bug: custom deepwell plate gets dropped onto magnet and is not picked up by gripper

[tobiasko]

Overview

I am trying to move a custom deepwell plate from an Opentrons flex deck position onto the magnet and from the magnet to the heater shaker module using the gripper. Both things fail. Moving onto the magnet is basically a drop instead of a move and picking up fails completely, because the gripper closes above the deep well plate.

In contrast, moving the same plate to the heater shaker module from a random deck position works just fine. I can also use the NEST 2 mL 96-Well Deep Well Plate, V Bottom def. with my protocol and all moving steps to the magnet work. I am therefore assuming that the pre-build (NEST) plate definition contains some type of special offset information for the gripper that I can't add by using the custom labware editor/creator. I checked the Stacking Offset for Magnetic Block GEN1 and set it to 78 mm (see attached labware definition).

How can I get this working for a custom deep well plate?

Steps to reproduce

thermo_96_wellplate_2000ul_3_.json

Current behavior

No response

Expected behavior

No response

Operating system

Linux

System and robot setup or anything else?

app version 8.2.0
connection by USB

[tobiasko]

In the deep well definition file the stacking offsets look like:

"parameters":{"format":"irregular","quirks":[],"isTiprack":false,"isMagneticModuleCompatible":false,"loadName":"thermo_96_wellplate_2000ul"},"namespace":"custom_beta","version":1,"schemaVersion":2,"cornerOffsetFromSlot":{"x":0,"y":0,"z":0},"stackingOffsetWithLabware":{"opentrons_96_deep_well_adapter":{"x":0,"y":0,"z":14.549999999999997}},"stackingOffsetWithModule":{"magneticBlockV1":{"x":0,"y":0,"z":-35}}}

Why does it say "isMagenticModuleCompatible:false" and why are the offsets values I measure and entered in the web GUI different to the values in file ("z":-35)

???

[tobiasko]

Dear Opentrons,

I think your custom plate design tool at

https://labware.opentrons.com/#/create

is buggy. I just did a test and entered a plate hight of 50 and a measured hight on the magnet of 100 in the Stacking Offset section of the form. The resulting yaml file shows a negative z offset of -50 where it should be 50! This also explains why my previous custom definition for the thermo deep well failed. The file also contains a neg. offset coming from your web form.

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    "brand": {
        "brand": "Test",
        "brandId": []
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            "diameter": 8,
            "x": 109,
            "y": 66,
            "z": 30
        },
        "C12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 57,
            "z": 30
        },
        "D12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 48,
            "z": 30
        },
        "E12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 39,
            "z": 30
        },
        "F12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 30,
            "z": 30
        },
        "G12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 21,
            "z": 30
        },
        "H12": {
            "depth": 20,
            "totalLiquidVolume": 200,
            "shape": "circular",
            "diameter": 8,
            "x": 109,
            "y": 12,
            "z": 30
        }
    },
    "groups": [
        {
            "metadata": {
                "wellBottomShape": "v"
            },
            "wells": [
                "A1",
                "B1",
                "C1",
                "D1",
                "E1",
                "F1",
                "G1",
                "H1",
                "A2",
                "B2",
                "C2",
                "D2",
                "E2",
                "F2",
                "G2",
                "H2",
                "A3",
                "B3",
                "C3",
                "D3",
                "E3",
                "F3",
                "G3",
                "H3",
                "A4",
                "B4",
                "C4",
                "D4",
                "E4",
                "F4",
                "G4",
                "H4",
                "A5",
                "B5",
                "C5",
                "D5",
                "E5",
                "F5",
                "G5",
                "H5",
                "A6",
                "B6",
                "C6",
                "D6",
                "E6",
                "F6",
                "G6",
                "H6",
                "A7",
                "B7",
                "C7",
                "D7",
                "E7",
                "F7",
                "G7",
                "H7",
                "A8",
                "B8",
                "C8",
                "D8",
                "E8",
                "F8",
                "G8",
                "H8",
                "A9",
                "B9",
                "C9",
                "D9",
                "E9",
                "F9",
                "G9",
                "H9",
                "A10",
                "B10",
                "C10",
                "D10",
                "E10",
                "F10",
                "G10",
                "H10",
                "A11",
                "B11",
                "C11",
                "D11",
                "E11",
                "F11",
                "G11",
                "H11",
                "A12",
                "B12",
                "C12",
                "D12",
                "E12",
                "F12",
                "G12",
                "H12"
            ]
        }
    ],
    "parameters": {
        "format": "irregular",
        "quirks": [],
        "isTiprack": false,
        "isMagneticModuleCompatible": false,
        "loadName": "test_96_wellplate_200ul"
    },
    "namespace": "custom_beta",
    "version": 1,
    "schemaVersion": 2,
    "cornerOffsetFromSlot": {
        "x": 0,
        "y": 0,
        "z": 0
    },
    "stackingOffsetWithModule": {
        "magneticBlockV1": {
            "x": 0,
            "y": 0,
            "z": -50
        }
    }
}