chore(shared_data): add the v1.2 defs for gripper (#13172)

Opentrons · Jul 28, 2023 · 2568da6 · 2568da6
1 parent f2e9d00
commit 2568da6
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Showing 3 changed files with 31 additions and 1 deletion.
diff --git a/api/src/opentrons/config/gripper_config.py b/api/src/opentrons/config/gripper_config.py
@@ -21,9 +21,10 @@ def info_num_to_model(num: str) -> GripperModel:
     minor_model = num[2]
     # we provisioned the some EVT grippers as 01 and some as 10
     # DVT will now be 1.1
+    # PVT will now be 1.2
     model_map = {
         "0": {"0": GripperModel.v1, "1": GripperModel.v1},
-        "1": {"0": GripperModel.v1, "1": GripperModel.v1_1},
+        "1": {"0": GripperModel.v1, "1": GripperModel.v1_1, "2": GripperModel.v1_2},
     }
     return model_map[major_model][minor_model]
 

diff --git a/shared-data/gripper/definitions/1/gripperV1.2.json b/shared-data/gripper/definitions/1/gripperV1.2.json
@@ -0,0 +1,27 @@
+{
+  "$otSharedSchema": "gripper/schemas/1",
+  "model": "gripperV1.2",
+  "schemaVersion": 1,
+  "displayName": "Flex Gripper",
+  "gripForceProfile": {
+    "polynomial": [
+      [0, 4.1194669],
+      [1, 1.4181001],
+      [2, 0.0135956]
+    ],
+    "defaultGripForce": 15.0,
+    "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
+    }
+  }
+}
diff --git a/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py b/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py
@@ -23,12 +23,14 @@ class GripperModel(str, Enum):
 
     v1 = "gripperV1"
     v1_1 = "gripperV1.1"
+    v1_2 = "gripperV1.2"
 
     def __str__(self) -> str:
         """Model name."""
         enum_to_str = {
             self.__class__.v1: "gripperV1",
             self.__class__.v1_1: "gripperV1.1",
+            self.__class__.v1_2: "gripperV1.2",
         }
         return enum_to_str[self]