@opentrons/shared-data 0.1.5 → 0.1.6-alpha.10

package/lib/deck/index.d.ts

@@ -1 +1,14 @@
-export * from './types/schemaV4';
+import ot2StandardDeckV3 from './definitions/3/ot2_standard.json';
+import ot2ShortFixedTrashDeckV3 from './definitions/3/ot2_short_trash.json';
+import ot3StandardDeckV3 from './definitions/3/ot3_standard.json';
+import ot2StandardDeckV4 from './definitions/4/ot2_standard.json';
+import ot2ShortFixedTrashDeckV4 from './definitions/4/ot2_short_trash.json';
+import ot3StandardDeckV4 from './definitions/4/ot3_standard.json';
+import ot2StandardDeckV5 from './definitions/5/ot2_standard.json';
+import ot2ShortFixedTrashDeckV5 from './definitions/5/ot2_short_trash.json';
+import ot3StandardDeckV5 from './definitions/5/ot3_standard.json';
+import deckExample from './fixtures/3/deckExample.json';
+import type { DeckDefinition } from '../js/types';
+export * from './types/schemaV5';
+export { ot2StandardDeckV3, ot2ShortFixedTrashDeckV3, ot3StandardDeckV3, ot2StandardDeckV4, ot2ShortFixedTrashDeckV4, ot3StandardDeckV4, ot2StandardDeckV5, ot2ShortFixedTrashDeckV5, ot3StandardDeckV5, deckExample, };
+export declare function getDeckDefinitions(): Record<string, DeckDefinition>;

package/lib/deck/schemas/5.json

@@ -0,0 +1,339 @@
+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "$id": "opentronsDeckSchemaV5",
+    "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",
+            "required": ["xDimension", "yDimension", "zDimension"],
+            "properties": {
+                "xDimension": { "$ref": "#/definitions/positiveNumber" },
+                "yDimension": { "$ref": "#/definitions/positiveNumber" },
+                "zDimension": { "$ref": "#/definitions/positiveNumber" }
+            }
+        }
+    },
+    "description": "Deck specifications, where x,y,z (0,0,0) is at front the bottom left corner.",
+    "type": "object",
+    "additionalProperties": false,
+    "required": [
+        "otId",
+        "schemaVersion",
+        "cornerOffsetFromOrigin",
+        "dimensions",
+        "metadata",
+        "robot",
+        "locations",
+        "cutoutFixtures"
+    ],
+    "properties": {
+        "otId": {
+            "description": "Unique internal ID generated using UUID",
+            "type": "string"
+        },
+        "schemaVersion": {
+            "description": "Schema version of a deck is a single integer",
+            "enum": [5]
+        },
+        "cornerOffsetFromOrigin": {
+            "$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": [
+                "addressableAreas",
+                "calibrationPoints",
+                "cutouts",
+                "legacyFixtures"
+            ],
+            "properties": {
+                "addressableAreas": {
+                    "type": "array",
+                    "items": {
+                        "type": "object",
+                        "description": "An addressable area is a named area in 3D space that the robot can interact with--for example, as a place to drop tips, or hold a labware.",
+                        "required": [
+                            "id",
+                            "areaType",
+                            "offsetFromCutoutFixture",
+                            "boundingBox",
+                            "displayName"
+                        ],
+                        "properties": {
+                            "id": {
+                                "description": "Unique identifier for slot",
+                                "type": "string"
+                            },
+                            "areaType": {
+                                "description": "The type of addressable area, defining allowed behavior.",
+                                "type": "string",
+                                "enum": [
+                                    "slot",
+                                    "stagingSlot",
+                                    "movableTrash",
+                                    "fixedTrash",
+                                    "wasteChute",
+                                    "lidDock"
+                                ]
+                            },
+                            "offsetFromCutoutFixture": {
+                                "$ref": "#/definitions/xyzArray",
+                                "description": "The offset from the origin of the cutout fixture that's providing this addressable area (which is currently identical to the position of the underlying cutout), to the -x, -y, -z corner of this addressable area's bounding box."
+                            },
+                            "matingSurfaceUnitVector": {
+                                "$ref": "#/definitions/unitVector",
+                                "description": "An optional diagonal direction of force, defined by spring location, which governs the mating surface of objects placed in this addressable area. Meant to be used when this addressable area is a slot."
+                            },
+                            "boundingBox": {
+                                "description": "The active area (both pipettes can reach) of this addressable area.",
+                                "$ref": "#/definitions/boundingBox"
+                            },
+                            "displayName": {
+                                "description": "A human-readable nickname for this area e.g. \"Slot A1\" or \"Trash Bin in A1\"",
+                                "type": "string"
+                            },
+                            "compatibleModuleTypes": {
+                                "description": "OT-2 Only parameter. An array of module types that can be placed in this area. The module type names can be found in the moduleType field of a module definition.",
+                                "type": "array",
+                                "items": {
+                                    "type": "string"
+                                }
+                            },
+                            "ableToDropTips": {
+                                "description": "Whether tips are allowed to be dropped into this area. If `true`, the top-center of the `boundingBox` should be a good location for the bottom-center of all the tips when they're dropped.",
+                                "type": "boolean"
+                            },
+                            "ableToDropLabware": {
+                                "description": "Whether labware is allowed to be dropped (different from being placed) into this area. If `true`, the top-center of the `boundingBox` should be a good location for the bottom-center of the labware when it's dropped.",
+                                "type": "boolean"
+                            }
+                        }
+                    }
+                },
+                "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": {
+                                "$ref": "#/definitions/xyzArray"
+                            },
+                            "displayName": {
+                                "description": "An optional human-readable nickname for this point Eg \"Slot 3 Cross\" or \"Slot 1 Dot\"",
+                                "type": "string"
+                            }
+                        }
+                    }
+                },
+                "cutouts": {
+                    "type": "array",
+                    "description": "The machined cutout slots on the deck surface.",
+                    "items": {
+                        "type": "object",
+                        "required": ["id", "position", "displayName"],
+                        "properties": {
+                            "id": {
+                                "description": "Unique identifier for the cutout",
+                                "type": "string"
+                            },
+                            "position": {
+                                "description": "Absolute position of the cutout",
+                                "$ref": "#/definitions/xyzArray"
+                            },
+                            "displayName": {
+                                "description": "An optional human-readable nickname for this cutout e.g. \"Cutout A1\"",
+                                "type": "string"
+                            }
+                        }
+                    }
+                },
+                "legacyFixtures": {
+                    "type": "array",
+                    "description": "Fixed position objects on the deck and fixture-dependant Module labware Eg Plate Reader Lid.",
+                    "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"
+                            },
+                            "slot": {
+                                "description": "Slot location of the fixed object",
+                                "type": "string"
+                            },
+                            "displayName": {
+                                "description": "An optional human-readable nickname for this fixture Eg \"Tall Fixed Trash\" or \"Short Fixed Trash\"",
+                                "type": "string"
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "cutoutFixtures": {
+            "type": "array",
+            "items": {
+                "description": "A cutout fixture is a physical thing that can be mounted onto one of the deck cutouts.",
+                "type": "object",
+                "required": [
+                    "id",
+                    "expectOpentronsModuleSerialNumber",
+                    "mayMountTo",
+                    "displayName",
+                    "providesAddressableAreas",
+                    "fixtureGroup",
+                    "height"
+                ],
+                "properties": {
+                    "id": {
+                        "description": "Unique identifier for the cutout fixture.",
+                        "type": "string"
+                    },
+                    "expectOpentronsModuleSerialNumber": {
+                        "description": "Determines whether or not a fixture expects a serial number for a connected Opentrons Module.",
+                        "type": "boolean"
+                    },
+                    "mayMountTo": {
+                        "description": "A list of compatible cutouts this fixture may be mounted to. These must match `id`s in `cutouts`.",
+                        "type": "array",
+                        "items": {
+                            "type": "string"
+                        }
+                    },
+                    "displayName": {
+                        "description": "A human-readable nickname for this area e.g. \"Standard Right Slot\" or \"Slot With Movable Trash\"",
+                        "type": "string"
+                    },
+                    "providesAddressableAreas": {
+                        "description": "The addressable areas that this cutout fixture provides, when it's mounted. It can provide different addressable areas depending on where it's mounted. Keys must match values from this object's `mayMountTo`. Values must match `id`s from `addressableAreas`.",
+                        "type": "object",
+                        "additionalProperties": {
+                            "type": "array",
+                            "items": {
+                                "type": "string"
+                            }
+                        }
+                    },
+                    "fixtureGroup": {
+                        "description": "The map of fixtures that must exist in the deck configuration if this fixture exists, with the mounting location acting as a key to determine the location of the rest of the group.",
+                        "type": "object",
+                        "additionalProperties": {
+                            "type": "array",
+                            "items": {
+                                "type": "object",
+                                "additionalProperties": {
+                                    "type": "string"
+                                }
+                            }
+                        }
+                    },
+                    "height": {
+                        "description": "The vertical distance (mm) from the cutout fixture's origin to its tallest physical feature that an instrument could collide with.",
+                        "type": "number"
+                    }
+                }
+            }
+        },
+        "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/lib/deck/types/schemaV5.d.ts

@@ -0,0 +1,13 @@
+export type FlexAddressableAreaName = 'A1' | 'B1' | 'C1' | 'D1' | 'A2' | 'B2' | 'C2' | 'D2' | 'A3' | 'B3' | 'C3' | 'D3' | 'A4' | 'B4' | 'C4' | 'D4' | 'movableTrashA1' | 'movableTrashB1' | 'movableTrashC1' | 'movableTrashD1' | 'movableTrashA3' | 'movableTrashB3' | 'movableTrashC3' | 'movableTrashD3' | '1ChannelWasteChute' | '8ChannelWasteChute' | '96ChannelWasteChute' | 'gripperWasteChute' | 'thermocyclerModuleV2' | 'heaterShakerV1A1' | 'heaterShakerV1B1' | 'heaterShakerV1C1' | 'heaterShakerV1D1' | 'heaterShakerV1A3' | 'heaterShakerV1B3' | 'heaterShakerV1C3' | 'heaterShakerV1D3' | 'temperatureModuleV2A1' | 'temperatureModuleV2B1' | 'temperatureModuleV2C1' | 'temperatureModuleV2D1' | 'temperatureModuleV2A3' | 'temperatureModuleV2B3' | 'temperatureModuleV2C3' | 'temperatureModuleV2D3' | 'magneticBlockV1A1' | 'magneticBlockV1B1' | 'magneticBlockV1C1' | 'magneticBlockV1D1' | 'magneticBlockV1A2' | 'magneticBlockV1B2' | 'magneticBlockV1C2' | 'magneticBlockV1D2' | 'magneticBlockV1A3' | 'magneticBlockV1B3' | 'magneticBlockV1C3' | 'magneticBlockV1D3' | 'absorbanceReaderV1A3' | 'absorbanceReaderV1B3' | 'absorbanceReaderV1C3' | 'absorbanceReaderV1D3' | 'absorbanceReaderV1LidDockA4' | 'absorbanceReaderV1LidDockB4' | 'absorbanceReaderV1LidDockC4' | 'absorbanceReaderV1LidDockD4';
+export type OT2AddressableAreaName = '1' | '2' | '3' | '4' | '5' | '6' | '7' | '8' | '9' | '10' | '11' | '12' | 'fixedTrash';
+export type AddressableAreaName = FlexAddressableAreaName | OT2AddressableAreaName;
+export type CutoutId = 'cutoutD1' | 'cutoutD2' | 'cutoutD3' | 'cutoutC1' | 'cutoutC2' | 'cutoutC3' | 'cutoutB1' | 'cutoutB2' | 'cutoutB3' | 'cutoutA1' | 'cutoutA2' | 'cutoutA3';
+export type OT2CutoutId = 'cutout1' | 'cutout2' | 'cutout3' | 'cutout4' | 'cutout5' | 'cutout6' | 'cutout7' | 'cutout8' | 'cutout9' | 'cutout10' | 'cutout11' | 'cutout12';
+export type SingleSlotCutoutFixtureId = 'singleLeftSlot' | 'singleCenterSlot' | 'singleRightSlot';
+export type StagingAreaRightSlotFixtureId = 'stagingAreaRightSlot';
+export type TrashBinAdapterCutoutFixtureId = 'trashBinAdapter';
+export type WasteChuteCutoutFixtureId = 'wasteChuteRightAdapterCovered' | 'wasteChuteRightAdapterNoCover' | 'stagingAreaSlotWithWasteChuteRightAdapterCovered' | 'stagingAreaSlotWithWasteChuteRightAdapterNoCover';
+export type FlexModuleCutoutFixtureId = 'heaterShakerModuleV1' | 'temperatureModuleV2' | 'magneticBlockV1' | 'stagingAreaSlotWithMagneticBlockV1' | 'thermocyclerModuleV2Rear' | 'thermocyclerModuleV2Front' | 'absorbanceReaderV1';
+export type OT2SingleStandardSlot = 'singleStandardSlot';
+export type OT2FixedTrashSlot = 'fixedTrashSlot';
+export type CutoutFixtureId = SingleSlotCutoutFixtureId | StagingAreaRightSlotFixtureId | TrashBinAdapterCutoutFixtureId | WasteChuteCutoutFixtureId | FlexModuleCutoutFixtureId | OT2SingleStandardSlot | OT2FixedTrashSlot;

package/lib/errors/definitions/1/errors.json

@@ -118,6 +118,18 @@
             "detail": "Gripper Pickup Failed",
             "category": "roboticsControlError"
         },
+        "2016": {
+            "detail": "Motor Driver Error",
+            "category": "roboticsControlError"
+        },
+        "2017": {
+            "detail": "Liquid Not Found",
+            "category": "roboticsControlError"
+        },
+        "2018": {
+            "detail": "Tip Hit Well Bottom",
+            "category": "roboticsControlError"
+        },
         "3000": {
             "detail": "A robotics interaction error occurred.",
             "category": "roboticsInteractionError"
@@ -190,6 +202,10 @@
             "detail": "Tip Detector Not Created",
             "category": "roboticsInteractionError"
         },
+        "3019": {
+            "detail": "HEPA UV Failed",
+            "category": "roboticsInteractionError"
+        },
         "4000": {
             "detail": "Unknown or Uncategorized Error",
             "category": "generalError"
@@ -221,6 +237,22 @@
         "4007": {
             "detail": "API Command is misconfigured",
             "category": "generalError"
+        },
+        "4008": {
+            "detail": "Invalid stored data",
+            "category": "generalError"
+        },
+        "4009": {
+            "detail": "Missing configuration data",
+            "category": "generalError"
+        },
+        "4010": {
+            "detail": "Runtime Parameter Value Required",
+            "category": "generalError"
+        },
+        "4011": {
+            "detail": "Incorrect API Version",
+            "category": "generalError"
         }
     }
 }

package/lib/errors/index.d.ts

@@ -0,0 +1,4 @@
+import errorSchemaV1 from './schemas/1.json';
+import errorData from './definitions/1/errors.json';
+export type * from './types';
+export { errorSchemaV1, errorData };

package/lib/errors/types/index.d.ts

@@ -0,0 +1,13 @@
+import ERROR_DATA from '../definitions/1/errors.json';
+export type ErrorCategories = keyof typeof ERROR_DATA['categories'];
+export interface CategorySpec {
+    detail: string;
+    codePrefix: string;
+}
+export type ErrorCodes = keyof typeof ERROR_DATA['codes'];
+export interface ErrorSpec {
+    detail: string;
+    category: ErrorCategories;
+}
+export type ErrorSpecs = Record<ErrorCodes, ErrorSpec>;
+export type CategorySpecs = Record<ErrorCategories, CategorySpec>;

package/lib/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
+    }
+}