@opentrons/shared-data 0.0.0-alpha.2 → 0.0.1-alpha.1

package/python/build/lib/opentrons_shared_data/data/deck/schemas/3.json

@@ -0,0 +1,296 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "definitions": {
+    "positiveNumber": {
+      "type": "number",
+      "minimum": 0
+    },
+    "xyzArray": {
+      "type": "array",
+      "description": "Array of 3 numbers, [x, y, z]",
+      "items": { "type": "number" },
+      "minItems": 3,
+      "maxItems": 3
+    },
+    "coordinates": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": ["x", "y", "z"],
+      "properties": {
+        "x": {
+          "type": "number"
+        },
+        "y": {
+          "type": "number"
+        },
+        "z": {
+          "type": "number"
+        }
+      }
+    },
+    "unitVector": {
+      "type": "array",
+      "description": "Array of 3 unit directions, [x, y, z]",
+      "items": {
+        "type": "number",
+        "enum": [1, -1]
+      },
+      "minItems": 3,
+      "maxItems": 3
+    },
+    "boundingBox": {
+      "type": "object",
+      "description": "The active area (both pipettes can reach) of a fixture on the deck",
+      "required": ["xDimension", "yDimension", "zDimension"],
+      "properties": {
+        "xDimension": { "$ref": "#/definitions/positiveNumber" },
+        "yDimension": { "$ref": "#/definitions/positiveNumber" },
+        "zDimension": { "$ref": "#/definitions/positiveNumber" }
+      }
+    },
+    "svgsonNode": {
+      "type": "object",
+      "description": "An svgson node that corresponds to a single svg tag",
+      "properties": {
+        "name": {
+          "type": "string",
+          "description": "Element name, like svg, circle, line…"
+        },
+        "type": {
+          "type": "string",
+          "description": "Element type like element, text…"
+        },
+        "value": {
+          "type": "string",
+          "description": "Element value, used in text nodes."
+        },
+        "children": {
+          "type": "array",
+          "description": "List of element children",
+          "items": { "$ref": "#/definitions/svgsonNode" }
+        },
+        "attributes": {
+          "type": "object",
+          "description": "Attributes for the element"
+        }
+      }
+    }
+  },
+
+  "description": "Deck specifications, where x,y,z (0,0,0) is at front the bottom left corner.",
+  "type": "object",
+  "additionalProperties": false,
+  "required": [
+    "otId",
+    "schemaVersion",
+    "cornerOffsetFromOrigin",
+    "dimensions",
+    "metadata",
+    "robot",
+    "locations",
+    "layers"
+  ],
+  "properties": {
+    "otId": {
+      "description": "Unique internal ID generated using UUID",
+      "type": "string"
+    },
+    "schemaVersion": {
+      "description": "Schema version of a deck is a single integer",
+      "enum": [3]
+    },
+    "cornerOffsetFromOrigin": {
+      "$ref": "#/definitions/xyzArray",
+      "description": "Position of left-front-bottom corner of entire deck to robot coordinate system origin"
+    },
+    "dimensions": {
+      "$ref": "#/definitions/xyzArray",
+      "description": "Outer dimensions of a deck bounding box"
+    },
+    "metadata": {
+      "description": "Optional metadata about the Deck",
+      "type": "object",
+      "properties": {
+        "displayName": {
+          "description": "A short, human-readable name for the deck",
+          "type": "string"
+        },
+        "tags": {
+          "description": "Tags to be used in searching for this deck",
+          "type": "array",
+          "items": {
+            "type": "string"
+          }
+        }
+      }
+    },
+    "robot": {
+      "type": "object",
+      "required": ["model"],
+      "properties": {
+        "model": {
+          "description": "Model of the robot",
+          "type": "string",
+          "enum": ["OT-2 Standard", "OT-3 Standard"]
+        }
+      }
+    },
+    "locations": {
+      "type": "object",
+      "required": ["orderedSlots", "calibrationPoints"],
+      "properties": {
+        "orderedSlots": {
+          "type": "array",
+          "description": "Ordered slots available for placing labware",
+          "items": {
+            "type": "object",
+            "required": [
+              "id",
+              "position",
+              "boundingBox",
+              "displayName",
+              "compatibleModuleTypes"
+            ],
+            "properties": {
+              "id": {
+                "description": "Unique identifier for slot",
+                "type": "string"
+              },
+              "position": {
+                "$ref": "#/definitions/xyzArray"
+              },
+              "matingSurfaceUnitVector": {
+                "$ref": "#/definitions/unitVector",
+                "description": "An optional diagonal direction of force, defined by spring location, which governs the mating surface of objects placed in slot."
+              },
+              "boundingBox": {
+                "$ref": "#/definitions/boundingBox"
+              },
+              "displayName": {
+                "description": "A human-readable nickname for this slot Eg \"Slot 1\" or \"Fixed Trash\"",
+                "type": "string"
+              },
+              "compatibleModuleTypes": {
+                "description": "An array of module types that can be placed in this slot.",
+                "type": "array",
+                "items": {
+                  "type": "string",
+                  "enum": [
+                    "magneticModuleType",
+                    "temperatureModuleType",
+                    "thermocyclerModuleType",
+                    "heaterShakerModuleType",
+                    "magneticBlockType"
+                  ]
+                }
+              }
+            }
+          }
+        },
+        "calibrationPoints": {
+          "type": "array",
+          "description": "Key points for deck calibration",
+          "items": {
+            "type": "object",
+            "required": ["id", "position", "displayName"],
+            "properties": {
+              "id": {
+                "description": "Unique identifier for calibration point",
+                "type": "string"
+              },
+              "position": {
+                "$ref": "#/definitions/xyzArray"
+              },
+              "displayName": {
+                "description": "An optional human-readable nickname for this point Eg \"Slot 3 Cross\" or \"Slot 1 Dot\"",
+                "type": "string"
+              }
+            }
+          }
+        },
+        "fixtures": {
+          "type": "array",
+          "description": "Fixed position objects on the deck.",
+          "items": {
+            "type": "object",
+            "required": ["id", "displayName"],
+            "properties": {
+              "id": {
+                "description": "Unique identifier for fixed object",
+                "type": "string"
+              },
+              "labware": {
+                "description": "Valid labware loadName for fixed object",
+                "type": "string"
+              },
+              "boundingBox": {
+                "$ref": "#/definitions/boundingBox"
+              },
+              "slot": {
+                "description": "Slot location of the fixed object",
+                "type": "string"
+              },
+              "position": {
+                "$ref": "#/definitions/xyzArray"
+              },
+              "displayName": {
+                "description": "An optional human-readable nickname for this fixture Eg \"Tall Fixed Trash\" or \"Short Fixed Trash\"",
+                "type": "string"
+              }
+            },
+            "oneOf": [
+              {
+                "anyOf": [
+                  {
+                    "required": ["labware", "slot"]
+                  },
+                  {
+                    "required": ["labware", "position"]
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "required": ["boundingBox", "slot"]
+                  },
+                  {
+                    "required": ["boundingBox", "position"]
+                  }
+                ]
+              }
+            ]
+          }
+        }
+      }
+    },
+    "layers": {
+      "type": "array",
+      "description": "Layered feature groups of the deck.",
+      "items": {
+        "$ref": "#/definitions/svgsonNode"
+      }
+    },
+    "gripperOffsets": {
+      "type": "object",
+      "description": "Offsets to be added when calculating the coordinates a gripper should go to when picking up or dropping a labware on this deck.",
+      "properties": {
+        "default": {
+          "type": "object",
+          "properties": {
+            "pickUpOffset": {
+              "$ref": "#/definitions/coordinates",
+              "description": "Offset added to calculate pick-up coordinates of a labware placed on this deck."
+            },
+            "dropOffset": {
+              "$ref": "#/definitions/coordinates",
+              "description": "Offset added to calculate drop coordinates of a labware placed on this deck."
+            }
+          },
+          "required": ["pickUpOffset", "dropOffset"]
+        }
+      },
+      "required": ["default"]
+    }
+  }
+}

package/python/build/lib/opentrons_shared_data/data/errors/definitions/1/errors.json

@@ -0,0 +1,198 @@
+{
+  "categories": {
+    "hardwareCommunicationError": {
+      "detail": "Hardware communications failed",
+      "codePrefix": "1"
+    },
+    "roboticsControlError": {
+      "detail": "A robot action failed",
+      "codePrefix": "2"
+    },
+    "roboticsInteractionError": {
+      "detail": "A robot interaction failed",
+      "codePrefix": "3"
+    },
+    "generalError": {
+      "detail": "A software error occurred",
+      "codePrefix": "4"
+    }
+  },
+  "codes": {
+    "1000": {
+      "detail": "Communication Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1001": {
+      "detail": "CANBus Communication Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1002": {
+      "detail": "Internal USB Communication Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1003": {
+      "detail": "Module Communication Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1004": {
+      "detail": "Command Timed Out",
+      "category": "hardwareCommunicationError"
+    },
+    "1005": {
+      "detail": "Firmware Update Failed",
+      "category": "hardwareCommunicationError"
+    },
+    "1006": {
+      "detail": "Internal Message Format Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1007": {
+      "detail": "CANBus Configuration Error",
+      "category": "hardwareCommunicationError"
+    },
+    "1008": {
+      "detail": "CANBus Bus Error",
+      "category": "hardwareCommunicationError"
+    },
+    "2000": {
+      "detail": "Robotics Control Error",
+      "category": "roboticsControlError"
+    },
+    "2001": {
+      "detail": "Motion Failed",
+      "category": "roboticsControlError"
+    },
+    "2002": {
+      "detail": "Homing Failed",
+      "category": "roboticsControlError"
+    },
+    "2003": {
+      "detail": "Stall or Collision Detected",
+      "category": "roboticsControlError"
+    },
+    "2004": {
+      "detail": "Motion Planning Failure",
+      "category": "roboticsControlError"
+    },
+    "2005": {
+      "detail": "Position Estimation Invalid",
+      "category": "roboticsControlError"
+    },
+    "2006": {
+      "detail": "Move Condition Not Met",
+      "category": "roboticsControlError"
+    },
+    "2007": {
+      "detail": "Calibration Structure Not Found",
+      "category": "roboticsControlError"
+    },
+    "2008": {
+      "detail": "Calibration Edge Not Found",
+      "category": "roboticsControlError"
+    },
+    "2009": {
+      "detail": "Early Capacitance Sense Trigger",
+      "category": "roboticsControlError"
+    },
+    "2010": {
+      "detail": "Inaccurate Non-Contact Sweep",
+      "category": "roboticsControlError"
+    },
+    "2011": {
+      "detail": "Misaligned Gantry",
+      "category": "roboticsControlError"
+    },
+    "3000": {
+      "detail": "A robotics interaction error occurred.",
+      "category": "roboticsInteractionError"
+    },
+    "3001": {
+      "detail": "Labware Dropped",
+      "category": "roboticsInteractionError"
+    },
+    "3002": {
+      "detail": "Labware Not Picked Up",
+      "category": "roboticsInteractionError"
+    },
+    "3003": {
+      "detail": "Tip Pickup Failed",
+      "category": "roboticsInteractionError"
+    },
+    "3004": {
+      "detail": "Tip Drop Failed",
+      "category": "roboticsInteractionError"
+    },
+    "3005": {
+      "detail": "Unexpected Tip Removal",
+      "category": "roboticsInteractionError"
+    },
+    "3006": {
+      "detail": "Pipette Overpressure",
+      "category": "roboticsInteractionError"
+    },
+    "3008": {
+      "detail": "E-Stop Activated",
+      "category": "roboticsInteractionError"
+    },
+    "3009": {
+      "detail": "E-Stop Not Present",
+      "category": "roboticsInteractionError"
+    },
+    "3010": {
+      "detail": "Pipette Not Present",
+      "category": "roboticsInteractionError"
+    },
+    "3011": {
+      "detail": "Gripper Not Present",
+      "category": "roboticsInteractionError"
+    },
+    "3012": {
+      "detail": "Unexpected Tip Presence",
+      "category": "roboticsInteractionError"
+    },
+    "3013": {
+      "detail": "Firmware Update Required",
+      "category": "roboticsInteractionError"
+    },
+    "3014": {
+      "detail": "Invalid Actuator",
+      "category": "roboticsInteractionError"
+    },
+    "3015": {
+      "detail": "Module Not Present",
+      "category": "roboticsInteractionError"
+    },
+    "3016": {
+      "detail": "Invalid Instrument Data",
+      "category": "roboticsInteractionError"
+    },
+    "3017": {
+      "detail": "Invalid Liquid Class Name",
+      "category": "roboticsInteractionError"
+    },
+    "4000": {
+      "detail": "Unknown or Uncategorized Error",
+      "category": "generalError"
+    },
+    "4001": {
+      "detail": "Robot In Use",
+      "category": "generalError"
+    },
+    "4002": {
+      "detail": "API Removed",
+      "category": "generalError"
+    },
+    "4003": {
+      "detail": "Not supported on this robot type",
+      "category": "generalError"
+    },
+    "4004": {
+      "detail": "Command Precondition Violated",
+      "category": "generalError"
+    },
+    "4005": {
+      "detail": "Command Parameter Limit Violated",
+      "category": "generalError"
+    }
+  }
+}

package/python/build/lib/opentrons_shared_data/data/errors/schemas/1.json

@@ -0,0 +1,50 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "definitions": {},
+  "description": "Error codes for ingestion into JS",
+  "type": "object",
+  "additionalProperties": false,
+  "properties": {
+    "categories": {
+      "description": "A map of error categories to specific information",
+      "type": "object",
+      "patternProperties": {
+        "^[a-zA-Z]+$": {
+          "description": "A category and information about it",
+          "properties": {
+            "detail": {
+              "type": "string",
+              "description": "a short human-readable text description of the category"
+            },
+            "codePrefix": {
+              "type": "string",
+              "description": "All errors in this category start with this prefix",
+              "regex": "^[0-9]+$"
+            }
+          }
+        }
+      }
+    },
+    "codes": {
+      "type": "object",
+      "patternProperties": {
+        "^[0-9]+$": {
+          "type": "object",
+          "properties": {
+            "detail": {
+              "type": "string",
+              "description": "A short human-readable text description of the error"
+            },
+            "category": {
+              "type": "string",
+              "description": "json pointer to the error category"
+            }
+          }
+        }
+      },
+
+      "description": "A map of error codes to detail information",
+      "additionalProperties": false
+    }
+  }
+}

package/python/build/lib/opentrons_shared_data/data/gripper/definitions/1/gripperV1.1.json

@@ -0,0 +1,28 @@
+{
+  "$otSharedSchema": "gripper/schemas/1",
+  "model": "gripperV1.1",
+  "schemaVersion": 1,
+  "displayName": "Flex Gripper",
+  "gripForceProfile": {
+    "polynomial": [
+      [0, 4.1194669],
+      [1, 1.4181001],
+      [2, 0.0135956]
+    ],
+    "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
+    }
+  }
+}

package/python/build/lib/opentrons_shared_data/data/gripper/definitions/1/gripperV1.2.json

@@ -0,0 +1,28 @@
+{
+  "$otSharedSchema": "gripper/schemas/1",
+  "model": "gripperV1.2",
+  "schemaVersion": 1,
+  "displayName": "Flex Gripper",
+  "gripForceProfile": {
+    "polynomial": [
+      [0, 3.8361203],
+      [1, 1.3505968],
+      [2, 0.0221189]
+    ],
+    "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
+    }
+  }
+}

package/python/build/lib/opentrons_shared_data/data/gripper/definitions/1/gripperV1.json

@@ -0,0 +1,27 @@
+{
+  "$otSharedSchema": "gripper/schemas/1",
+  "model": "gripperV1",
+  "schemaVersion": 1,
+  "displayName": "Flex Gripper",
+  "gripForceProfile": {
+    "polynomial": [
+      [0, -0.282],
+      [1, 2.09]
+    ],
+    "defaultGripForce": 15.0,
+    "defaultIdleForce": 10.0,
+    "defaultHomeForce": 12.0,
+    "min": 5.0,
+    "max": 20.0
+  },
+  "geometry": {
+    "baseOffsetFromMount": [19.5, -74.325, -94.825],
+    "jawCenterOffsetFromBase": [0.0, 0.0, -88.475],
+    "pinOneOffsetFromBase": [4.0, -57.0, -100.475],
+    "pinTwoOffsetFromBase": [4.0, 57.0, -100.475],
+    "jawWidth": {
+      "min": 58.0,
+      "max": 90.0
+    }
+  }
+}