From 22adbad85ff0cccd214d01c9607437fdf483ce6b Mon Sep 17 00:00:00 2001
From: Andy Sigler <andrewsigler1@gmail.com>
Date: Wed, 24 Apr 2024 15:53:11 -0400
Subject: [PATCH] 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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# Test Plan

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

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# Changelog

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- Fixed app crash when trying to calibrate an illegal pipette
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- Updated API docs to mention only two pipettes are supported

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---------

Co-authored-by: pmoegenburg <pbm53@cornell.edu>
---
 .../definitions/1/pipetteModelSpecs.json      | 169 ++++++++++++++++++
 .../2/general/single_channel/p50/3_6.json     |  71 ++++++++
 .../2/geometry/single_channel/p50/3_6.json    |  14 ++
 .../single_channel/p50/default/3_6.json       |  85 +++++++++
 .../p50/lowVolumeDefault/3_6.json             |  81 +++++++++
 5 files changed, 420 insertions(+)
 create mode 100644 shared-data/pipette/definitions/2/general/single_channel/p50/3_6.json
 create mode 100644 shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json
 create mode 100644 shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json
 create mode 100644 shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json

diff --git a/shared-data/pipette/definitions/1/pipetteModelSpecs.json b/shared-data/pipette/definitions/1/pipetteModelSpecs.json
index 18f868af81e..406ddb1fb5c 100644
--- a/shared-data/pipette/definitions/1/pipetteModelSpecs.json
+++ b/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": [],
diff --git a/shared-data/pipette/definitions/2/general/single_channel/p50/3_6.json b/shared-data/pipette/definitions/2/general/single_channel/p50/3_6.json
new file mode 100644
index 00000000000..1f29cbf71f1
--- /dev/null
+++ b/shared-data/pipette/definitions/2/general/single_channel/p50/3_6.json
@@ -0,0 +1,71 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
+  "displayName": "Flex 1-Channel 50 μL",
+  "model": "p50",
+  "displayCategory": "FLEX",
+  "pickUpTipConfigurations": {
+    "pressFit": {
+      "presses": 1,
+      "speedByTipCount": {
+        "1": 10.0
+      },
+      "increment": 0.0,
+      "distanceByTipCount": {
+        "1": 13.0
+      },
+      "currentByTipCount": {
+        "1": 0.2
+      }
+    }
+  },
+  "dropTipConfigurations": {
+    "plungerEject": {
+      "current": 1.0,
+      "speed": 15
+    }
+  },
+  "plungerMotorConfigurations": {
+    "idle": 0.3,
+    "run": 1.0
+  },
+  "plungerPositionsConfigurations": {
+    "default": {
+      "top": 0.0,
+      "bottom": 71.5,
+      "blowout": 76.5,
+      "drop": 90.5
+    },
+    "lowVolumeDefault": {
+      "top": 0.0,
+      "bottom": 61.5,
+      "blowout": 76.5,
+      "drop": 90.5
+    }
+  },
+  "availableSensors": {
+    "sensors": ["pressure", "capacitive", "environment"],
+    "pressure": {
+      "count": 1
+    },
+    "capacitive": {
+      "count": 1
+    },
+    "environment": {
+      "count": 1
+    }
+  },
+  "partialTipConfigurations": {
+    "partialTipSupported": false,
+    "availableConfigurations": null
+  },
+  "backCompatNames": [],
+  "channels": 1,
+  "shaftDiameter": 1.0,
+  "shaftULperMM": 0.785,
+  "backlashDistance": 0.1,
+  "quirks": [],
+  "plungerHomingConfigurations": {
+    "current": 1.0,
+    "speed": 30
+  }
+}
diff --git a/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json
new file mode 100644
index 00000000000..ca5180c4415
--- /dev/null
+++ b/shared-data/pipette/definitions/2/geometry/single_channel/p50/3_6.json
@@ -0,0 +1,14 @@
+{
+  "$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]
+  }
+}
diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/default/3_6.json
new file mode 100644
index 00000000000..2fca659b070
--- /dev/null
+++ b/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"
+  ]
+}
diff --git a/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json
new file mode 100644
index 00000000000..639921290e8
--- /dev/null
+++ b/shared-data/pipette/definitions/2/liquid/single_channel/p50/lowVolumeDefault/3_6.json
@@ -0,0 +1,81 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json",
+  "supportedTips": {
+    "t50": {
+      "uiMaxFlowRate": 26.7,
+      "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": [
+            [0.11, 0.207815, 0.040201],
+            [0.65, 0.43933, 0.014735],
+            [1.04, 0.256666, 0.133466],
+            [1.67, 0.147126, 0.247388],
+            [2.45, 0.078774, 0.361536],
+            [2.89, 0.042387, 0.450684],
+            [3.2, 0.014781, 0.530464],
+            [3.79, 0.071819, 0.347944],
+            [4.22, 0.051592, 0.424605],
+            [4.93, 0.021219, 0.552775],
+            [5.81, 0.023461, 0.541725],
+            [7.21, 0.008959, 0.625982],
+            [8.93, 0.005456, 0.651235],
+            [10.0, 0.007108, 0.636489],
+            [13.61, 0.002591, 0.681656],
+            [26.99, 0.001163, 0.701094],
+            [45.25, 0.000207, 0.726887]
+          ]
+        }
+      },
+      "dispense": {
+        "default": {
+          "1": [
+            [0.11, 0.207815, 0.040201],
+            [0.65, 0.43933, 0.014735],
+            [1.04, 0.256666, 0.133466],
+            [1.67, 0.147126, 0.247388],
+            [2.45, 0.078774, 0.361536],
+            [2.89, 0.042387, 0.450684],
+            [3.2, 0.014781, 0.530464],
+            [3.79, 0.071819, 0.347944],
+            [4.22, 0.051592, 0.424605],
+            [4.93, 0.021219, 0.552775],
+            [5.81, 0.023461, 0.541725],
+            [7.21, 0.008959, 0.625982],
+            [8.93, 0.005456, 0.651235],
+            [10.0, 0.007108, 0.636489],
+            [13.61, 0.002591, 0.681656],
+            [26.99, 0.001163, 0.701094],
+            [45.25, 0.000207, 0.726887]
+          ]
+        }
+      },
+      "defaultPushOutVolume": 7
+    }
+  },
+  "defaultTipOverlapDictionary": {
+    "default": 10.5,
+    "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+    "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+  },
+  "maxVolume": 30,
+  "minVolume": 1,
+  "defaultTipracks": [
+    "opentrons/opentrons_flex_96_tiprack_50ul/1",
+    "opentrons/opentrons_flex_96_filtertiprack_50ul/1"
+  ]
+}