footprintXDimension": {
+          "type": "number",
+          "description": "The x dimension of the module's bottom-most plane."
+        },
+        "footprintYDimension": {
+          "type": "number",
+          "description": "The y dimension of the module's bottom-most plane."
+        },
+        "labwareInterfaceXDimension": {
+          "type": "number",
+          "description": "The x dimension of the module's interaction plane (where labware is placed)."
+        },
+        "labwareInterfaceYDimension": {
+          "type": "number",
+          "description": "The y dimension of the module's interaction plane (where labware is placed)."
+        },
         "maxStackerFillHeight": { "type": "number" },
         "maxStackerRetrievableHeight": { "type": "number" }
       }
@@ -199,7 +301,7 @@
       "type": "array",
       "items": {
         "type": "string",
-        "description": "A compatible module model (e.g. temperatureModuleV1)"
+        "description": "List of module models this model is compatible with (e.g. temperatureModuleV1)"
       }
     },
     "incompatibleWithDecks": {
@@ -209,10 +311,9 @@
         "description": "A list of robot decks (by their definition name) not compatible with this module."
       }
     },
-    "twoDimensionalRendering": {
+    "uniqueModuleData": {
       "type": "object",
-      "description": "SVG rendering of the module represented as svgson",
-      "items": { "$ref": "#/definitions/svgsonNode" }
+      "description": "Unique data used by the module, (e.g. TOF sensor baseline data)"
     }
   }
 }

package/mypy.ini

@@ -0,0 +1,22 @@
+[mypy]
+plugins = pydantic.mypy
+show_error_codes = True
+warn_unused_configs = True
+strict = True
+
+[pydantic-mypy]
+init_forbid_extra = True
+init_typed = True
+warn_required_dynamic_aliases = True
+warn_untyped_fields = True
+
+# TODO(mc, 2022-01-20): fix and remove all of the overrides below
+
+[mypy-opentrons_shared_data.labware.*]
+warn_return_any = False
+
+[mypy-opentrons_shared_data.pipette.*]
+warn_return_any = False
+
+[mypy-opentrons_shared_data.protocol.*]
+warn_return_any = False

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@opentrons/shared-data",
-  "version": "0.1.7-alpha.0",
+  "version": "0.2.0-alpha.0",
   "description": "Shared system definitions and utilities for Opentrons robots and software",
   "repository": {
     "type": "git",

package/pipette/definitions/1/pipetteModelSpecs.json

@@ -11173,6 +11173,342 @@
       "quirks": [],
       "returnTipHeight": 0.83,
       "idleCurrent": 0.3
+    },
+    "p200_96_v3.1": {
+      "name": "p200_96",
+      "backCompatNames": [],
+      "top": {
+        "value": 0.5,
+        "min": 0,
+        "max": 45,
+        "units": "mm",
+        "type": "float"
+      },
+      "bottom": {
+        "value": 71.5,
+        "min": 55,
+        "max": 80,
+        "type": "float",
+        "units": "mm"
+      },
+      "blowout": {
+        "value": 76.5,
+        "min": 60,
+        "max": 85,
+        "units": "mm",
+        "type": "float"
+      },
+      "dropTip": {
+        "value": 92.5,
+        "min": 78,
+        "max": 119,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpCurrent": {
+        "value": 0.5,
+        "min": 0.05,
+        "max": 2.0,
+        "units": "amps",
+        "type": "float"
+      },
+      "pickUpDistance": {
+        "value": 13,
+        "min": 1,
+        "max": 30,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpIncrement": {
+        "value": 0.0,
+        "min": 0.0,
+        "max": 10.0,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpPresses": {
+        "value": 1,
+        "min": 0,
+        "max": 10,
+        "units": "presses",
+        "type": "int"
+      },
+      "pickUpSpeed": {
+        "value": 10,
+        "min": 1,
+        "max": 30,
+        "units": "mm/s",
+        "type": "float"
+      },
+      "nozzleOffset": [-8.0, -16.0, -259.15],
+      "modelOffset": [0.0, 0.0, 25.14],
+      "ulPerMm": [
+        {
+          "aspirate": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ],
+          "dispense": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ]
+        }
+      ],
+      "plungerCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.5,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.25,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipSpeed": {
+        "value": 10,
+        "min": 0.001,
+        "max": 30,
+        "units": "mm/sec",
+        "type": "float"
+      },
+      "tipOverlap": {
+        "default": 10.5,
+        "opentrons/opentrons_96_tiprack_50ul/1": 10.5
+      },
+      "tipLength": {
+        "value": 78.3,
+        "units": "mm",
+        "type": "float",
+        "min": 0,
+        "max": 100
+      },
+      "quirks": [],
+      "returnTipHeight": 0.83,
+      "idleCurrent": 0.3
+    },
+    "p200_96_v3.2": {
+      "name": "p200_96",
+      "backCompatNames": [],
+      "top": {
+        "value": 0.5,
+        "min": 0,
+        "max": 45,
+        "units": "mm",
+        "type": "float"
+      },
+      "bottom": {
+        "value": 71.5,
+        "min": 55,
+        "max": 80,
+        "type": "float",
+        "units": "mm"
+      },
+      "blowout": {
+        "value": 76.5,
+        "min": 60,
+        "max": 85,
+        "units": "mm",
+        "type": "float"
+      },
+      "dropTip": {
+        "value": 92.5,
+        "min": 78,
+        "max": 119,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpCurrent": {
+        "value": 0.5,
+        "min": 0.05,
+        "max": 2.0,
+        "units": "amps",
+        "type": "float"
+      },
+      "pickUpDistance": {
+        "value": 13,
+        "min": 1,
+        "max": 30,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpIncrement": {
+        "value": 0.0,
+        "min": 0.0,
+        "max": 10.0,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpPresses": {
+        "value": 1,
+        "min": 0,
+        "max": 10,
+        "units": "presses",
+        "type": "int"
+      },
+      "pickUpSpeed": {
+        "value": 10,
+        "min": 1,
+        "max": 30,
+        "units": "mm/s",
+        "type": "float"
+      },
+      "nozzleOffset": [-8.0, -16.0, -259.15],
+      "modelOffset": [0.0, 0.0, 25.14],
+      "ulPerMm": [
+        {
+          "aspirate": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ],
+          "dispense": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ]
+        }
+      ],
+      "plungerCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.5,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.25,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipSpeed": {
+        "value": 10,
+        "min": 0.001,
+        "max": 30,
+        "units": "mm/sec",
+        "type": "float"
+      },
+      "tipOverlap": {
+        "default": 10.5,
+        "opentrons/opentrons_96_tiprack_50ul/1": 10.5
+      },
+      "tipLength": {
+        "value": 78.3,
+        "units": "mm",
+        "type": "float",
+        "min": 0,
+        "max": 100
+      },
+      "quirks": [],
+      "returnTipHeight": 0.83,
+      "idleCurrent": 0.3
     }
   },
   "mutableConfigs": [