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

package/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/command/types/annotation.ts

@@ -1,4 +1,4 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.'
 
 export type AnnotationCreateCommand = CommentCreateCommand | CustomCreateCommand
 
@@ -17,7 +17,7 @@ export interface CommentRunTimeCommand
   result?: any
 }
 
-interface CommentParams {
+export interface CommentParams {
   message: string
 }
 

package/command/types/calibration.ts

@@ -1,10 +1,11 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.'
 import type {
-  PipetteMount,
   GantryMount,
   LabwareOffset,
-  Coordinates,
+  PipetteMount,
+  Vector3D,
 } from '../../js/types'
+
 // TODO (sb 10/26/22): Separate out calibration commands from protocol schema in RAUT-272
 export interface CalibratePipetteCreateCommand extends CommonCommandCreateInfo {
   commandType: 'calibration/calibratePipette'
@@ -62,7 +63,7 @@ interface CalibratePipetteParams {
 }
 interface CalibrateGripperParams {
   jaw: 'front' | 'rear'
-  otherJawOffset?: Coordinates
+  otherJawOffset?: Vector3D
 }
 interface CalibrateModuleParams {
   moduleId: string
@@ -73,12 +74,12 @@ interface CalibratePipetteResult {
   pipetteOffset: LabwareOffset
 }
 interface CalibrateGripperResult {
-  jawOffset: Coordinates
+  jawOffset: Vector3D
 }
 interface MoveToMaintenancePositionParams {
   mount: GantryMount
   maintenancePosition?: 'attachPlate' | 'attachInstrument'
 }
 interface CalibrateModuleResult {
-  moduleOffset: Coordinates
+  moduleOffset: Vector3D
 }

package/command/types/gantry.ts

@@ -1,12 +1,12 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.'
 import type { AddressableAreaName } from '../../deck'
-import type { WellLocation } from './support'
 import type {
-  Coordinates,
+  GantryMount,
   MotorAxes,
   MotorAxis,
-  GantryMount,
+  Vector3D,
 } from '../../js/types'
+import type { WellLocation } from './support'
 
 export interface MoveToSlotCreateCommand extends CommonCommandCreateInfo {
   commandType: 'moveToSlot'
@@ -44,7 +44,7 @@ export interface MoveRelativeRunTimeCommand
   extends CommonCommandRunTimeInfo,
     MoveRelativeCreateCommand {
   result?: {
-    position: Coordinates
+    position: Vector3D
   }
 }
 export interface SavePositionCreateCommand extends CommonCommandCreateInfo {
@@ -56,7 +56,7 @@ export interface SavePositionRunTimeCommand
     SavePositionCreateCommand {
   result?: {
     positionId: string
-    position: Coordinates
+    position: Vector3D
   }
 }
 export interface HomeCreateCommand extends CommonCommandCreateInfo {
@@ -129,6 +129,7 @@ export interface MoveToWellParams {
   wellLocation?: WellLocation
   minimumZHeight?: number
   forceDirect?: boolean
+  speed?: number
 }
 
 interface MoveToCoordinatesParams {
@@ -163,7 +164,7 @@ interface RetractAxisParams {
   axis: MotorAxis
 }
 
-interface AddressableOffsetVector {
+export interface AddressableOffsetVector {
   x: number
   y: number
   z: number

package/command/types/incidental.ts

@@ -1,4 +1,4 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.'
 import type { StatusBarAnimation } from '../../js/types'
 
 export type IncidentalCreateCommand =

package/command/types/index.ts

@@ -1,25 +1,26 @@
 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 {
-  IncidentalCreateCommand,
-  IncidentalRunTimeCommand,
-} from './incidental'
-import type {
-  AnnotationRunTimeCommand,
   AnnotationCreateCommand,
+  AnnotationRunTimeCommand,
 } from './annotation'
 import type {
-  CalibrationRunTimeCommand,
   CalibrationCreateCommand,
+  CalibrationRunTimeCommand,
 } from './calibration'
-import type { UnsafeRunTimeCommand, UnsafeCreateCommand } from './unsafe'
+import type { GantryCreateCommand, GantryRunTimeCommand } from './gantry'
+import type {
+  IncidentalCreateCommand,
+  IncidentalRunTimeCommand,
+} from './incidental'
+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'
@@ -30,7 +31,8 @@ export * from './pipetting'
 export * from './setup'
 export * from './timing'
 export * from './unsafe'
-
+export * from './support'
+export * from './robot'
 // NOTE: these key/value pairs will only be present on commands at analysis/run time
 // they pertain only to the actual execution status of a command on hardware, as opposed to
 // the command's identity and parameters which can be known prior to runtime
@@ -42,11 +44,13 @@ 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
@@ -70,6 +74,7 @@ export type CreateCommand =
   | AnnotationCreateCommand // annotating command execution
   | IncidentalCreateCommand // command with only incidental effects (status bar animations)
   | UnsafeCreateCommand // command providing capabilities that are not safe for scientific uses
+  | RobotCreateCommand // command providing underlying robot capabilities outside the normal model
 
 // commands will be required to have a key, but will not be created with one
 export type RunTimeCommand =
@@ -82,10 +87,19 @@ export type RunTimeCommand =
   | AnnotationRunTimeCommand // annotating command execution
   | IncidentalRunTimeCommand // command with only incidental effects (status bar animations)
   | UnsafeRunTimeCommand // command providing capabilities that are not safe for scientific uses
+  | RobotRunTimeCommand // command providing underlying robot capabilities outside the normal model
+
+export type RunCommandError = RunCommandErrorUndefined | DefinedRunCommandError
 
-export type RunCommandError =
-  | RunCommandErrorUndefined
+export type DefinedRunCommandError =
+  | RunCommandRobotActionError
+  | RunCommandFlexStackerError
+
+export type RunCommandRobotActionError =
   | RunCommandErrorOverpressure
+  | RunCommandErrorTipPhysicallyAttached
+
+export type Failed<CommandT extends RunTimeCommand> = Omit<CommandT, 'result'>
 
 // TODO(jh, 05-24-24): Update when some of these newer properties become more finalized.
 export interface RunCommandErrorBase {
@@ -98,7 +112,7 @@ export interface RunCommandErrorBase {
 export interface RunCommandErrorUndefined extends RunCommandErrorBase {
   errorCode: ErrorCodes
   errorType: string
-  isDefined: false
+  isDefined: boolean
   errorInfo?: Record<string, unknown>
 }
 
@@ -108,3 +122,37 @@ export interface RunCommandErrorOverpressure extends RunCommandErrorBase {
   isDefined: true
   errorInfo: { 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/command/types/module.ts

@@ -1,4 +1,10 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.'
+import type {
+  CommonCommandCreateInfo,
+  CommonCommandRunTimeInfo,
+  RunCommandFlexStackerError,
+} from '.'
+import type { LabwareDefinition2 } from '../../js'
+import type { LabwareLocationSequence } from './setup'
 
 export type ModuleRunTimeCommand =
   | MagneticModuleEngageMagnetRunTimeCommand
@@ -28,6 +34,11 @@ export type ModuleRunTimeCommand =
   | AbsorbanceReaderCloseLidRunTimeCommand
   | AbsorbanceReaderInitializeRunTimeCommand
   | AbsorbanceReaderReadRunTimeCommand
+  | FlexStackerSetStoredLabwareRunTimeCommand
+  | FlexStackerRetrieveRunTimeCommand
+  | FlexStackerStoreRunTimeCommand
+  | FlexStackerFillRunTimeCommand
+  | FlexStackerEmptyRunTimeCommand
 
 export type ModuleCreateCommand =
   | MagneticModuleEngageMagnetCreateCommand
@@ -57,6 +68,14 @@ export type ModuleCreateCommand =
   | AbsorbanceReaderCloseLidCreateCommand
   | AbsorbanceReaderInitializeCreateCommand
   | AbsorbanceReaderReadCreateCommand
+  | FlexStackerSetStoredLabwareCreateCommand
+  | FlexStackerRetrieveCreateCommand
+  | FlexStackerStoreCreateCommand
+  | FlexStackerFillCreateCommand
+  | FlexStackerEmptyCreateCommand
+  | FlexStackerPrepareShuttleCreateCommand
+  | FlexStackerOpenLatch
+  | FlexStackerCloseLatch
 
 export interface MagneticModuleEngageMagnetCreateCommand
   extends CommonCommandCreateInfo {
@@ -327,7 +346,7 @@ export interface AbsorbanceReaderInitializeCreateCommand
 export interface AbsorbanceReaderReadCreateCommand
   extends CommonCommandCreateInfo {
   commandType: 'absorbanceReader/read'
-  params: ModuleOnlyParams
+  params: { moduleId: string; fileName?: string | null }
 }
 export interface EngageMagnetParams {
   moduleId: string
@@ -380,3 +399,194 @@ 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
+  }
+}
+
+// TODO(tz, 4-17-2025): move under unsafe domain when BE has moved as well
+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
+}

package/command/types/pipetting.ts

@@ -1,6 +1,7 @@
+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
@@ -13,6 +14,7 @@ export type PipettingRunTimeCommand =
   | DropTipInPlaceRunTimeCommand
   | DropTipRunTimeCommand
   | GetTipPresenceRunTimeCommand
+  | GetNextTipRunTimeCommand
   | MoveToAddressableAreaForDropTipRunTimeCommand
   | PickUpTipRunTimeCommand
   | PrepareToAspirateRunTimeCommand
@@ -21,6 +23,9 @@ export type PipettingRunTimeCommand =
   | LiquidProbeRunTimeCommand
   | TryLiquidProbeRunTimeCommand
   | AirGapInPlaceRunTimeCommand
+  | PipetteSealToTipRunTimeCommand
+  | PipetteUnsealFromTipRunTimeCommand
+  | PressureDispenseRunTimeCommand
 
 export type PipettingCreateCommand =
   | AspirateCreateCommand
@@ -33,6 +38,7 @@ export type PipettingCreateCommand =
   | DropTipCreateCommand
   | DropTipInPlaceCreateCommand
   | GetTipPresenceCreateCommand
+  | GetNextTipCreateCommand
   | MoveToAddressableAreaForDropTipCreateCommand
   | PickUpTipCreateCommand
   | PrepareToAspirateCreateCommand
@@ -41,6 +47,9 @@ export type PipettingCreateCommand =
   | LiquidProbeCreateCommand
   | TryLiquidProbeCreateCommand
   | AirGapInPlaceCreateCommand
+  | PipetteSealToTipCreateCommand
+  | PipetteUnsealFromTipCreateCommand
+  | PressureDispenseCreateCommand
 
 export interface ConfigureForVolumeCreateCommand
   extends CommonCommandCreateInfo {
@@ -60,7 +69,9 @@ export interface ConfigureForVolumeRunTimeCommand
 
 export type AirGapInPlaceParams = FlowRateParams &
   PipetteIdentityParams &
-  VolumeParams
+  VolumeParams & {
+    correctionVolume?: number
+  }
 
 export interface AirGapInPlaceCreateCommand extends CommonCommandCreateInfo {
   commandType: 'airGapInPlace'
@@ -206,6 +217,16 @@ export interface GetTipPresenceRunTimeCommand
   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'
@@ -217,9 +238,10 @@ export interface VerifyTipPresenceRunTimeCommand
   result?: any
 }
 
+export type LiquidProbeParams = WellLocationParam & PipetteAccessParams
 export interface LiquidProbeCreateCommand extends CommonCommandCreateInfo {
   commandType: 'liquidProbe'
-  params: WellLocationParam & PipetteAccessParams
+  params: LiquidProbeParams
 }
 export interface LiquidProbeRunTimeCommand
   extends CommonCommandRunTimeInfo,
@@ -237,6 +259,38 @@ export interface TryLiquidProbeRunTimeCommand
   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 &
@@ -244,9 +298,25 @@ export type AspDispAirgapParams = FlowRateParams &
 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
@@ -276,12 +346,14 @@ export interface DispenseInPlaceParams {
   volume: number
   flowRate: number // µL/s
   pushOut?: number
+  correctionVolume?: number
 }
 
 export interface AspirateInPlaceParams {
   pipetteId: string
   volume: number
   flowRate: number // µL/s
+  correctionVolume?: number
 }
 interface FlowRateParams {
   flowRate: number // µL/s
@@ -321,3 +393,13 @@ interface TipPresenceResult {
   // ot2 should alwasy return unknown
   status?: 'present' | 'absent' | 'unknown'
 }
+
+interface PipetteSealToTipResult {
+  position: AddressableOffsetVector
+  tipVolume: number
+  tipLength: number
+  tipDiameter: number
+}
+interface PipetteUnsealFromTipResult {
+  position: AddressableOffsetVector
+}