feat(shared-data): bump gripper model version and use new force polyn…

…omial table for new motor (#15413)

<!--
Thanks for taking the time to open a pull request! Please make sure
you've read the "Opening Pull Requests" section of our Contributing
Guide:


https://github.com/Opentrons/opentrons/blob/edge/CONTRIBUTING.md#opening-pull-requests

To ensure your code is reviewed quickly and thoroughly, please fill out
the sections below to the best of your ability!
-->

# Overview
The manufacturer is changing the brushes on the gripper motor, so we'll
need to use a new force polynomial for the new gripper models (v1.3). In
order to use the new force function, you will need to make sure the
serial number is in the format of `GRPV13xxxxx`.

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]
 

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
+  }
+}

shared-data/js/constants.ts

@@ -48,7 +48,13 @@ 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'

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}`

shared-data/js/types.ts

@@ -24,6 +24,7 @@ import type {
   GRIPPER_V1,
   GRIPPER_V1_1,
   GRIPPER_V1_2,
+  GRIPPER_V1_3,
   EXTENSION,
   MAGNETIC_BLOCK_V1,
 } from './constants'
@@ -238,6 +239,7 @@ export type GripperModel =
   | typeof GRIPPER_V1
   | typeof GRIPPER_V1_1
   | typeof GRIPPER_V1_2
+  | typeof GRIPPER_V1_3
 
 export type ModuleModelWithLegacy =
   | ModuleModel

shared-data/python/opentrons_shared_data/gripper/gripper_definition.py

@@ -24,13 +24,15 @@ class GripperModel(str, Enum):
     v1 = "gripperV1"
     v1_1 = "gripperV1.1"
     v1_2 = "gripperV1.2"
+    v1_3 = "gripperV1.3"
 
     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",
+            self.__class__.v1_3: "gripperV1.3",
         }
         return enum_to_str[self]