@opentrons/shared-data 0.0.0-alpha.2

package/errors/definitions/1/errors.json

@@ -0,0 +1,222 @@
+{
+  "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"
+    },
+    "2012": {
+      "detail": "Unmatched tip presence states",
+      "category": "roboticsControlError"
+    },
+    "2013": {
+      "detail": "Position Unknown",
+      "category": "roboticsControlError"
+    },
+    "2014": {
+      "detail": "Execution Cancelled",
+      "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"
+    },
+    "3018": {
+      "detail": "Tip Detector Not Created",
+      "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"
+    },
+    "4006": {
+      "detail": "Invalid Protocol Data",
+      "category": "generalError"
+    },
+    "4007": {
+      "detail": "API Command is misconfigured",
+      "category": "generalError"
+    }
+  }
+}

package/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/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/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/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
+    }
+  }
+}

package/gripper/schemas/1.json

@@ -0,0 +1,181 @@
+{
+  "title": "GripperDefinition",
+  "description": "Gripper definition.",
+  "type": "object",
+  "properties": {
+    "schemaVersion": {
+      "title": "Schemaversion",
+      "description": "Which schema version a gripper is using",
+      "enum": [1],
+      "type": "integer"
+    },
+    "displayName": {
+      "title": "Displayname",
+      "description": "Gripper display name.",
+      "type": "string"
+    },
+    "model": {
+      "$ref": "#/definitions/GripperModel"
+    },
+    "geometry": {
+      "$ref": "#/definitions/Geometry"
+    },
+    "gripForceProfile": {
+      "$ref": "#/definitions/GripForceProfile"
+    }
+  },
+  "required": [
+    "schemaVersion",
+    "displayName",
+    "model",
+    "geometry",
+    "gripForceProfile"
+  ],
+  "definitions": {
+    "GripperModel": {
+      "title": "GripperModel",
+      "description": "Gripper models.",
+      "enum": ["gripperV1", "gripperV1.1", "gripperV1.2"],
+      "type": "string"
+    },
+    "Geometry": {
+      "title": "Geometry",
+      "description": "Gripper geometry definition.",
+      "type": "object",
+      "properties": {
+        "baseOffsetFromMount": {
+          "title": "Baseoffsetfrommount",
+          "type": "array",
+          "items": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            }
+          ]
+        },
+        "jawCenterOffsetFromBase": {
+          "title": "Jawcenteroffsetfrombase",
+          "type": "array",
+          "items": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            }
+          ]
+        },
+        "pinOneOffsetFromBase": {
+          "title": "Pinoneoffsetfrombase",
+          "type": "array",
+          "items": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            }
+          ]
+        },
+        "pinTwoOffsetFromBase": {
+          "title": "Pintwooffsetfrombase",
+          "type": "array",
+          "items": [
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            },
+            {
+              "type": "number"
+            }
+          ]
+        },
+        "jawWidth": {
+          "title": "Jawwidth",
+          "type": "object",
+          "additionalProperties": {
+            "type": "number"
+          }
+        }
+      },
+      "required": [
+        "baseOffsetFromMount",
+        "jawCenterOffsetFromBase",
+        "pinOneOffsetFromBase",
+        "pinTwoOffsetFromBase",
+        "jawWidth"
+      ]
+    },
+    "GripForceProfile": {
+      "title": "GripForceProfile",
+      "description": "Gripper force profile.",
+      "type": "object",
+      "properties": {
+        "polynomial": {
+          "title": "Polynomial",
+          "description": "Polynomial function to convert a grip force in Newton to the jaw motor duty cycle value, which will be read by the gripper firmware.",
+          "minItems": 1,
+          "type": "array",
+          "items": {
+            "type": "array",
+            "items": [
+              {
+                "type": "integer",
+                "minimum": 0
+              },
+              {
+                "type": "number"
+              }
+            ]
+          }
+        },
+        "defaultGripForce": {
+          "title": "Defaultgripforce",
+          "minimum": 0.0,
+          "type": "number"
+        },
+        "defaultIdleForce": {
+          "title": "Defaultidleforce",
+          "minimum": 0.0,
+          "type": "number"
+        },
+        "defaultHomeForce": {
+          "title": "Defaulthomeforce",
+          "minimum": 0.0,
+          "type": "number"
+        },
+        "min": {
+          "title": "Min",
+          "minimum": 0.0,
+          "type": "number"
+        },
+        "max": {
+          "title": "Max",
+          "minimum": 0.0,
+          "type": "number"
+        }
+      },
+      "required": [
+        "polynomial",
+        "defaultGripForce",
+        "defaultIdleForce",
+        "defaultHomeForce",
+        "min",
+        "max"
+      ]
+    }
+  }
+}