chore(shared-data): Add pipette definition for P50S v3.6 (#14863)

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# 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.

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- Verified that new optional argument `dance-party` causes the robot to
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---------

Co-authored-by: pmoegenburg <[email protected]>

shared-data/pipette/definitions/1/pipetteModelSpecs.json

@@ -7475,6 +7475,175 @@
  "returnTipHeight": 0.78,
  "idleCurrent": 0.3
  },
+ "p50_single_v3.6": {
+ "name": "p50_single_flex",
+ "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": 90.5,
+ "min": 78,
+ "max": 119,
+ "units": "mm",
+ "type": "float"
+ },
+ "pickUpCurrent": {
+ "value": 0.15,
+ "min": 0.05,
+ "max": 2.0,
+ "units": "amps",
+ "type": "float"
+ },
+ "pickUpDistance": {
+ "value": 15,
+ "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": 5,
+ "min": 1,
+ "max": 30,
+ "units": "mm/s",
+ "type": "float"
+ },
+ "nozzleOffset": [-8.0, -22.0, -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": 1.0,
+ "min": 0.1,
+ "max": 1.5,
+ "units": "amps",
+ "type": "float"
+ },
+ "dropTipCurrent": {
+ "value": 1.0,
+ "min": 0.1,
+ "max": 1.25,
+ "units": "amps",
+ "type": "float"
+ },
+ "dropTipSpeed": {
+ "value": 7,
+ "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": 0.78,
+ "idleCurrent": 0.3
+ },
  "p50_single_v4.3": {
  "name": "p50_single_flex",
  "backCompatNames": [],

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

@@ -0,0 +1,71 @@
+{
+ "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
+ "displayName": "Flex 1-Channel 50 μL",
+ "model": "p50",
+ "displayCategory": "FLEX",
+ "pickUpTipConfigurations": {
+ "pressFit": {
+ "presses": 1,
+ "speedByTipCount": {
+ "1": 10.0
+ },
+ "increment": 0.0,
+ "distanceByTipCount": {
+ "1": 13.0
+ },
+ "currentByTipCount": {
+ "1": 0.2
+ }
+ }
+ },
+ "dropTipConfigurations": {
+ "plungerEject": {
+ "current": 1.0,
+ "speed": 15
+ }
+ },
+ "plungerMotorConfigurations": {
+ "idle": 0.3,
+ "run": 1.0
+ },
+ "plungerPositionsConfigurations": {
+ "default": {
+ "top": 0.0,
+ "bottom": 71.5,
+ "blowout": 76.5,
+ "drop": 90.5
+ },
+ "lowVolumeDefault": {
+ "top": 0.0,
+ "bottom": 61.5,
+ "blowout": 76.5,
+ "drop": 90.5
+ }
+ },
+ "availableSensors": {
+ "sensors": ["pressure", "capacitive", "environment"],
+ "pressure": {
+ "count": 1
+ },
+ "capacitive": {
+ "count": 1
+ },
+ "environment": {
+ "count": 1
+ }
+ },
+ "partialTipConfigurations": {
+ "partialTipSupported": false,
+ "availableConfigurations": null
+ },
+ "backCompatNames": [],
+ "channels": 1,
+ "shaftDiameter": 1.0,
+ "shaftULperMM": 0.785,
+ "backlashDistance": 0.1,
+ "quirks": [],
+ "plungerHomingConfigurations": {
+ "current": 1.0,
+ "speed": 30
+ }
+}

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

@@ -0,0 +1,14 @@
+{
+ "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json",
+ "pathTo3D": "pipette/definitions/2/geometry/single_channel/p50/placeholder.gltf",
+ "nozzleOffset": [-8.0, -22.0, -259.15],
+ "pipetteBoundingBoxOffsets": {
+ "backLeftCorner": [-8.0, -22.0, -259.15],
+ "frontRightCorner": [-8.0, -22.0, -259.15]
+ },
+ "orderedRows": [{ "key": "A", "orderedNozzles": ["A1"] }],
+ "orderedColumns": [{ "key": "1", "orderedNozzles": ["A1"] }],
+ "nozzleMap": {
+ "A1": [-8.0, -22.0, -259.15]
+ }
+}

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

@@ -0,0 +1,85 @@
+{
+ "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json",
+ "supportedTips": {
+ "t50": {
+ "uiMaxFlowRate": 47,
+ "defaultAspirateFlowRate": {
+ "default": 35,
+ "valuesByApiLevel": { "2.14": 35 }
+ },
+ "defaultDispenseFlowRate": {
+ "default": 57,
+ "valuesByApiLevel": { "2.14": 57 }
+ },
+ "defaultBlowOutFlowRate": {
+ "default": 57,
+ "valuesByApiLevel": { "2.14": 57 }
+ },
+ "defaultFlowAcceleration": 1200.0,
+ "defaultTipLength": 57.9,
+ "defaultReturnTipHeight": 0.71,
+ "aspirate": {
+ "default": {
+ "1": [
+ [0.462, 0.5646, 0.0415],
+ [0.648, 0.3716, 0.1307],
+ [1.032, 0.2742, 0.1938],
+ [1.37, 0.1499, 0.3221],
+ [2.014, 0.1044, 0.3845],
+ [2.772, 0.0432, 0.5076],
+ [3.05, -0.0809, 0.8517],
+ [3.4, 0.0256, 0.5268],
+ [3.962, 0.0612, 0.4057],
+ [4.438, 0.0572, 0.4217],
+ [5.164, 0.018, 0.5955],
+ [5.966, 0.0095, 0.6393],
+ [7.38, 0.0075, 0.6514],
+ [9.128, 0.0049, 0.6705],
+ [10.16, 0.0033, 0.6854],
+ [13.812, 0.0024, 0.6948],
+ [27.204, 0.0008, 0.7165],
+ [50.614, 0.0002, 0.7328],
+ [53.046, -0.0005, 0.7676]
+ ]
+ }
+ },
+ "dispense": {
+ "default": {
+ "1": [
+ [0.462, 0.5646, 0.0415],
+ [0.648, 0.3716, 0.1307],
+ [1.032, 0.2742, 0.1938],
+ [1.37, 0.1499, 0.3221],
+ [2.014, 0.1044, 0.3845],
+ [2.772, 0.0432, 0.5076],
+ [3.05, -0.0809, 0.8517],
+ [3.4, 0.0256, 0.5268],
+ [3.962, 0.0612, 0.4057],
+ [4.438, 0.0572, 0.4217],
+ [5.164, 0.018, 0.5955],
+ [5.966, 0.0095, 0.6393],
+ [7.38, 0.0075, 0.6514],
+ [9.128, 0.0049, 0.6705],
+ [10.16, 0.0033, 0.6854],
+ [13.812, 0.0024, 0.6948],
+ [27.204, 0.0008, 0.7165],
+ [50.614, 0.0002, 0.7328],
+ [53.046, -0.0005, 0.7676]
+ ]
+ }
+ },
+ "defaultPushOutVolume": 2
+ }
+ },
+ "defaultTipOverlapDictionary": {
+ "default": 10.5,
+ "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+ "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+ },
+ "maxVolume": 50,
+ "minVolume": 5,
+ "defaultTipracks": [
+ "opentrons/opentrons_flex_96_tiprack_50ul/1",
+ "opentrons/opentrons_flex_96_filtertiprack_50ul/1"
+ ]
+}