@opentrons/shared-data 0.1.6-alpha.9 → 0.1.7-alpha.1

package/lib/command/schemas/7.json

@@ -1297,7 +1297,8 @@
                 "p1000_single_gen2",
                 "p1000_single_flex",
                 "p1000_multi_flex",
-                "p1000_96"
+                "p1000_96",
+                "p200_96"
             ],
             "type": "string"
         },

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

@@ -1,4 +1,4 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
 export type AnnotationCreateCommand = CommentCreateCommand | CustomCreateCommand;
 export type AnnotationRunTimeCommand = CommentRunTimeCommand | CustomRunTimeCommand;
 export interface CommentCreateCommand extends CommonCommandCreateInfo {
@@ -8,7 +8,7 @@ export interface CommentCreateCommand extends CommonCommandCreateInfo {
 export interface CommentRunTimeCommand extends CommonCommandRunTimeInfo, CommentCreateCommand {
     result?: any;
 }
-interface CommentParams {
+export interface CommentParams {
     message: string;
 }
 export interface CustomCreateCommand extends CommonCommandCreateInfo {

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

@@ -1,5 +1,5 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
-import type { PipetteMount, GantryMount, LabwareOffset, Coordinates } from '../../js/types';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
+import type { GantryMount, LabwareOffset, PipetteMount, Vector3D } from '../../js/types';
 export interface CalibratePipetteCreateCommand extends CommonCommandCreateInfo {
     commandType: 'calibration/calibratePipette';
     params: CalibratePipetteParams;
@@ -35,7 +35,7 @@ interface CalibratePipetteParams {
 }
 interface CalibrateGripperParams {
     jaw: 'front' | 'rear';
-    otherJawOffset?: Coordinates;
+    otherJawOffset?: Vector3D;
 }
 interface CalibrateModuleParams {
     moduleId: string;
@@ -46,13 +46,13 @@ interface CalibratePipetteResult {
     pipetteOffset: LabwareOffset;
 }
 interface CalibrateGripperResult {
-    jawOffset: Coordinates;
+    jawOffset: Vector3D;
 }
 interface MoveToMaintenancePositionParams {
     mount: GantryMount;
     maintenancePosition?: 'attachPlate' | 'attachInstrument';
 }
 interface CalibrateModuleResult {
-    moduleOffset: Coordinates;
+    moduleOffset: Vector3D;
 }
 export {};

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

@@ -1,7 +1,7 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
 import type { AddressableAreaName } from '../../deck';
+import type { GantryMount, MotorAxes, MotorAxis, Vector3D } from '../../js/types';
 import type { WellLocation } from './support';
-import type { Coordinates, MotorAxes, MotorAxis, GantryMount } from '../../js/types';
 export interface MoveToSlotCreateCommand extends CommonCommandCreateInfo {
     commandType: 'moveToSlot';
     params: MoveToSlotParams;
@@ -29,7 +29,7 @@ export interface MoveRelativeCreateCommand extends CommonCommandCreateInfo {
 }
 export interface MoveRelativeRunTimeCommand extends CommonCommandRunTimeInfo, MoveRelativeCreateCommand {
     result?: {
-        position: Coordinates;
+        position: Vector3D;
     };
 }
 export interface SavePositionCreateCommand extends CommonCommandCreateInfo {
@@ -39,7 +39,7 @@ export interface SavePositionCreateCommand extends CommonCommandCreateInfo {
 export interface SavePositionRunTimeCommand extends CommonCommandRunTimeInfo, SavePositionCreateCommand {
     result?: {
         positionId: string;
-        position: Coordinates;
+        position: Vector3D;
     };
 }
 export interface HomeCreateCommand extends CommonCommandCreateInfo {
@@ -83,6 +83,7 @@ export interface MoveToWellParams {
     wellLocation?: WellLocation;
     minimumZHeight?: number;
     forceDirect?: boolean;
+    speed?: number;
 }
 interface MoveToCoordinatesParams {
     pipetteId: string;
@@ -111,7 +112,7 @@ interface HomeParams {
 interface RetractAxisParams {
     axis: MotorAxis;
 }
-interface AddressableOffsetVector {
+export interface AddressableOffsetVector {
     x: number;
     y: number;
     z: number;

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

@@ -1,4 +1,4 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
 import type { StatusBarAnimation } from '../../js/types';
 export type IncidentalCreateCommand = SetStatusBarCreateCommand | SetRailLightsCreateCommand;
 export type IncidentalRunTimeCommand = SetStatusBarRunTimeCommand | SetRailLightsRunTimeCommand;

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

@@ -1,13 +1,14 @@
 import type { ErrorCodes } from '../../errors';
-import type { PipettingRunTimeCommand, PipettingCreateCommand } from './pipetting';
-import type { GantryRunTimeCommand, GantryCreateCommand } from './gantry';
-import type { ModuleRunTimeCommand, ModuleCreateCommand } from './module';
-import type { SetupRunTimeCommand, SetupCreateCommand } from './setup';
-import type { TimingRunTimeCommand, TimingCreateCommand } from './timing';
+import type { AnnotationCreateCommand, AnnotationRunTimeCommand } from './annotation';
+import type { CalibrationCreateCommand, CalibrationRunTimeCommand } from './calibration';
+import type { GantryCreateCommand, GantryRunTimeCommand } from './gantry';
 import type { IncidentalCreateCommand, IncidentalRunTimeCommand } from './incidental';
-import type { AnnotationRunTimeCommand, AnnotationCreateCommand } from './annotation';
-import type { CalibrationRunTimeCommand, CalibrationCreateCommand } from './calibration';
-import type { UnsafeRunTimeCommand, UnsafeCreateCommand } from './unsafe';
+import type { ModuleCreateCommand, ModuleRunTimeCommand } from './module';
+import type { PipettingCreateCommand, PipettingRunTimeCommand } from './pipetting';
+import type { RobotCreateCommand, RobotRunTimeCommand } from './robot';
+import type { SetupCreateCommand, SetupRunTimeCommand } from './setup';
+import type { TimingCreateCommand, TimingRunTimeCommand } from './timing';
+import type { UnsafeCreateCommand, UnsafeRunTimeCommand } from './unsafe';
 export * from './annotation';
 export * from './calibration';
 export * from './gantry';
@@ -17,6 +18,8 @@ export * from './pipetting';
 export * from './setup';
 export * from './timing';
 export * from './unsafe';
+export * from './support';
+export * from './robot';
 export interface CommandNote {
     noteKind: 'warning' | 'information' | string;
     shortMessage: string;
@@ -25,11 +28,11 @@ export interface CommandNote {
 }
 export type CommandStatus = 'queued' | 'running' | 'succeeded' | 'failed';
 export type CommandIntent = 'protocol' | 'setup' | 'fixit';
-export interface CommonCommandRunTimeInfo {
+export interface CommonCommandRunTimeInfo<DefinedErrorsT extends DefinedRunCommandError = DefinedRunCommandError> {
     key?: string;
     id: string;
     status: CommandStatus;
-    error?: RunCommandError | null;
+    error?: RunCommandErrorUndefined | DefinedErrorsT | null;
     createdAt: string;
     startedAt: string | null;
     completedAt: string | null;
@@ -44,9 +47,12 @@ export interface CommonCommandCreateInfo {
         [key: string]: any;
     };
 }
-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 type CreateCommand = PipettingCreateCommand | GantryCreateCommand | ModuleCreateCommand | SetupCreateCommand | TimingCreateCommand | CalibrationCreateCommand | AnnotationCreateCommand | IncidentalCreateCommand | UnsafeCreateCommand | RobotCreateCommand;
+export type RunTimeCommand = PipettingRunTimeCommand | GantryRunTimeCommand | ModuleRunTimeCommand | SetupRunTimeCommand | TimingRunTimeCommand | CalibrationRunTimeCommand | AnnotationRunTimeCommand | IncidentalRunTimeCommand | UnsafeRunTimeCommand | RobotRunTimeCommand;
+export type RunCommandError = RunCommandErrorUndefined | DefinedRunCommandError;
+export type DefinedRunCommandError = RunCommandRobotActionError | RunCommandFlexStackerError;
+export type RunCommandRobotActionError = RunCommandErrorOverpressure | RunCommandErrorTipPhysicallyAttached;
+export type Failed<CommandT extends RunTimeCommand> = Omit<CommandT, 'result'>;
 export interface RunCommandErrorBase {
     createdAt: string;
     detail: string;
@@ -56,7 +62,7 @@ export interface RunCommandErrorBase {
 export interface RunCommandErrorUndefined extends RunCommandErrorBase {
     errorCode: ErrorCodes;
     errorType: string;
-    isDefined: false;
+    isDefined: boolean;
     errorInfo?: Record<string, unknown>;
 }
 export interface RunCommandErrorOverpressure extends RunCommandErrorBase {
@@ -67,3 +73,36 @@ export interface RunCommandErrorOverpressure extends RunCommandErrorBase {
         retryLocation: [number, number, number];
     };
 }
+export interface RunCommandErrorTipPhysicallyAttached extends RunCommandErrorBase {
+    errorCode: '3004';
+    errorType: 'tipPhysicallyAttached';
+    isDefined: true;
+    errorInfo: {
+        retryLocation: [number, number, number];
+    };
+}
+export interface RunCommandErrorFlexStackerStall extends RunCommandErrorBase {
+    errorCode: '2019';
+    errorType: 'flexStackerStallOrCollision';
+    isDefined: true;
+    errorInfo: {
+        labwareId?: string;
+    };
+}
+export interface RunCommandErrorFlexStackerShuttle extends RunCommandErrorBase {
+    errorCode: '3020';
+    errorType: 'flexStackerShuttleMissing';
+    isDefined: true;
+    errorInfo: {
+        labwareId?: string;
+    };
+}
+export interface RunCommandErrorFlexStackerHopper extends RunCommandErrorBase {
+    errorCode: '3022';
+    errorType: 'flexStackerHopperLabwareFailed';
+    isDefined: true;
+    errorInfo: {
+        labwareId?: string;
+    };
+}
+export type RunCommandFlexStackerError = RunCommandErrorFlexStackerStall | RunCommandErrorFlexStackerShuttle | RunCommandErrorFlexStackerHopper;

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

@@ -1,6 +1,8 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
-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;
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo, RunCommandFlexStackerError } from '.';
+import type { LabwareDefinition2 } from '../../js';
+import type { LabwareLocationSequence } from './setup';
+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 | FlexStackerSetStoredLabwareRunTimeCommand | FlexStackerRetrieveRunTimeCommand | FlexStackerStoreRunTimeCommand | FlexStackerFillRunTimeCommand | FlexStackerEmptyRunTimeCommand;
+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 | FlexStackerSetStoredLabwareCreateCommand | FlexStackerRetrieveCreateCommand | FlexStackerStoreCreateCommand | FlexStackerFillCreateCommand | FlexStackerEmptyCreateCommand | FlexStackerPrepareShuttleCreateCommand | FlexStackerOpenLatch | FlexStackerCloseLatch;
 export interface MagneticModuleEngageMagnetCreateCommand extends CommonCommandCreateInfo {
     commandType: 'magneticModule/engage';
     params: EngageMagnetParams;
@@ -192,7 +194,10 @@ export interface AbsorbanceReaderInitializeCreateCommand extends CommonCommandCr
 }
 export interface AbsorbanceReaderReadCreateCommand extends CommonCommandCreateInfo {
     commandType: 'absorbanceReader/read';
-    params: ModuleOnlyParams;
+    params: {
+        moduleId: string;
+        fileName?: string | null;
+    };
 }
 export interface EngageMagnetParams {
     moduleId: string;
@@ -239,3 +244,155 @@ export interface TCExtendedProfileParams {
     profileElements: Array<TCProfileCycle | AtomicProfileStep>;
     blockMaxVolumeUl?: number;
 }
+export interface FlexStackerStoredLabwareDetails {
+    loadName: string;
+    namespace: string;
+    version: number;
+}
+export interface FlexStackerStoredLabwareGroup {
+    primaryLabwareId: string;
+    adapterLabwareId: string | null;
+    lidLabwareId: string | null;
+}
+interface StackerStoredLabwareLocationSequences {
+    originalPrimaryLabwareLocationSequences?: LabwareLocationSequence[] | null;
+    originalAdapterLabwareLocationSequences?: LabwareLocationSequence[] | null;
+    originalLidLabwareLocationSequences?: LabwareLocationSequence[] | null;
+    newPrimaryLabwareLocationSequences?: LabwareLocationSequence[] | null;
+    newAdapterLabwareLocationSequences?: LabwareLocationSequence[] | null;
+    newLidLabwareLocationSequences?: LabwareLocationSequence[] | null;
+}
+interface StackerStoredLabwareDefinitionURIs {
+    primaryLabwareURI: string;
+    adapterLabwareURI?: string | null;
+    lidLabwareURI?: string | null;
+}
+export interface FlexStackerSetStoredLabwareCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/setStoredLabware';
+    params: {
+        moduleId: string;
+        initialCount?: number | null;
+        initialStoredLabware?: FlexStackerStoredLabwareGroup[] | null;
+        primaryLabware: FlexStackerStoredLabwareDetails;
+        lidLabware: FlexStackerStoredLabwareDetails | null;
+        adapterLabware: FlexStackerStoredLabwareDetails | null;
+    };
+}
+export interface FlexStackerSetStoredLabwareRunTimeCommand extends FlexStackerSetStoredLabwareCreateCommand, CommonCommandRunTimeInfo {
+    result?: {
+        primaryLabwareDefinition: LabwareDefinition2;
+        lidLabwareDefinition?: LabwareDefinition2 | null;
+        adapterLabwareDefinition?: LabwareDefinition2 | null;
+        count: number;
+        storedLabware: FlexStackerStoredLabwareGroup[];
+    } & StackerStoredLabwareLocationSequences;
+}
+export interface FlexStackerRetrieveCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/retrieve';
+    params: {
+        moduleId: string;
+    };
+}
+export interface FlexStackerStoreCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/store';
+    params: {
+        moduleId: string;
+    };
+}
+export interface FlexStackerFillCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/fill';
+    params: {
+        moduleId: string;
+        strategy: 'manualWithPause' | 'logical';
+        message?: string;
+        count?: number;
+        labwareToStore?: FlexStackerStoredLabwareGroup[];
+    };
+}
+export interface FlexStackerEmptyCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/empty';
+    params: {
+        moduleId: string;
+        strategy: 'manualWithPause' | 'logical';
+        message?: string;
+        count?: number;
+    };
+}
+export interface FlexStackerPrepareShuttleCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/prepareShuttle';
+    params: {
+        moduleId: string;
+        ignoreLatch?: boolean;
+    };
+}
+export interface FlexStackerOpenLatch extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/openLatch';
+    params: {
+        moduleId: string;
+    };
+}
+export interface FlexStackerCloseLatch extends CommonCommandCreateInfo {
+    commandType: 'flexStacker/closeLatch';
+    params: {
+        moduleId: string;
+    };
+}
+interface RetrieveResultPrimary {
+    labwareId: string;
+    primaryLocationSequence: LabwareLocationSequence;
+    originalPrimaryLocationSequence: LabwareLocationSequence;
+    primaryLabwareURI: string;
+}
+interface RetrieveResultNoLid {
+    lidId?: null;
+    lidLocationSequence?: null;
+    originalLidLocationSequence?: null;
+    lidLabwareURI?: null;
+}
+interface RetrieveResultLid {
+    lidId: string;
+    lidLocationSequence: LabwareLocationSequence;
+    originalLidLocationSequence: LabwareLocationSequence;
+    lidLabwareURI: string;
+}
+interface RetrieveResultAdapter {
+    adapterId: string;
+    adapterLocationSequence: LabwareLocationSequence;
+    originalAdapterLocationSequence: LabwareLocationSequence;
+    adapterLabwareURI: string;
+}
+interface RetrieveResultNoAdapter {
+    adapterId?: null;
+    adapterLocationSequence?: null;
+    originalAdapterLocationSequence?: null;
+    adapterLabwareURI?: null;
+}
+export interface FlexStackerRetrieveRunTimeCommand extends FlexStackerRetrieveCreateCommand, CommonCommandRunTimeInfo<RunCommandFlexStackerError> {
+    result?: (RetrieveResultPrimary & RetrieveResultNoLid & RetrieveResultNoAdapter) | (RetrieveResultPrimary & RetrieveResultLid & RetrieveResultNoAdapter) | (RetrieveResultPrimary & RetrieveResultNoLid & RetrieveResultAdapter) | (RetrieveResultPrimary & RetrieveResultAdapter & RetrieveResultLid);
+}
+export interface FlexStackerStoreRunTimeCommand extends FlexStackerStoreCreateCommand, CommonCommandRunTimeInfo<RunCommandFlexStackerError> {
+    result?: {
+        eventualDestinationLocationSequence?: LabwareLocationSequence;
+        primaryOriginLocationSequence?: LabwareLocationSequence;
+        primaryLabwareId?: string;
+        adapterOriginLocationSequence?: LabwareLocationSequence;
+        adapterLabwareId?: string;
+        lidOriginLocationSequence?: LabwareLocationSequence;
+        lidLabwareId?: LabwareLocationSequence;
+    } & StackerStoredLabwareDefinitionURIs;
+}
+export interface FlexStackerFillRunTimeCommand extends FlexStackerFillCreateCommand, CommonCommandRunTimeInfo {
+    result?: {
+        count: number;
+        storedLabware?: FlexStackerStoredLabwareGroup[] | null;
+        addedLabware?: FlexStackerStoredLabwareGroup[] | null;
+    } & StackerStoredLabwareLocationSequences & StackerStoredLabwareDefinitionURIs;
+}
+export interface FlexStackerEmptyRunTimeCommand extends FlexStackerEmptyCreateCommand, CommonCommandRunTimeInfo {
+    result?: {
+        count: number;
+        storedLabware?: FlexStackerStoredLabwareGroup[] | null;
+        removedLabware?: FlexStackerStoredLabwareGroup[] | null;
+    } & StackerStoredLabwareLocationSequences & StackerStoredLabwareDefinitionURIs;
+}
+export {};

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

@@ -1,8 +1,8 @@
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
 import type { AddressableAreaName } from '../../deck';
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
 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 type PipettingRunTimeCommand = AspirateInPlaceRunTimeCommand | AspirateInPlaceRunTimeCommand | AspirateRunTimeCommand | BlowoutInPlaceRunTimeCommand | BlowoutRunTimeCommand | ConfigureForVolumeRunTimeCommand | DispenseInPlaceRunTimeCommand | DispenseRunTimeCommand | DropTipInPlaceRunTimeCommand | DropTipRunTimeCommand | GetTipPresenceRunTimeCommand | GetNextTipRunTimeCommand | MoveToAddressableAreaForDropTipRunTimeCommand | PickUpTipRunTimeCommand | PrepareToAspirateRunTimeCommand | TouchTipRunTimeCommand | VerifyTipPresenceRunTimeCommand | LiquidProbeRunTimeCommand | TryLiquidProbeRunTimeCommand | AirGapInPlaceRunTimeCommand | PipetteSealToTipRunTimeCommand | PipetteUnsealFromTipRunTimeCommand | PressureDispenseRunTimeCommand;
+export type PipettingCreateCommand = AspirateCreateCommand | AspirateInPlaceCreateCommand | BlowoutCreateCommand | BlowoutInPlaceCreateCommand | ConfigureForVolumeCreateCommand | DispenseCreateCommand | DispenseInPlaceCreateCommand | DropTipCreateCommand | DropTipInPlaceCreateCommand | GetTipPresenceCreateCommand | GetNextTipCreateCommand | MoveToAddressableAreaForDropTipCreateCommand | PickUpTipCreateCommand | PrepareToAspirateCreateCommand | TouchTipCreateCommand | VerifyTipPresenceCreateCommand | LiquidProbeCreateCommand | TryLiquidProbeCreateCommand | AirGapInPlaceCreateCommand | PipetteSealToTipCreateCommand | PipetteUnsealFromTipCreateCommand | PressureDispenseCreateCommand;
 export interface ConfigureForVolumeCreateCommand extends CommonCommandCreateInfo {
     commandType: 'configureForVolume';
     params: ConfigureForVolumeParams;
@@ -14,7 +14,9 @@ export interface ConfigureForVolumeParams {
 export interface ConfigureForVolumeRunTimeCommand extends CommonCommandRunTimeInfo, ConfigureForVolumeCreateCommand {
     result?: BasicLiquidHandlingResult;
 }
-export type AirGapInPlaceParams = FlowRateParams & PipetteIdentityParams & VolumeParams;
+export type AirGapInPlaceParams = FlowRateParams & PipetteIdentityParams & VolumeParams & {
+    correctionVolume?: number;
+};
 export interface AirGapInPlaceCreateCommand extends CommonCommandCreateInfo {
     commandType: 'airGapInPlace';
     params: AirGapInPlaceParams;
@@ -116,6 +118,13 @@ export interface GetTipPresenceCreateCommand extends CommonCommandCreateInfo {
 export interface GetTipPresenceRunTimeCommand extends CommonCommandRunTimeInfo, GetTipPresenceCreateCommand {
     result?: TipPresenceResult;
 }
+export interface GetNextTipCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'getNextTip';
+    params: GetNextTipParams;
+}
+export interface GetNextTipRunTimeCommand extends CommonCommandRunTimeInfo, GetNextTipCreateCommand {
+    result?: GetNextTipResult;
+}
 export interface VerifyTipPresenceCreateCommand extends CommonCommandCreateInfo {
     commandType: 'verifyTipPresence';
     params: VerifyTipPresenceParams;
@@ -123,9 +132,10 @@ export interface VerifyTipPresenceCreateCommand extends CommonCommandCreateInfo
 export interface VerifyTipPresenceRunTimeCommand extends CommonCommandRunTimeInfo, VerifyTipPresenceCreateCommand {
     result?: any;
 }
+export type LiquidProbeParams = WellLocationParam & PipetteAccessParams;
 export interface LiquidProbeCreateCommand extends CommonCommandCreateInfo {
     commandType: 'liquidProbe';
-    params: WellLocationParam & PipetteAccessParams;
+    params: LiquidProbeParams;
 }
 export interface LiquidProbeRunTimeCommand extends CommonCommandRunTimeInfo, LiquidProbeCreateCommand {
     result?: Record<string, unknown>;
@@ -137,11 +147,46 @@ export interface TryLiquidProbeCreateCommand extends CommonCommandCreateInfo {
 export interface TryLiquidProbeRunTimeCommand extends CommonCommandRunTimeInfo, TryLiquidProbeCreateCommand {
     result?: Record<string, unknown>;
 }
+export interface PipetteSealToTipCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'sealPipetteToTip';
+    params: PipetteAccessParams & WellLocationParam;
+}
+export interface PipetteUnsealFromTipCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsealPipetteFromTip';
+    params: PipetteAccessParams & WellLocationParam;
+}
+export interface PressureDispenseCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'pressureDispense';
+    params: PipetteAccessParams & WellLocationParam & FlowRateParams & VolumeParams;
+}
+export interface PipetteSealToTipRunTimeCommand extends CommonCommandRunTimeInfo, PipetteSealToTipCreateCommand {
+    result?: PipetteSealToTipResult;
+}
+export interface PipetteUnsealFromTipRunTimeCommand extends CommonCommandRunTimeInfo, PipetteUnsealFromTipCreateCommand {
+    result?: PipetteUnsealFromTipResult;
+}
+export interface PressureDispenseRunTimeCommand extends CommonCommandRunTimeInfo, PressureDispenseCreateCommand {
+    result?: BasicLiquidHandlingResult;
+}
 export type AspDispAirgapParams = FlowRateParams & PipetteAccessParams & VolumeParams & WellLocationParam;
 export type BlowoutParams = FlowRateParams & PipetteAccessParams & WellLocationParam;
-export type TouchTipParams = PipetteAccessParams & WellLocationParam;
+export type TouchTipParams = PipetteAccessParams & WellLocationParam & {
+    speed?: number;
+    mmFromEdge?: number;
+};
 export type DropTipParams = PipetteAccessParams & DropTipWellLocationParam;
-export type PickUpTipParams = TouchTipParams;
+export interface GetNextTipParams {
+    pipetteId: string;
+    labwareIds: string[];
+}
+export interface GetNextTipResult {
+    nextTipInfo: {
+        labwareId: string;
+        tipStartingWell: string;
+    };
+}
+export type PickUpTipParams = PipetteAccessParams & WellLocationParam;
+export type PrepareToAspirateParams = PipetteIdentityParams;
 interface AddressableOffsetVector {
     x: number;
     y: number;
@@ -168,11 +213,13 @@ export interface DispenseInPlaceParams {
     volume: number;
     flowRate: number;
     pushOut?: number;
+    correctionVolume?: number;
 }
 export interface AspirateInPlaceParams {
     pipetteId: string;
     volume: number;
     flowRate: number;
+    correctionVolume?: number;
 }
 interface FlowRateParams {
     flowRate: number;
@@ -203,4 +250,13 @@ interface BasicLiquidHandlingResult {
 interface TipPresenceResult {
     status?: 'present' | 'absent' | 'unknown';
 }
+interface PipetteSealToTipResult {
+    position: AddressableOffsetVector;
+    tipVolume: number;
+    tipLength: number;
+    tipDiameter: number;
+}
+interface PipetteUnsealFromTipResult {
+    position: AddressableOffsetVector;
+}
 export {};

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

@@ -0,0 +1,71 @@
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
+import type { GantryMount, MotorAxis } from '../../js/types';
+export type RobotRunTimeCommand = RobotMoveToRunTimeCommand | RobotMoveAxesToRunTimeCommand | RobotMoveAxesRelativeRunTimeCommand | RobotOpenGripperJawRunTimeCommand | RobotCloseGripperJawRunTimeCommand;
+export type RobotCreateCommand = RobotMoveToCreateCommand | RobotMoveAxesToCreateCommand | RobotMoveAxesRelativeCreateCommand | RobotOpenGripperJawCreateCommand | RobotCloseGripperJawCreateCommand;
+export type RobotMotorAxisMap = Record<MotorAxis, number>;
+export type GantryAxisMap = {
+    x: number;
+    y: number;
+    leftZ: number;
+} | {
+    x: number;
+    y: number;
+    rightZ: number;
+};
+export interface RobotMoveToParams {
+    mount: GantryMount;
+    destination: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    speed?: number;
+}
+export interface RobotMoveToCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'robot/moveTo';
+    params: RobotMoveToParams;
+}
+export interface RobotMoveToRunTimeCommand extends CommonCommandRunTimeInfo, RobotMoveToCreateCommand {
+    result?: any;
+}
+export interface RobotMoveAxesToParams {
+    axis_map: RobotMotorAxisMap;
+    critical_point?: GantryAxisMap;
+    speed?: number;
+}
+export interface RobotMoveAxesToCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'robot/moveAxesTo';
+    params: RobotMoveAxesToParams;
+}
+export interface RobotMoveAxesToRunTimeCommand extends CommonCommandRunTimeInfo, RobotMoveAxesToCreateCommand {
+    result?: {
+        position: RobotMotorAxisMap;
+    };
+}
+export interface RobotMoveAxesRelativeParams {
+    axis_map: RobotMotorAxisMap;
+    speed?: number;
+}
+export interface RobotMoveAxesRelativeCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'robot/moveAxesRelative';
+    params: RobotMoveAxesRelativeParams;
+}
+export interface RobotMoveAxesRelativeRunTimeCommand extends CommonCommandRunTimeInfo, RobotMoveAxesRelativeCreateCommand {
+    result?: {
+        position: RobotMotorAxisMap;
+    };
+}
+export interface RobotOpenGripperJawCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'robot/openGripperJaw';
+    params: {};
+}
+export interface RobotOpenGripperJawRunTimeCommand extends CommonCommandRunTimeInfo, RobotOpenGripperJawCreateCommand {
+    result?: any;
+}
+export interface RobotCloseGripperJawCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'robot/closeGripperJaw';
+    params: {};
+}
+export interface RobotCloseGripperJawRunTimeCommand extends CommonCommandRunTimeInfo, RobotCloseGripperJawCreateCommand {
+    result?: any;
+}