fix(shared-data): Gripper PCR plate tunings from hardware testing (#1…

…3651)
Opentrons · Nov 16, 2023 · 780a62f · 780a62f
1 parent 3fc76f7
commit 780a62f
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Showing 12 changed files with 39 additions and 11 deletions.
diff --git a/api/tests/opentrons/protocol_engine/state/test_labware_view.py b/api/tests/opentrons/protocol_engine/state/test_labware_view.py
@@ -1349,7 +1349,7 @@ def test_get_deck_gripper_offsets(ot3_standard_deck_def: DeckDefinitionV4) -> No
 
     assert subject.get_deck_default_gripper_offsets() == LabwareMovementOffsetData(
         pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
-        dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.25),
+        dropOffset=LabwareOffsetVector(x=0, y=0, z=-0.75),
     )
 
 

diff --git a/api/tests/opentrons/protocol_engine/state/test_module_view.py b/api/tests/opentrons/protocol_engine/state/test_module_view.py
@@ -1756,14 +1756,14 @@ def test_is_edge_move_unsafe(
             lazy_fixture("thermocycler_v2_def"),
             LabwareMovementOffsetData(
                 pickUpOffset=LabwareOffsetVector(x=0, y=0, z=4.6),
-                dropOffset=LabwareOffsetVector(x=0, y=0, z=4.6),
+                dropOffset=LabwareOffsetVector(x=0, y=0, z=5.6),
             ),
         ),
         (
             lazy_fixture("heater_shaker_v1_def"),
             LabwareMovementOffsetData(
                 pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
-                dropOffset=LabwareOffsetVector(x=0, y=0, z=0.5),
+                dropOffset=LabwareOffsetVector(x=0, y=0, z=1.0),
             ),
         ),
         (

diff --git a/shared-data/deck/definitions/3/ot3_standard.json b/shared-data/deck/definitions/3/ot3_standard.json
@@ -982,7 +982,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": -0.25
+        "z": -0.75
       }
     }
   }

diff --git a/shared-data/deck/definitions/4/ot3_standard.json b/shared-data/deck/definitions/4/ot3_standard.json
@@ -590,7 +590,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": -0.25
+        "z": -0.75
       }
     }
   }

diff --git a/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json b/shared-data/labware/definitions/2/armadillo_96_wellplate_200ul_pcr_full_skirt/2.json
@@ -55,7 +55,7 @@
       "z": 10.7
     }
   },
-  "gripForce": 15,
+  "gripForce": 9,
   "gripHeightFromLabwareBottom": 10,
   "ordering": [
     ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],

diff --git a/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json b/shared-data/labware/definitions/2/opentrons_96_pcr_adapter/1.json
@@ -1014,5 +1014,19 @@
     "x": 8.5,
     "y": 5.5,
     "z": 0
+  },
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 1.0
+      }
+    }
   }
 }
diff --git a/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json b/shared-data/labware/definitions/2/opentrons_96_well_aluminum_block/1.json
@@ -1014,5 +1014,19 @@
     "x": 0,
     "y": 0,
     "z": 0
+  },
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 1.0
+      }
+    }
   }
 }
diff --git a/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json b/shared-data/labware/definitions/2/opentrons_96_wellplate_200ul_pcr_full_skirt/2.json
@@ -55,7 +55,7 @@
       "z": 10.7
     }
   },
-  "gripForce": 15,
+  "gripForce": 9,
   "gripHeightFromLabwareBottom": 10,
   "ordering": [
     ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],

diff --git a/shared-data/module/definitions/3/heaterShakerModuleV1.json b/shared-data/module/definitions/3/heaterShakerModuleV1.json
@@ -43,7 +43,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

diff --git a/shared-data/module/definitions/3/magneticBlockV1.json b/shared-data/module/definitions/3/magneticBlockV1.json
@@ -38,7 +38,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

diff --git a/shared-data/module/definitions/3/temperatureModuleV2.json b/shared-data/module/definitions/3/temperatureModuleV2.json
@@ -41,7 +41,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 0.5
+        "z": 1.0
       }
     }
   },

diff --git a/shared-data/module/definitions/3/thermocyclerModuleV2.json b/shared-data/module/definitions/3/thermocyclerModuleV2.json
@@ -44,7 +44,7 @@
       "dropOffset": {
         "x": 0,
         "y": 0,
-        "z": 4.6
+        "z": 5.6
       }
     }
   },
-Original file line number
+Diff line change
@@ Expand Up / @@ -982,7 +982,7 @@ @@
           "dropOffset": {
             "x": 0,
             "y": 0,
-            "z": -0.25
+            "z": -0.75
           }
         }
       }
@@ Expand Down @@