From c3a1bad3dcd3630baea0be9504f86124fbe5b7ff Mon Sep 17 00:00:00 2001 From: Josh McVey Date: Wed, 24 Jul 2024 09:14:27 -0500 Subject: [PATCH] feat(shared-data): bump gripper model version (#15413) (#15775) ## git cherry-pick 4f90e28b7ebf2a07a5a4445c43cf819a1833ae8f - #15413 was the edge PR - This is the only commit needed in the 7.5.0 release to allow for the new gripper model. - There are no changes to buildroot, oe-core, or ot3-firmware Co-authored-by: Alise Au <20424172+ahiuchingau@users.noreply.github.com> --- api/src/opentrons/config/gripper_config.py | 7 ++++- .../gripper/definitions/1/gripperV1.3.json | 29 +++++++++++++++++++ shared-data/js/constants.ts | 8 ++++- shared-data/js/gripper.ts | 10 ++++++- shared-data/js/types.ts | 2 ++ .../gripper/gripper_definition.py | 2 ++ 6 files changed, 55 insertions(+), 3 deletions(-) create mode 100644 shared-data/gripper/definitions/1/gripperV1.3.json diff --git a/api/src/opentrons/config/gripper_config.py b/api/src/opentrons/config/gripper_config.py index 0c364bc749c..1de9be1de0b 100644 --- a/api/src/opentrons/config/gripper_config.py +++ b/api/src/opentrons/config/gripper_config.py @@ -24,7 +24,12 @@ def info_num_to_model(num: str) -> GripperModel: # PVT will now be 1.2 model_map = { "0": {"0": GripperModel.v1, "1": GripperModel.v1}, - "1": {"0": GripperModel.v1, "1": GripperModel.v1_1, "2": GripperModel.v1_2}, + "1": { + "0": GripperModel.v1, + "1": GripperModel.v1_1, + "2": GripperModel.v1_2, + "3": GripperModel.v1_3, + }, } return model_map[major_model][minor_model] diff --git a/shared-data/gripper/definitions/1/gripperV1.3.json b/shared-data/gripper/definitions/1/gripperV1.3.json new file mode 100644 index 00000000000..ef26cc062ba --- /dev/null +++ b/shared-data/gripper/definitions/1/gripperV1.3.json @@ -0,0 +1,29 @@ +{ + "$otSharedSchema": "gripper/schemas/1", + "model": "gripperV1.3", + "schemaVersion": 1, + "displayName": "Flex Gripper", + "gripForceProfile": { + "polynomial": [ + [0, 3.759869], + [1, 0.81005], + [2, 0.04597701] + ], + "defaultGripForce": 15.0, + "defaultIdleForce": 10.0, + "defaultHomeForce": 12.0, + "min": 2.0, + "max": 30.0 + }, + "geometry": { + "baseOffsetFromMount": [19.5, -74.325, -94.825], + "jawCenterOffsetFromBase": [0.0, 0.0, -86.475], + "pinOneOffsetFromBase": [6.0, -54.0, -98.475], + "pinTwoOffsetFromBase": [6.0, 54.0, -98.475], + "jawWidth": { + "min": 60.0, + "max": 92.0 + }, + "maxAllowedGripError": 3.0 + } +} diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts index 71b4813c07e..0ba54d36fad 100644 --- a/shared-data/js/constants.ts +++ b/shared-data/js/constants.ts @@ -47,7 +47,13 @@ export const MAGNETIC_BLOCK_V1: 'magneticBlockV1' = 'magneticBlockV1' export const GRIPPER_V1: 'gripperV1' = 'gripperV1' export const GRIPPER_V1_1: 'gripperV1.1' = 'gripperV1.1' export const GRIPPER_V1_2: 'gripperV1.2' = 'gripperV1.2' -export const GRIPPER_MODELS = [GRIPPER_V1, GRIPPER_V1_1, GRIPPER_V1_2] +export const GRIPPER_V1_3: 'gripperV1.3' = 'gripperV1.3' +export const GRIPPER_MODELS = [ + GRIPPER_V1, + GRIPPER_V1_1, + GRIPPER_V1_2, + GRIPPER_V1_3, +] // robot display name export const OT2_DISPLAY_NAME: 'Opentrons OT-2' = 'Opentrons OT-2' diff --git a/shared-data/js/gripper.ts b/shared-data/js/gripper.ts index 15c1d3f7f7b..9bc8282421e 100644 --- a/shared-data/js/gripper.ts +++ b/shared-data/js/gripper.ts @@ -1,8 +1,14 @@ import gripperV1 from '../gripper/definitions/1/gripperV1.json' import gripperV1_1 from '../gripper/definitions/1/gripperV1.1.json' import gripperV1_2 from '../gripper/definitions/1/gripperV1.2.json' +import gripperV1_3 from '../gripper/definitions/1/gripperV1.3.json' -import { GRIPPER_V1, GRIPPER_V1_1, GRIPPER_V1_2 } from './constants' +import { + GRIPPER_V1, + GRIPPER_V1_1, + GRIPPER_V1_2, + GRIPPER_V1_3, +} from './constants' import type { GripperModel, GripperDefinition } from './types' @@ -16,6 +22,8 @@ export const getGripperDef = ( return gripperV1_1 as GripperDefinition case GRIPPER_V1_2: return gripperV1_2 as GripperDefinition + case GRIPPER_V1_3: + return gripperV1_3 as GripperDefinition default: console.warn( `Could not find a gripper with model ${gripperModel}, falling back to most recent definition: ${GRIPPER_V1_2}` diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts index 1309159875a..681b0cb4828 100644 --- a/shared-data/js/types.ts +++ b/shared-data/js/types.ts @@ -22,6 +22,7 @@ import { GRIPPER_V1, GRIPPER_V1_1, GRIPPER_V1_2, + GRIPPER_V1_3, EXTENSION, MAGNETIC_BLOCK_V1, } from './constants' @@ -230,6 +231,7 @@ export type GripperModel = | typeof GRIPPER_V1 | typeof GRIPPER_V1_1 | typeof GRIPPER_V1_2 + | typeof GRIPPER_V1_3 export type ModuleModelWithLegacy = | ModuleModel diff --git a/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py b/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py index 4c4c30c623b..707d960a9ba 100644 --- a/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py +++ b/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py @@ -24,6 +24,7 @@ class GripperModel(str, Enum): v1 = "gripperV1" v1_1 = "gripperV1.1" v1_2 = "gripperV1.2" + v1_3 = "gripperV1.3" def __str__(self) -> str: """Model name.""" @@ -31,6 +32,7 @@ def __str__(self) -> str: self.__class__.v1: "gripperV1", self.__class__.v1_1: "gripperV1.1", self.__class__.v1_2: "gripperV1.2", + self.__class__.v1_3: "gripperV1.3", } return enum_to_str[self]