@opentrons/shared-data 0.1.6-alpha.14 → 0.1.6-alpha.16

package/lib/command/schemas/11.json

@@ -22,6 +22,7 @@
             "loadLabware": "#/definitions/LoadLabwareCreate",
             "reloadLabware": "#/definitions/ReloadLabwareCreate",
             "loadLiquid": "#/definitions/LoadLiquidCreate",
+            "loadLiquidClass": "#/definitions/LoadLiquidClassCreate",
             "loadModule": "#/definitions/LoadModuleCreate",
             "loadPipette": "#/definitions/LoadPipetteCreate",
             "moveLabware": "#/definitions/MoveLabwareCreate",
@@ -81,7 +82,9 @@
             "unsafe/placeLabware": "#/definitions/UnsafePlaceLabwareCreate",
             "robot/moveAxesRelative": "#/definitions/MoveAxesRelativeCreate",
             "robot/moveAxesTo": "#/definitions/MoveAxesToCreate",
-            "robot/moveTo": "#/definitions/MoveToCreate"
+            "robot/moveTo": "#/definitions/MoveToCreate",
+            "robot/openGripperJaw": "#/definitions/openGripperJawCreate",
+            "robot/closeGripperJaw": "#/definitions/closeGripperJawCreate"
         }
     },
     "oneOf": [
@@ -139,6 +142,9 @@
         {
             "$ref": "#/definitions/LoadLiquidCreate"
         },
+        {
+            "$ref": "#/definitions/LoadLiquidClassCreate"
+        },
         {
             "$ref": "#/definitions/LoadModuleCreate"
         },
@@ -315,6 +321,12 @@
         },
         {
             "$ref": "#/definitions/MoveToCreate"
+        },
+        {
+            "$ref": "#/definitions/openGripperJawCreate"
+        },
+        {
+            "$ref": "#/definitions/closeGripperJawCreate"
         }
     ],
     "definitions": {
@@ -1522,158 +1534,1209 @@
                             "type": "string"
                         },
                         {
-                            "$ref": "#/definitions/AddressableAreaLocation"
+                            "$ref": "#/definitions/AddressableAreaLocation"
+                        }
+                    ]
+                },
+                "loadName": {
+                    "title": "Loadname",
+                    "description": "Name used to reference a labware definition.",
+                    "type": "string"
+                },
+                "namespace": {
+                    "title": "Namespace",
+                    "description": "The namespace the labware definition belongs to.",
+                    "type": "string"
+                },
+                "version": {
+                    "title": "Version",
+                    "description": "The labware definition version.",
+                    "type": "integer"
+                },
+                "labwareId": {
+                    "title": "Labwareid",
+                    "description": "An optional ID to assign to this labware. If None, an ID will be generated.",
+                    "type": "string"
+                },
+                "displayName": {
+                    "title": "Displayname",
+                    "description": "An optional user-specified display name or label for this labware.",
+                    "type": "string"
+                }
+            },
+            "required": ["location", "loadName", "namespace", "version"]
+        },
+        "LoadLabwareCreate": {
+            "title": "LoadLabwareCreate",
+            "description": "Load labware command creation request.",
+            "type": "object",
+            "properties": {
+                "commandType": {
+                    "title": "Commandtype",
+                    "default": "loadLabware",
+                    "enum": ["loadLabware"],
+                    "type": "string"
+                },
+                "params": {
+                    "$ref": "#/definitions/LoadLabwareParams"
+                },
+                "intent": {
+                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/CommandIntent"
+                        }
+                    ]
+                },
+                "key": {
+                    "title": "Key",
+                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                    "type": "string"
+                }
+            },
+            "required": ["params"]
+        },
+        "ReloadLabwareParams": {
+            "title": "ReloadLabwareParams",
+            "description": "Payload required to load a labware into a slot.",
+            "type": "object",
+            "properties": {
+                "labwareId": {
+                    "title": "Labwareid",
+                    "description": "The already-loaded labware instance to update.",
+                    "type": "string"
+                }
+            },
+            "required": ["labwareId"]
+        },
+        "ReloadLabwareCreate": {
+            "title": "ReloadLabwareCreate",
+            "description": "Reload labware command creation request.",
+            "type": "object",
+            "properties": {
+                "commandType": {
+                    "title": "Commandtype",
+                    "default": "reloadLabware",
+                    "enum": ["reloadLabware"],
+                    "type": "string"
+                },
+                "params": {
+                    "$ref": "#/definitions/ReloadLabwareParams"
+                },
+                "intent": {
+                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/CommandIntent"
+                        }
+                    ]
+                },
+                "key": {
+                    "title": "Key",
+                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                    "type": "string"
+                }
+            },
+            "required": ["params"]
+        },
+        "LoadLiquidParams": {
+            "title": "LoadLiquidParams",
+            "description": "Payload required to load a liquid into a well.",
+            "type": "object",
+            "properties": {
+                "liquidId": {
+                    "title": "Liquidid",
+                    "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.",
+                    "anyOf": [
+                        {
+                            "type": "string"
+                        },
+                        {
+                            "enum": ["EMPTY"],
+                            "type": "string"
+                        }
+                    ]
+                },
+                "labwareId": {
+                    "title": "Labwareid",
+                    "description": "Unique identifier of labware to load liquid into.",
+                    "type": "string"
+                },
+                "volumeByWell": {
+                    "title": "Volumebywell",
+                    "description": "Volume of liquid, in \u00b5L, loaded into each well by name, in this labware. If the liquid id is the sentinel value EMPTY, all volumes must be 0.",
+                    "type": "object",
+                    "additionalProperties": {
+                        "type": "number"
+                    }
+                }
+            },
+            "required": ["liquidId", "labwareId", "volumeByWell"]
+        },
+        "LoadLiquidCreate": {
+            "title": "LoadLiquidCreate",
+            "description": "Load liquid command creation request.",
+            "type": "object",
+            "properties": {
+                "commandType": {
+                    "title": "Commandtype",
+                    "default": "loadLiquid",
+                    "enum": ["loadLiquid"],
+                    "type": "string"
+                },
+                "params": {
+                    "$ref": "#/definitions/LoadLiquidParams"
+                },
+                "intent": {
+                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/CommandIntent"
+                        }
+                    ]
+                },
+                "key": {
+                    "title": "Key",
+                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                    "type": "string"
+                }
+            },
+            "required": ["params"]
+        },
+        "PositionReference": {
+            "title": "PositionReference",
+            "description": "Positional reference for liquid handling operations.",
+            "enum": ["well-bottom", "well-top", "well-center", "liquid-meniscus"]
+        },
+        "Coordinate": {
+            "title": "Coordinate",
+            "description": "Three-dimensional coordinates.",
+            "type": "object",
+            "properties": {
+                "x": {
+                    "title": "X",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                },
+                "y": {
+                    "title": "Y",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                },
+                "z": {
+                    "title": "Z",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                }
+            },
+            "required": ["x", "y", "z"]
+        },
+        "DelayParams": {
+            "title": "DelayParams",
+            "description": "Parameters for delay.",
+            "type": "object",
+            "properties": {
+                "duration": {
+                    "title": "Duration",
+                    "description": "Duration of delay, in seconds.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                }
+            },
+            "required": ["duration"]
+        },
+        "DelayProperties": {
+            "title": "DelayProperties",
+            "description": "Shared properties for delay..",
+            "type": "object",
+            "properties": {
+                "enable": {
+                    "title": "Enable",
+                    "description": "Whether delay is enabled.",
+                    "type": "boolean"
+                },
+                "params": {
+                    "title": "Params",
+                    "description": "Parameters for the delay function.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayParams"
+                        }
+                    ]
+                }
+            },
+            "required": ["enable"]
+        },
+        "Submerge": {
+            "title": "Submerge",
+            "description": "Shared properties for the submerge function before aspiration or dispense.",
+            "type": "object",
+            "properties": {
+                "positionReference": {
+                    "description": "Position reference for submerge.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/PositionReference"
+                        }
+                    ]
+                },
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for submerge.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
+                },
+                "speed": {
+                    "title": "Speed",
+                    "description": "Speed of submerging, in millimeters per second.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                },
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay settings for submerge.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
+                }
+            },
+            "required": ["positionReference", "offset", "speed", "delay"]
+        },
+        "LiquidClassTouchTipParams": {
+            "title": "LiquidClassTouchTipParams",
+            "description": "Parameters for touch-tip.",
+            "type": "object",
+            "properties": {
+                "zOffset": {
+                    "title": "Zoffset",
+                    "description": "Offset from the top of the well for touch-tip, in millimeters.",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                },
+                "mmToEdge": {
+                    "title": "Mmtoedge",
+                    "description": "Offset away from the the well edge, in millimeters.",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                },
+                "speed": {
+                    "title": "Speed",
+                    "description": "Touch-tip speed, in millimeters per second.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                }
+            },
+            "required": ["zOffset", "mmToEdge", "speed"]
+        },
+        "TouchTipProperties": {
+            "title": "TouchTipProperties",
+            "description": "Shared properties for the touch-tip function.",
+            "type": "object",
+            "properties": {
+                "enable": {
+                    "title": "Enable",
+                    "description": "Whether touch-tip is enabled.",
+                    "type": "boolean"
+                },
+                "params": {
+                    "title": "Params",
+                    "description": "Parameters for the touch-tip function.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/LiquidClassTouchTipParams"
+                        }
+                    ]
+                }
+            },
+            "required": ["enable"]
+        },
+        "RetractAspirate": {
+            "title": "RetractAspirate",
+            "description": "Shared properties for the retract function after aspiration.",
+            "type": "object",
+            "properties": {
+                "positionReference": {
+                    "description": "Position reference for retract after aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/PositionReference"
+                        }
+                    ]
+                },
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for retract after aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
+                },
+                "speed": {
+                    "title": "Speed",
+                    "description": "Speed of retraction, in millimeters per second.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                },
+                "airGapByVolume": {
+                    "title": "Airgapbyvolume",
+                    "description": "Settings for air gap keyed by target aspiration volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "touchTip": {
+                    "title": "Touchtip",
+                    "description": "Touch tip settings for retract after aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/TouchTipProperties"
+                        }
+                    ]
+                },
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay settings for retract after aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
+                }
+            },
+            "required": [
+                "positionReference",
+                "offset",
+                "speed",
+                "airGapByVolume",
+                "touchTip",
+                "delay"
+            ]
+        },
+        "MixParams": {
+            "title": "MixParams",
+            "description": "Parameters for mix.",
+            "type": "object",
+            "properties": {
+                "repetitions": {
+                    "title": "Repetitions",
+                    "description": "Number of mixing repetitions.",
+                    "minimum": 0,
+                    "type": "integer"
+                },
+                "volume": {
+                    "title": "Volume",
+                    "description": "Volume used for mixing, in microliters.",
+                    "anyOf": [
+                        {
+                            "type": "integer"
+                        },
+                        {
+                            "type": "number"
+                        }
+                    ]
+                }
+            },
+            "required": ["repetitions", "volume"]
+        },
+        "MixProperties": {
+            "title": "MixProperties",
+            "description": "Mixing properties.",
+            "type": "object",
+            "properties": {
+                "enable": {
+                    "title": "Enable",
+                    "description": "Whether mix is enabled.",
+                    "type": "boolean"
+                },
+                "params": {
+                    "title": "Params",
+                    "description": "Parameters for the mix function.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/MixParams"
+                        }
+                    ]
+                }
+            },
+            "required": ["enable"]
+        },
+        "AspirateProperties": {
+            "title": "AspirateProperties",
+            "description": "Properties specific to the aspirate function.",
+            "type": "object",
+            "properties": {
+                "submerge": {
+                    "title": "Submerge",
+                    "description": "Submerge settings for aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Submerge"
+                        }
+                    ]
+                },
+                "retract": {
+                    "title": "Retract",
+                    "description": "Pipette retract settings after an aspirate.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/RetractAspirate"
+                        }
+                    ]
+                },
+                "positionReference": {
+                    "description": "Position reference for aspiration.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/PositionReference"
+                        }
+                    ]
+                },
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for aspiration.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
+                },
+                "flowRateByVolume": {
+                    "title": "Flowratebyvolume",
+                    "description": "Settings for flow rate keyed by target aspiration volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "preWet": {
+                    "title": "Prewet",
+                    "description": "Whether to perform a pre-wet action.",
+                    "type": "boolean"
+                },
+                "mix": {
+                    "title": "Mix",
+                    "description": "Mixing settings for before an aspirate",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/MixProperties"
+                        }
+                    ]
+                },
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay settings after an aspirate",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
+                }
+            },
+            "required": [
+                "submerge",
+                "retract",
+                "positionReference",
+                "offset",
+                "flowRateByVolume",
+                "preWet",
+                "mix",
+                "delay"
+            ]
+        },
+        "BlowoutLocation": {
+            "title": "BlowoutLocation",
+            "description": "Location for blowout during a transfer function.",
+            "enum": ["source", "destination", "trash"]
+        },
+        "BlowoutParams": {
+            "title": "BlowoutParams",
+            "description": "Parameters for blowout.",
+            "type": "object",
+            "properties": {
+                "location": {
+                    "description": "Location well or trash entity for blow out.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/BlowoutLocation"
+                        }
+                    ]
+                },
+                "flowRate": {
+                    "title": "Flowrate",
+                    "description": "Flow rate for blow out, in microliters per second.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                }
+            },
+            "required": ["location", "flowRate"]
+        },
+        "BlowoutProperties": {
+            "title": "BlowoutProperties",
+            "description": "Blowout properties.",
+            "type": "object",
+            "properties": {
+                "enable": {
+                    "title": "Enable",
+                    "description": "Whether blow-out is enabled.",
+                    "type": "boolean"
+                },
+                "params": {
+                    "title": "Params",
+                    "description": "Parameters for the blowout function.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/BlowoutParams"
+                        }
+                    ]
+                }
+            },
+            "required": ["enable"]
+        },
+        "RetractDispense": {
+            "title": "RetractDispense",
+            "description": "Shared properties for the retract function after dispense.",
+            "type": "object",
+            "properties": {
+                "positionReference": {
+                    "description": "Position reference for retract after dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/PositionReference"
+                        }
+                    ]
+                },
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for retract after dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
+                },
+                "speed": {
+                    "title": "Speed",
+                    "description": "Speed of retraction, in millimeters per second.",
+                    "anyOf": [
+                        {
+                            "type": "integer",
+                            "minimum": 0
+                        },
+                        {
+                            "type": "number",
+                            "minimum": 0.0
+                        }
+                    ]
+                },
+                "airGapByVolume": {
+                    "title": "Airgapbyvolume",
+                    "description": "Settings for air gap keyed by target aspiration volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "blowout": {
+                    "title": "Blowout",
+                    "description": "Blowout properties for retract after dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/BlowoutProperties"
+                        }
+                    ]
+                },
+                "touchTip": {
+                    "title": "Touchtip",
+                    "description": "Touch tip settings for retract after dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/TouchTipProperties"
+                        }
+                    ]
+                },
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay settings for retract after dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
+                }
+            },
+            "required": [
+                "positionReference",
+                "offset",
+                "speed",
+                "airGapByVolume",
+                "blowout",
+                "touchTip",
+                "delay"
+            ]
+        },
+        "SingleDispenseProperties": {
+            "title": "SingleDispenseProperties",
+            "description": "Properties specific to the single-dispense function.",
+            "type": "object",
+            "properties": {
+                "submerge": {
+                    "title": "Submerge",
+                    "description": "Submerge settings for single dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Submerge"
+                        }
+                    ]
+                },
+                "retract": {
+                    "title": "Retract",
+                    "description": "Pipette retract settings after a single dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/RetractDispense"
+                        }
+                    ]
+                },
+                "positionReference": {
+                    "description": "Position reference for single dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/PositionReference"
                         }
                     ]
                 },
-                "loadName": {
-                    "title": "Loadname",
-                    "description": "Name used to reference a labware definition.",
-                    "type": "string"
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for single dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
                 },
-                "namespace": {
-                    "title": "Namespace",
-                    "description": "The namespace the labware definition belongs to.",
-                    "type": "string"
+                "flowRateByVolume": {
+                    "title": "Flowratebyvolume",
+                    "description": "Settings for flow rate keyed by target dispense volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
                 },
-                "version": {
-                    "title": "Version",
-                    "description": "The labware definition version.",
-                    "type": "integer"
+                "mix": {
+                    "title": "Mix",
+                    "description": "Mixing settings for after a dispense",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/MixProperties"
+                        }
+                    ]
                 },
-                "labwareId": {
-                    "title": "Labwareid",
-                    "description": "An optional ID to assign to this labware. If None, an ID will be generated.",
-                    "type": "string"
+                "pushOutByVolume": {
+                    "title": "Pushoutbyvolume",
+                    "description": "Settings for pushout keyed by target dispense volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
                 },
-                "displayName": {
-                    "title": "Displayname",
-                    "description": "An optional user-specified display name or label for this labware.",
-                    "type": "string"
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay after dispense, in seconds.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
                 }
             },
-            "required": ["location", "loadName", "namespace", "version"]
+            "required": [
+                "submerge",
+                "retract",
+                "positionReference",
+                "offset",
+                "flowRateByVolume",
+                "mix",
+                "pushOutByVolume",
+                "delay"
+            ]
         },
-        "LoadLabwareCreate": {
-            "title": "LoadLabwareCreate",
-            "description": "Load labware command creation request.",
+        "MultiDispenseProperties": {
+            "title": "MultiDispenseProperties",
+            "description": "Properties specific to the multi-dispense function.",
             "type": "object",
             "properties": {
-                "commandType": {
-                    "title": "Commandtype",
-                    "default": "loadLabware",
-                    "enum": ["loadLabware"],
-                    "type": "string"
+                "submerge": {
+                    "title": "Submerge",
+                    "description": "Submerge settings for multi-dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Submerge"
+                        }
+                    ]
                 },
-                "params": {
-                    "$ref": "#/definitions/LoadLabwareParams"
+                "retract": {
+                    "title": "Retract",
+                    "description": "Pipette retract settings after a multi-dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/RetractDispense"
+                        }
+                    ]
                 },
-                "intent": {
-                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                "positionReference": {
+                    "description": "Position reference for multi-dispense.",
                     "allOf": [
                         {
-                            "$ref": "#/definitions/CommandIntent"
+                            "$ref": "#/definitions/PositionReference"
                         }
                     ]
                 },
-                "key": {
-                    "title": "Key",
-                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
-                    "type": "string"
-                }
-            },
-            "required": ["params"]
-        },
-        "ReloadLabwareParams": {
-            "title": "ReloadLabwareParams",
-            "description": "Payload required to load a labware into a slot.",
-            "type": "object",
-            "properties": {
-                "labwareId": {
-                    "title": "Labwareid",
-                    "description": "The already-loaded labware instance to update.",
-                    "type": "string"
+                "offset": {
+                    "title": "Offset",
+                    "description": "Relative offset for single multi-dispense.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/Coordinate"
+                        }
+                    ]
+                },
+                "flowRateByVolume": {
+                    "title": "Flowratebyvolume",
+                    "description": "Settings for flow rate keyed by target dispense volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "conditioningByVolume": {
+                    "title": "Conditioningbyvolume",
+                    "description": "Settings for conditioning volume keyed by target dispense volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "disposalByVolume": {
+                    "title": "Disposalbyvolume",
+                    "description": "Settings for disposal volume keyed by target dispense volume.",
+                    "type": "array",
+                    "items": {
+                        "type": "array",
+                        "minItems": 2,
+                        "maxItems": 2,
+                        "items": [
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            },
+                            {
+                                "anyOf": [
+                                    {
+                                        "type": "integer",
+                                        "minimum": 0
+                                    },
+                                    {
+                                        "type": "number",
+                                        "minimum": 0.0
+                                    }
+                                ]
+                            }
+                        ]
+                    }
+                },
+                "delay": {
+                    "title": "Delay",
+                    "description": "Delay settings after each dispense",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/DelayProperties"
+                        }
+                    ]
                 }
             },
-            "required": ["labwareId"]
+            "required": [
+                "submerge",
+                "retract",
+                "positionReference",
+                "offset",
+                "flowRateByVolume",
+                "conditioningByVolume",
+                "disposalByVolume",
+                "delay"
+            ]
         },
-        "ReloadLabwareCreate": {
-            "title": "ReloadLabwareCreate",
-            "description": "Reload labware command creation request.",
+        "LiquidClassRecord": {
+            "title": "LiquidClassRecord",
+            "description": "LiquidClassRecord is our internal representation of an (immutable) liquid class.\n\nConceptually, a liquid class record is the tuple (name, pipette, tip, transfer properties).\nWe consider two liquid classes to be the same if every entry in that tuple is the same; and liquid\nclasses are different if any entry in the tuple is different.\n\nThis class defines the tuple via inheritance so that we can reuse the definitions from shared_data.",
             "type": "object",
             "properties": {
-                "commandType": {
-                    "title": "Commandtype",
-                    "default": "reloadLabware",
-                    "enum": ["reloadLabware"],
+                "tiprack": {
+                    "title": "Tiprack",
+                    "description": "The name of tiprack whose tip will be used when handling this specific liquid class with this pipette",
                     "type": "string"
                 },
-                "params": {
-                    "$ref": "#/definitions/ReloadLabwareParams"
+                "aspirate": {
+                    "title": "Aspirate",
+                    "description": "Aspirate parameters for this tip type.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/AspirateProperties"
+                        }
+                    ]
                 },
-                "intent": {
-                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                "singleDispense": {
+                    "title": "Singledispense",
+                    "description": "Single dispense parameters for this tip type.",
                     "allOf": [
                         {
-                            "$ref": "#/definitions/CommandIntent"
+                            "$ref": "#/definitions/SingleDispenseProperties"
                         }
                     ]
                 },
-                "key": {
-                    "title": "Key",
-                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                "multiDispense": {
+                    "title": "Multidispense",
+                    "description": "Optional multi-dispense parameters for this tip type.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/MultiDispenseProperties"
+                        }
+                    ]
+                },
+                "liquidClassName": {
+                    "title": "Liquidclassname",
+                    "description": "Identifier for the liquid of this liquid class, e.g. glycerol50.",
+                    "type": "string"
+                },
+                "pipetteModel": {
+                    "title": "Pipettemodel",
+                    "description": "Identifier for the pipette of this liquid class.",
                     "type": "string"
                 }
             },
-            "required": ["params"]
+            "required": [
+                "tiprack",
+                "aspirate",
+                "singleDispense",
+                "liquidClassName",
+                "pipetteModel"
+            ]
         },
-        "LoadLiquidParams": {
-            "title": "LoadLiquidParams",
-            "description": "Payload required to load a liquid into a well.",
+        "LoadLiquidClassParams": {
+            "title": "LoadLiquidClassParams",
+            "description": "The liquid class transfer properties to store.",
             "type": "object",
             "properties": {
-                "liquidId": {
-                    "title": "Liquidid",
-                    "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.",
-                    "anyOf": [
-                        {
-                            "type": "string"
-                        },
+                "liquidClassId": {
+                    "title": "Liquidclassid",
+                    "description": "Unique identifier for the liquid class to store. If you do not supply a liquidClassId, we will generate one.",
+                    "type": "string"
+                },
+                "liquidClassRecord": {
+                    "title": "Liquidclassrecord",
+                    "description": "The liquid class to store.",
+                    "allOf": [
                         {
-                            "enum": ["EMPTY"],
-                            "type": "string"
+                            "$ref": "#/definitions/LiquidClassRecord"
                         }
                     ]
-                },
-                "labwareId": {
-                    "title": "Labwareid",
-                    "description": "Unique identifier of labware to load liquid into.",
-                    "type": "string"
-                },
-                "volumeByWell": {
-                    "title": "Volumebywell",
-                    "description": "Volume of liquid, in \u00b5L, loaded into each well by name, in this labware. If the liquid id is the sentinel value EMPTY, all volumes must be 0.",
-                    "type": "object",
-                    "additionalProperties": {
-                        "type": "number"
-                    }
                 }
             },
-            "required": ["liquidId", "labwareId", "volumeByWell"]
+            "required": ["liquidClassRecord"]
         },
-        "LoadLiquidCreate": {
-            "title": "LoadLiquidCreate",
-            "description": "Load liquid command creation request.",
+        "LoadLiquidClassCreate": {
+            "title": "LoadLiquidClassCreate",
+            "description": "Load Liquid Class command creation request.",
             "type": "object",
             "properties": {
                 "commandType": {
                     "title": "Commandtype",
-                    "default": "loadLiquid",
-                    "enum": ["loadLiquid"],
+                    "default": "loadLiquidClass",
+                    "enum": ["loadLiquidClass"],
                     "type": "string"
                 },
                 "params": {
-                    "$ref": "#/definitions/LoadLiquidParams"
+                    "$ref": "#/definitions/LoadLiquidClassParams"
                 },
                 "intent": {
                     "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
@@ -1787,6 +2850,7 @@
                 "p1000_single_gen2",
                 "p1000_single_flex",
                 "p1000_multi_flex",
+                "p1000_multi_em",
                 "p1000_96",
                 "p200_96"
             ],
@@ -4705,7 +5769,7 @@
             "type": "object",
             "properties": {
                 "axes": {
-                    "description": "The axes for which to update the position estimators.",
+                    "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.",
                     "type": "array",
                     "items": {
                         "$ref": "#/definitions/MotorAxis"
@@ -4830,9 +5894,9 @@
             "description": "Payload required for an UnsafePlaceLabware command.",
             "type": "object",
             "properties": {
-                "labwareId": {
-                    "title": "Labwareid",
-                    "description": "The id of the labware to place.",
+                "labwareURI": {
+                    "title": "Labwareuri",
+                    "description": "Labware URI for labware.",
                     "type": "string"
                 },
                 "location": {
@@ -4854,7 +5918,7 @@
                     ]
                 }
             },
-            "required": ["labwareId", "location"]
+            "required": ["labwareURI", "location"]
         },
         "UnsafePlaceLabwareCreate": {
             "title": "UnsafePlaceLabwareCreate",
@@ -5055,6 +6119,84 @@
                 }
             },
             "required": ["params"]
+        },
+        "openGripperJawParams": {
+            "title": "openGripperJawParams",
+            "description": "Payload required to release a gripper.",
+            "type": "object",
+            "properties": {}
+        },
+        "openGripperJawCreate": {
+            "title": "openGripperJawCreate",
+            "description": "openGripperJaw command request model.",
+            "type": "object",
+            "properties": {
+                "commandType": {
+                    "title": "Commandtype",
+                    "default": "robot/openGripperJaw",
+                    "enum": ["robot/openGripperJaw"],
+                    "type": "string"
+                },
+                "params": {
+                    "$ref": "#/definitions/openGripperJawParams"
+                },
+                "intent": {
+                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/CommandIntent"
+                        }
+                    ]
+                },
+                "key": {
+                    "title": "Key",
+                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                    "type": "string"
+                }
+            },
+            "required": ["params"]
+        },
+        "closeGripperJawParams": {
+            "title": "closeGripperJawParams",
+            "description": "Payload required to close a gripper.",
+            "type": "object",
+            "properties": {
+                "force": {
+                    "title": "Force",
+                    "description": "The force the gripper should use to hold the jaws, falls to default if none is provided.",
+                    "type": "number"
+                }
+            }
+        },
+        "closeGripperJawCreate": {
+            "title": "closeGripperJawCreate",
+            "description": "closeGripperJaw command request model.",
+            "type": "object",
+            "properties": {
+                "commandType": {
+                    "title": "Commandtype",
+                    "default": "robot/closeGripperJaw",
+                    "enum": ["robot/closeGripperJaw"],
+                    "type": "string"
+                },
+                "params": {
+                    "$ref": "#/definitions/closeGripperJawParams"
+                },
+                "intent": {
+                    "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/CommandIntent"
+                        }
+                    ]
+                },
+                "key": {
+                    "title": "Key",
+                    "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+                    "type": "string"
+                }
+            },
+            "required": ["params"]
         }
     },
     "$id": "opentronsCommandSchemaV11",