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

package/lib/command/types/gantry.d.ts

@@ -1,5 +1,6 @@
 import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
 import type { AddressableAreaName } from '../../deck';
+import type { WellLocation } from './support';
 import type { Coordinates, MotorAxes, MotorAxis, GantryMount } from '../../js/types';
 export interface MoveToSlotCreateCommand extends CommonCommandCreateInfo {
     commandType: 'moveToSlot';
@@ -79,14 +80,7 @@ export interface MoveToWellParams {
     pipetteId: string;
     labwareId: string;
     wellName: string;
-    wellLocation?: {
-        origin?: 'top' | 'bottom';
-        offset?: {
-            x?: number;
-            y?: number;
-            z?: number;
-        };
-    };
+    wellLocation?: WellLocation;
     minimumZHeight?: number;
     forceDirect?: boolean;
 }

package/lib/command/types/incidental.d.ts

@@ -1,7 +1,7 @@
 import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
 import type { StatusBarAnimation } from '../../js/types';
-export type IncidentalCreateCommand = SetStatusBarCreateCommand;
-export type IncidentalRunTimeCommand = SetStatusBarRunTimeCommand;
+export type IncidentalCreateCommand = SetStatusBarCreateCommand | SetRailLightsCreateCommand;
+export type IncidentalRunTimeCommand = SetStatusBarRunTimeCommand | SetRailLightsRunTimeCommand;
 export interface SetStatusBarCreateCommand extends CommonCommandCreateInfo {
     commandType: 'setStatusBar';
     params: SetStatusBarParams;
@@ -12,4 +12,14 @@ export interface SetStatusBarRunTimeCommand extends CommonCommandRunTimeInfo, Se
 interface SetStatusBarParams {
     animation: StatusBarAnimation;
 }
+export interface SetRailLightsCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'setRailLights';
+    params: SetRailLightsParams;
+}
+export interface SetRailLightsRunTimeCommand extends CommonCommandRunTimeInfo, SetRailLightsCreateCommand {
+    result?: any;
+}
+interface SetRailLightsParams {
+    on: boolean;
+}
 export {};

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

@@ -1,3 +1,4 @@
+import type { ErrorCodes } from '../../errors';
 import type { PipettingRunTimeCommand, PipettingCreateCommand } from './pipetting';
 import type { GantryRunTimeCommand, GantryCreateCommand } from './gantry';
 import type { ModuleRunTimeCommand, ModuleCreateCommand } from './module';
@@ -6,6 +7,7 @@ import type { TimingRunTimeCommand, TimingCreateCommand } from './timing';
 import type { IncidentalCreateCommand, IncidentalRunTimeCommand } from './incidental';
 import type { AnnotationRunTimeCommand, AnnotationCreateCommand } from './annotation';
 import type { CalibrationRunTimeCommand, CalibrationCreateCommand } from './calibration';
+import type { UnsafeRunTimeCommand, UnsafeCreateCommand } from './unsafe';
 export * from './annotation';
 export * from './calibration';
 export * from './gantry';
@@ -14,7 +16,15 @@ export * from './module';
 export * from './pipetting';
 export * from './setup';
 export * from './timing';
+export * from './unsafe';
+export interface CommandNote {
+    noteKind: 'warning' | 'information' | string;
+    shortMessage: string;
+    longMessage: string;
+    source: string;
+}
 export type CommandStatus = 'queued' | 'running' | 'succeeded' | 'failed';
+export type CommandIntent = 'protocol' | 'setup' | 'fixit';
 export interface CommonCommandRunTimeInfo {
     key?: string;
     id: string;
@@ -23,19 +33,37 @@ export interface CommonCommandRunTimeInfo {
     createdAt: string;
     startedAt: string | null;
     completedAt: string | null;
-    intent?: 'protocol' | 'setup';
+    intent?: CommandIntent;
+    notes?: CommandNote[] | null;
+    failedCommandId?: string;
 }
 export interface CommonCommandCreateInfo {
+    intent?: CommandIntent;
     key?: string;
     meta?: {
         [key: string]: any;
     };
 }
-export type CreateCommand = PipettingCreateCommand | GantryCreateCommand | ModuleCreateCommand | SetupCreateCommand | TimingCreateCommand | CalibrationCreateCommand | AnnotationCreateCommand | IncidentalCreateCommand;
-export type RunTimeCommand = PipettingRunTimeCommand | GantryRunTimeCommand | ModuleRunTimeCommand | SetupRunTimeCommand | TimingRunTimeCommand | CalibrationRunTimeCommand | AnnotationRunTimeCommand | IncidentalRunTimeCommand;
-interface RunCommandError {
-    id: string;
-    errorType: string;
+export type CreateCommand = PipettingCreateCommand | GantryCreateCommand | ModuleCreateCommand | SetupCreateCommand | TimingCreateCommand | CalibrationCreateCommand | AnnotationCreateCommand | IncidentalCreateCommand | UnsafeCreateCommand;
+export type RunTimeCommand = PipettingRunTimeCommand | GantryRunTimeCommand | ModuleRunTimeCommand | SetupRunTimeCommand | TimingRunTimeCommand | CalibrationRunTimeCommand | AnnotationRunTimeCommand | IncidentalRunTimeCommand | UnsafeRunTimeCommand;
+export type RunCommandError = RunCommandErrorUndefined | RunCommandErrorOverpressure;
+export interface RunCommandErrorBase {
     createdAt: string;
     detail: string;
+    id: string;
+    wrappedErrors?: RunCommandError[];
+}
+export interface RunCommandErrorUndefined extends RunCommandErrorBase {
+    errorCode: ErrorCodes;
+    errorType: string;
+    isDefined: false;
+    errorInfo?: Record<string, unknown>;
+}
+export interface RunCommandErrorOverpressure extends RunCommandErrorBase {
+    errorCode: '3006';
+    errorType: 'overpressure';
+    isDefined: true;
+    errorInfo: {
+        retryLocation: [number, number, number];
+    };
 }

package/lib/command/types/module.d.ts

@@ -1,6 +1,6 @@
 import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
-export type ModuleRunTimeCommand = MagneticModuleEngageMagnetRunTimeCommand | MagneticModuleDisengageRunTimeCommand | TemperatureModuleSetTargetTemperatureRunTimeCommand | TemperatureModuleDeactivateRunTimeCommand | TemperatureModuleAwaitTemperatureRunTimeCommand | TCSetTargetBlockTemperatureRunTimeCommand | TCSetTargetLidTemperatureRunTimeCommand | TCWaitForBlockTemperatureRunTimeCommand | TCWaitForLidTemperatureRunTimeCommand | TCOpenLidRunTimeCommand | TCCloseLidRunTimeCommand | TCDeactivateBlockRunTimeCommand | TCDeactivateLidRunTimeCommand | TCRunProfileRunTimeCommand | TCAwaitProfileCompleteRunTimeCommand | HeaterShakerSetTargetTemperatureRunTimeCommand | HeaterShakerWaitForTemperatureRunTimeCommand | HeaterShakerSetAndWaitForShakeSpeedRunTimeCommand | HeaterShakerOpenLatchRunTimeCommand | HeaterShakerCloseLatchRunTimeCommand | HeaterShakerDeactivateHeaterRunTimeCommand | HeaterShakerDeactivateShakerRunTimeCommand;
-export type ModuleCreateCommand = MagneticModuleEngageMagnetCreateCommand | MagneticModuleDisengageCreateCommand | TemperatureModuleSetTargetTemperatureCreateCommand | TemperatureModuleDeactivateCreateCommand | TemperatureModuleAwaitTemperatureCreateCommand | TCSetTargetBlockTemperatureCreateCommand | TCSetTargetLidTemperatureCreateCommand | TCWaitForBlockTemperatureCreateCommand | TCWaitForLidTemperatureCreateCommand | TCOpenLidCreateCommand | TCCloseLidCreateCommand | TCDeactivateBlockCreateCommand | TCDeactivateLidCreateCommand | TCRunProfileCreateCommand | TCAwaitProfileCompleteCreateCommand | HeaterShakerWaitForTemperatureCreateCommand | HeaterShakerSetAndWaitForShakeSpeedCreateCommand | HeaterShakerOpenLatchCreateCommand | HeaterShakerCloseLatchCreateCommand | HeaterShakerDeactivateHeaterCreateCommand | HeaterShakerDeactivateShakerCreateCommand | HeaterShakerSetTargetTemperatureCreateCommand;
+export type ModuleRunTimeCommand = MagneticModuleEngageMagnetRunTimeCommand | MagneticModuleDisengageRunTimeCommand | TemperatureModuleSetTargetTemperatureRunTimeCommand | TemperatureModuleDeactivateRunTimeCommand | TemperatureModuleAwaitTemperatureRunTimeCommand | TCSetTargetBlockTemperatureRunTimeCommand | TCSetTargetLidTemperatureRunTimeCommand | TCWaitForBlockTemperatureRunTimeCommand | TCWaitForLidTemperatureRunTimeCommand | TCOpenLidRunTimeCommand | TCCloseLidRunTimeCommand | TCDeactivateBlockRunTimeCommand | TCDeactivateLidRunTimeCommand | TCRunProfileRunTimeCommand | TCRunExtendedProfileRunTimeCommand | TCAwaitProfileCompleteRunTimeCommand | HeaterShakerSetTargetTemperatureRunTimeCommand | HeaterShakerWaitForTemperatureRunTimeCommand | HeaterShakerSetAndWaitForShakeSpeedRunTimeCommand | HeaterShakerOpenLatchRunTimeCommand | HeaterShakerCloseLatchRunTimeCommand | HeaterShakerDeactivateHeaterRunTimeCommand | HeaterShakerDeactivateShakerRunTimeCommand | AbsorbanceReaderOpenLidRunTimeCommand | AbsorbanceReaderCloseLidRunTimeCommand | AbsorbanceReaderInitializeRunTimeCommand | AbsorbanceReaderReadRunTimeCommand;
+export type ModuleCreateCommand = MagneticModuleEngageMagnetCreateCommand | MagneticModuleDisengageCreateCommand | TemperatureModuleSetTargetTemperatureCreateCommand | TemperatureModuleDeactivateCreateCommand | TemperatureModuleAwaitTemperatureCreateCommand | TCSetTargetBlockTemperatureCreateCommand | TCSetTargetLidTemperatureCreateCommand | TCWaitForBlockTemperatureCreateCommand | TCWaitForLidTemperatureCreateCommand | TCOpenLidCreateCommand | TCCloseLidCreateCommand | TCDeactivateBlockCreateCommand | TCDeactivateLidCreateCommand | TCRunProfileCreateCommand | TCRunExtendedProfileCreateCommand | TCAwaitProfileCompleteCreateCommand | HeaterShakerWaitForTemperatureCreateCommand | HeaterShakerSetAndWaitForShakeSpeedCreateCommand | HeaterShakerOpenLatchCreateCommand | HeaterShakerCloseLatchCreateCommand | HeaterShakerDeactivateHeaterCreateCommand | HeaterShakerDeactivateShakerCreateCommand | HeaterShakerSetTargetTemperatureCreateCommand | AbsorbanceReaderOpenLidCreateCommand | AbsorbanceReaderCloseLidCreateCommand | AbsorbanceReaderInitializeCreateCommand | AbsorbanceReaderReadCreateCommand;
 export interface MagneticModuleEngageMagnetCreateCommand extends CommonCommandCreateInfo {
     commandType: 'magneticModule/engage';
     params: EngageMagnetParams;
@@ -103,6 +103,13 @@ export interface TCRunProfileCreateCommand extends CommonCommandCreateInfo {
 export interface TCRunProfileRunTimeCommand extends CommonCommandRunTimeInfo, TCRunProfileCreateCommand {
     result?: any;
 }
+export interface TCRunExtendedProfileCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'thermocycler/runExtendedProfile';
+    params: TCExtendedProfileParams;
+}
+export interface TCRunExtendedProfileRunTimeCommand extends CommonCommandRunTimeInfo, TCRunExtendedProfileCreateCommand {
+    result?: any;
+}
 export interface TCAwaitProfileCompleteCreateCommand extends CommonCommandCreateInfo {
     commandType: 'thermocycler/awaitProfileComplete';
     params: ModuleOnlyParams;
@@ -159,10 +166,44 @@ export interface HeaterShakerDeactivateShakerCreateCommand extends CommonCommand
 export interface HeaterShakerDeactivateShakerRunTimeCommand extends CommonCommandRunTimeInfo, HeaterShakerDeactivateShakerCreateCommand {
     result?: any;
 }
+export interface AbsorbanceReaderOpenLidRunTimeCommand extends CommonCommandRunTimeInfo, AbsorbanceReaderOpenLidCreateCommand {
+    result?: any;
+}
+export interface AbsorbanceReaderCloseLidRunTimeCommand extends CommonCommandRunTimeInfo, AbsorbanceReaderCloseLidCreateCommand {
+    result?: any;
+}
+export interface AbsorbanceReaderInitializeRunTimeCommand extends CommonCommandRunTimeInfo, AbsorbanceReaderInitializeCreateCommand {
+    result?: any;
+}
+export interface AbsorbanceReaderReadRunTimeCommand extends CommonCommandRunTimeInfo, AbsorbanceReaderReadCreateCommand {
+    result?: any;
+}
+export interface AbsorbanceReaderOpenLidCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'absorbanceReader/openLid';
+    params: ModuleOnlyParams;
+}
+export interface AbsorbanceReaderCloseLidCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'absorbanceReader/closeLid';
+    params: ModuleOnlyParams;
+}
+export interface AbsorbanceReaderInitializeCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'absorbanceReader/initialize';
+    params: AbsorbanceReaderInitializeParams;
+}
+export interface AbsorbanceReaderReadCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'absorbanceReader/read';
+    params: ModuleOnlyParams;
+}
 export interface EngageMagnetParams {
     moduleId: string;
     height: number;
 }
+export interface AbsorbanceReaderInitializeParams {
+    moduleId: string;
+    measureMode: 'single' | 'multi';
+    sampleWavelengths: number[];
+    referenceWavelength?: number;
+}
 export interface TemperatureParams {
     moduleId: string;
     celsius: number;
@@ -189,3 +230,12 @@ export interface ThermocyclerSetTargetBlockTemperatureParams {
     volume?: number;
     holdTimeSeconds?: number;
 }
+export interface TCProfileCycle {
+    steps: AtomicProfileStep[];
+    repetitions: number;
+}
+export interface TCExtendedProfileParams {
+    moduleId: string;
+    profileElements: Array<TCProfileCycle | AtomicProfileStep>;
+    blockMaxVolumeUl?: number;
+}

package/lib/command/types/pipetting.d.ts

@@ -1,7 +1,8 @@
 import type { AddressableAreaName } from '../../deck';
 import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
-export type PipettingRunTimeCommand = AspirateInPlaceRunTimeCommand | AspirateInPlaceRunTimeCommand | AspirateRunTimeCommand | BlowoutInPlaceRunTimeCommand | BlowoutRunTimeCommand | ConfigureForVolumeRunTimeCommand | DispenseInPlaceRunTimeCommand | DispenseRunTimeCommand | DropTipInPlaceRunTimeCommand | DropTipRunTimeCommand | GetTipPresenceRunTimeCommand | MoveToAddressableAreaForDropTipRunTimeCommand | PickUpTipRunTimeCommand | PrepareToAspirateRunTimeCommand | TouchTipRunTimeCommand | VerifyTipPresenceRunTimeCommand;
-export type PipettingCreateCommand = AspirateCreateCommand | AspirateInPlaceCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand | ConfigureForVolumeCreateCommand | DispenseCreateCommand | DispenseInPlaceCreateCommand | DropTipCreateCommand | DropTipInPlaceCreateCommand | GetTipPresenceCreateCommand | MoveToAddressableAreaForDropTipCreateCommand | PickUpTipCreateCommand | PrepareToAspirateCreateCommand | TouchTipCreateCommand | VerifyTipPresenceCreateCommand;
+import type { DropTipWellLocation, WellLocation } from './support';
+export type PipettingRunTimeCommand = AspirateInPlaceRunTimeCommand | AspirateInPlaceRunTimeCommand | AspirateRunTimeCommand | BlowoutInPlaceRunTimeCommand | BlowoutRunTimeCommand | ConfigureForVolumeRunTimeCommand | DispenseInPlaceRunTimeCommand | DispenseRunTimeCommand | DropTipInPlaceRunTimeCommand | DropTipRunTimeCommand | GetTipPresenceRunTimeCommand | MoveToAddressableAreaForDropTipRunTimeCommand | PickUpTipRunTimeCommand | PrepareToAspirateRunTimeCommand | TouchTipRunTimeCommand | VerifyTipPresenceRunTimeCommand | LiquidProbeRunTimeCommand | TryLiquidProbeRunTimeCommand | AirGapInPlaceRunTimeCommand;
+export type PipettingCreateCommand = AspirateCreateCommand | AspirateInPlaceCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand | ConfigureForVolumeCreateCommand | DispenseCreateCommand | DispenseInPlaceCreateCommand | DropTipCreateCommand | DropTipInPlaceCreateCommand | GetTipPresenceCreateCommand | MoveToAddressableAreaForDropTipCreateCommand | PickUpTipCreateCommand | PrepareToAspirateCreateCommand | TouchTipCreateCommand | VerifyTipPresenceCreateCommand | LiquidProbeCreateCommand | TryLiquidProbeCreateCommand | AirGapInPlaceCreateCommand;
 export interface ConfigureForVolumeCreateCommand extends CommonCommandCreateInfo {
     commandType: 'configureForVolume';
     params: ConfigureForVolumeParams;
@@ -13,6 +14,14 @@ export interface ConfigureForVolumeParams {
 export interface ConfigureForVolumeRunTimeCommand extends CommonCommandRunTimeInfo, ConfigureForVolumeCreateCommand {
     result?: BasicLiquidHandlingResult;
 }
+export type AirGapInPlaceParams = FlowRateParams & PipetteIdentityParams & VolumeParams;
+export interface AirGapInPlaceCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'airGapInPlace';
+    params: AirGapInPlaceParams;
+}
+export interface AirGapInPlaceRunTimeCommand extends CommonCommandRunTimeInfo, AirGapInPlaceCreateCommand {
+    result?: BasicLiquidHandlingResult;
+}
 export interface AspirateCreateCommand extends CommonCommandCreateInfo {
     commandType: 'aspirate';
     params: AspDispAirgapParams;
@@ -114,19 +123,24 @@ export interface VerifyTipPresenceCreateCommand extends CommonCommandCreateInfo
 export interface VerifyTipPresenceRunTimeCommand extends CommonCommandRunTimeInfo, VerifyTipPresenceCreateCommand {
     result?: any;
 }
+export interface LiquidProbeCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'liquidProbe';
+    params: WellLocationParam & PipetteAccessParams;
+}
+export interface LiquidProbeRunTimeCommand extends CommonCommandRunTimeInfo, LiquidProbeCreateCommand {
+    result?: Record<string, unknown>;
+}
+export interface TryLiquidProbeCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'tryLiquidProbe';
+    params: WellLocationParam & PipetteAccessParams;
+}
+export interface TryLiquidProbeRunTimeCommand extends CommonCommandRunTimeInfo, TryLiquidProbeCreateCommand {
+    result?: Record<string, unknown>;
+}
 export type AspDispAirgapParams = FlowRateParams & PipetteAccessParams & VolumeParams & WellLocationParam;
 export type BlowoutParams = FlowRateParams & PipetteAccessParams & WellLocationParam;
 export type TouchTipParams = PipetteAccessParams & WellLocationParam;
-export type DropTipParams = PipetteAccessParams & {
-    wellLocation?: {
-        origin?: 'default' | 'top' | 'center' | 'bottom';
-        offset?: {
-            x?: number;
-            y?: number;
-            z?: number;
-        };
-    };
-};
+export type DropTipParams = PipetteAccessParams & DropTipWellLocationParam;
 export type PickUpTipParams = TouchTipParams;
 interface AddressableOffsetVector {
     x: number;
@@ -174,17 +188,14 @@ interface VolumeParams {
     volume: number;
 }
 interface WellLocationParam {
-    wellLocation?: {
-        origin?: 'top' | 'center' | 'bottom';
-        offset?: {
-            x?: number;
-            y?: number;
-            z?: number;
-        };
-    };
+    wellLocation?: WellLocation;
+}
+interface DropTipWellLocationParam {
+    wellLocation?: DropTipWellLocation;
 }
 interface VerifyTipPresenceParams extends PipetteIdentityParams {
     expectedState?: 'present' | 'absent';
+    followSingularSensor?: 'primary' | 'secondary';
 }
 interface BasicLiquidHandlingResult {
     volume: number;

package/lib/command/types/setup.d.ts

@@ -16,6 +16,15 @@ export interface LoadLabwareCreateCommand extends CommonCommandCreateInfo {
 export interface LoadLabwareRunTimeCommand extends CommonCommandRunTimeInfo, LoadLabwareCreateCommand {
     result?: LoadLabwareResult;
 }
+export interface ReloadLabwareCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'reloadLabware';
+    params: {
+        labwareId: string;
+    };
+}
+export interface ReloadLabwareRunTimeCommand extends CommonCommandRunTimeInfo, ReloadLabwareCreateCommand {
+    result?: ReloadLabwareResult;
+}
 export interface MoveLabwareCreateCommand extends CommonCommandCreateInfo {
     commandType: 'moveLabware';
     params: MoveLabwareParams;
@@ -47,8 +56,8 @@ export interface ConfigureNozzleLayoutCreateCommand extends CommonCommandCreateI
 export interface ConfigureNozzleLayoutRunTimeCommand extends CommonCommandRunTimeInfo, ConfigureNozzleLayoutCreateCommand {
     result?: {};
 }
-export type SetupRunTimeCommand = ConfigureNozzleLayoutRunTimeCommand | LoadPipetteRunTimeCommand | LoadLabwareRunTimeCommand | LoadModuleRunTimeCommand | LoadLiquidRunTimeCommand | MoveLabwareRunTimeCommand;
-export type SetupCreateCommand = ConfigureNozzleLayoutCreateCommand | LoadPipetteCreateCommand | LoadLabwareCreateCommand | LoadModuleCreateCommand | LoadLiquidCreateCommand | MoveLabwareCreateCommand;
+export type SetupRunTimeCommand = ConfigureNozzleLayoutRunTimeCommand | LoadPipetteRunTimeCommand | LoadLabwareRunTimeCommand | ReloadLabwareRunTimeCommand | LoadModuleRunTimeCommand | LoadLiquidRunTimeCommand | MoveLabwareRunTimeCommand;
+export type SetupCreateCommand = ConfigureNozzleLayoutCreateCommand | LoadPipetteCreateCommand | LoadLabwareCreateCommand | ReloadLabwareCreateCommand | LoadModuleCreateCommand | LoadLiquidCreateCommand | MoveLabwareCreateCommand;
 export type LabwareLocation = 'offDeck' | {
     slotName: string;
 } | {
@@ -58,6 +67,15 @@ export type LabwareLocation = 'offDeck' | {
 } | {
     addressableAreaName: AddressableAreaName;
 };
+export type OnDeckLabwareLocation = {
+    slotName: string;
+} | {
+    moduleId: string;
+} | {
+    labwareId: string;
+} | {
+    addressableAreaName: AddressableAreaName;
+};
 export type NonStackedLocation = 'offDeck' | {
     slotName: string;
 } | {
@@ -89,6 +107,10 @@ interface LoadLabwareResult {
     definition: LabwareDefinition2;
     offset: LabwareOffset;
 }
+interface ReloadLabwareResult {
+    labwareId: string;
+    offsetId?: string | null;
+}
 export type LabwareMovementStrategy = 'usingGripper' | 'manualMoveWithPause' | 'manualMoveWithoutPause';
 export interface MoveLabwareParams {
     labwareId: string;
@@ -117,9 +139,9 @@ interface LoadLiquidResult {
     liquidId: string;
 }
 export declare const COLUMN = "COLUMN";
-declare const SINGLE = "SINGLE";
-declare const ROW = "ROW";
-declare const QUADRANT = "QUADRANT";
+export declare const SINGLE = "SINGLE";
+export declare const ROW = "ROW";
+export declare const QUADRANT = "QUADRANT";
 export declare const ALL = "ALL";
 export type NozzleConfigurationStyle = typeof COLUMN | typeof SINGLE | typeof ROW | typeof QUADRANT | typeof ALL;
 interface NozzleConfigurationParams {

package/lib/command/types/support.d.ts

@@ -0,0 +1,17 @@
+type BaseWellOrigin = 'top' | 'bottom' | 'center';
+export type WellOrigin = BaseWellOrigin | 'meniscus';
+export interface WellOffset {
+    x?: number;
+    y?: number;
+    z?: number;
+}
+export interface WellLocation {
+    origin?: WellOrigin;
+    offset?: WellOffset;
+}
+export type DropTipWellOrigin = BaseWellOrigin | 'default';
+export interface DropTipWellLocation {
+    origin?: DropTipWellOrigin;
+    offset?: WellOffset;
+}
+export {};

package/lib/command/types/unsafe.d.ts

@@ -0,0 +1,63 @@
+import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo, OnDeckLabwareLocation } from '.';
+import type { MotorAxes } from '../../js/types';
+export type UnsafeRunTimeCommand = UnsafeBlowoutInPlaceRunTimeCommand | UnsafeDropTipInPlaceRunTimeCommand | UnsafeUpdatePositionEstimatorsRunTimeCommand | UnsafeEngageAxesRunTimeCommand | UnsafeUngripLabwareRunTimeCommand | UnsafePlaceLabwareRunTimeCommand;
+export type UnsafeCreateCommand = UnsafeBlowoutInPlaceCreateCommand | UnsafeDropTipInPlaceCreateCommand | UnsafeUpdatePositionEstimatorsCreateCommand | UnsafeEngageAxesCreateCommand | UnsafeUngripLabwareCreateCommand | UnsafePlaceLabwareCreateCommand;
+export interface UnsafeBlowoutInPlaceParams {
+    pipetteId: string;
+    flowRate: number;
+}
+export interface UnsafeBlowoutInPlaceCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/blowOutInPlace';
+    params: UnsafeBlowoutInPlaceParams;
+}
+export interface UnsafeBlowoutInPlaceRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeBlowoutInPlaceCreateCommand {
+    result?: {};
+}
+export interface UnsafeDropTipInPlaceParams {
+    pipetteId: string;
+}
+export interface UnsafeDropTipInPlaceCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/dropTipInPlace';
+    params: UnsafeDropTipInPlaceParams;
+}
+export interface UnsafeDropTipInPlaceRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeDropTipInPlaceCreateCommand {
+    result?: any;
+}
+export interface UnsafeUpdatePositionEstimatorsParams {
+    axes: MotorAxes;
+}
+export interface UnsafeUpdatePositionEstimatorsCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/updatePositionEstimators';
+    params: UnsafeUpdatePositionEstimatorsParams;
+}
+export interface UnsafeUpdatePositionEstimatorsRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeUpdatePositionEstimatorsCreateCommand {
+    result?: any;
+}
+export interface UnsafeEngageAxesParams {
+    axes: MotorAxes;
+}
+export interface UnsafeEngageAxesCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/engageAxes';
+    params: UnsafeUpdatePositionEstimatorsParams;
+}
+export interface UnsafeEngageAxesRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeEngageAxesCreateCommand {
+    result?: any;
+}
+export interface UnsafeUngripLabwareCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/ungripLabware';
+    params: {};
+}
+export interface UnsafeUngripLabwareRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeUngripLabwareCreateCommand {
+    result?: any;
+}
+export interface UnsafePlaceLabwareParams {
+    labwareId: string;
+    location: OnDeckLabwareLocation;
+}
+export interface UnsafePlaceLabwareCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/placeLabware';
+    params: UnsafePlaceLabwareParams;
+}
+export interface UnsafePlaceLabwareRunTimeCommand extends CommonCommandRunTimeInfo, UnsafePlaceLabwareCreateCommand {
+    result?: any;
+}

package/lib/deck/definitions/4/ot2_standard.json

@@ -8,7 +8,12 @@
         "tags": ["ot2", "12 slots", "standard"]
     },
     "robot": {
-        "model": "OT-2 Standard"
+        "model": "OT-2 Standard",
+        "extents": [446.75, 347.5, 0.0],
+        "mountOffsets": {
+            "left": [-34, 0.0, 0.0],
+            "right": [0.0, 0.0, 0.0]
+        }
     },
     "locations": {
         "addressableAreas": [