@opentrons/shared-data 0.1.7-alpha.0 → 0.1.7-alpha.1

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 {

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;

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';
@@ -18,6 +19,7 @@ export * from './setup';
 export * from './timing';
 export * from './unsafe';
 export * from './support';
+export * from './robot';
 export interface CommandNote {
     noteKind: 'warning' | 'information' | string;
     shortMessage: string;
@@ -26,11 +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;
@@ -45,9 +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;
@@ -57,7 +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 {
@@ -68,3 +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

@@ -1,8 +1,8 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
-import type { LabwareLocationSequence } from './setup';
+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;
+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;
@@ -249,11 +249,30 @@ export interface FlexStackerStoredLabwareDetails {
     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;
+        initialCount?: number | null;
+        initialStoredLabware?: FlexStackerStoredLabwareGroup[] | null;
         primaryLabware: FlexStackerStoredLabwareDetails;
         lidLabware: FlexStackerStoredLabwareDetails | null;
         adapterLabware: FlexStackerStoredLabwareDetails | null;
@@ -265,7 +284,8 @@ export interface FlexStackerSetStoredLabwareRunTimeCommand extends FlexStackerSe
         lidLabwareDefinition?: LabwareDefinition2 | null;
         adapterLabwareDefinition?: LabwareDefinition2 | null;
         count: number;
-    };
+        storedLabware: FlexStackerStoredLabwareGroup[];
+    } & StackerStoredLabwareLocationSequences;
 }
 export interface FlexStackerRetrieveCreateCommand extends CommonCommandCreateInfo {
     commandType: 'flexStacker/retrieve';
@@ -286,6 +306,7 @@ export interface FlexStackerFillCreateCommand extends CommonCommandCreateInfo {
         strategy: 'manualWithPause' | 'logical';
         message?: string;
         count?: number;
+        labwareToStore?: FlexStackerStoredLabwareGroup[];
     };
 }
 export interface FlexStackerEmptyCreateCommand extends CommonCommandCreateInfo {
@@ -297,35 +318,59 @@ export interface FlexStackerEmptyCreateCommand extends CommonCommandCreateInfo {
         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 {
+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 {
+export interface FlexStackerStoreRunTimeCommand extends FlexStackerStoreCreateCommand, CommonCommandRunTimeInfo<RunCommandFlexStackerError> {
     result?: {
         eventualDestinationLocationSequence?: LabwareLocationSequence;
         primaryOriginLocationSequence?: LabwareLocationSequence;
@@ -334,16 +379,20 @@ export interface FlexStackerStoreRunTimeCommand extends FlexStackerStoreCreateCo
         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

@@ -1,5 +1,5 @@
+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 | 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;
@@ -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;
@@ -130,9 +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>;
@@ -210,11 +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;

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;
+}

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

@@ -1,4 +1,4 @@
-import type { AddressableAreaName, CommonCommandRunTimeInfo, CommonCommandCreateInfo, LabwareDefinition2, LabwareOffset, PipetteName, ModuleModel, AspirateProperties, MultiDispenseProperties, SingleDispenseProperties } from '../../js';
+import type { AddressableAreaName, AspirateProperties, CommonCommandCreateInfo, CommonCommandRunTimeInfo, LabwareDefinition2, LabwareOffset, ModuleModel, MultiDispenseProperties, PipetteName, SingleDispenseProperties } from '../../js';
 export interface LoadPipetteCreateCommand extends CommonCommandCreateInfo {
     commandType: 'loadPipette';
     params: LoadPipetteParams;

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

@@ -1,5 +1,6 @@
-type BaseWellOrigin = 'top' | 'bottom' | 'center';
-export type WellOrigin = BaseWellOrigin | 'meniscus';
+import type { WELL_ORIGIN_BOTTOM, WELL_ORIGIN_CENTER, WELL_ORIGIN_MENISCUS, WELL_ORIGIN_TOP } from '../../js/constants';
+type BaseWellOrigin = typeof WELL_ORIGIN_TOP | typeof WELL_ORIGIN_BOTTOM | typeof WELL_ORIGIN_CENTER;
+export type WellOrigin = BaseWellOrigin | typeof WELL_ORIGIN_MENISCUS;
 export interface WellOffset {
     x?: number;
     y?: number;

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

@@ -1,4 +1,4 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo } from '.';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo } from '.';
 export type TimingCreateCommand = WaitForResumeCreateCommand | WaitForDurationCreateCommand | DeprecatedDelayCreateCommand;
 export type TimingRunTimeCommand = WaitForResumeRunTimeCommand | WaitForDurationRunTimeCommand | DeprecatedDelayRunTimeCommand;
 export interface WaitForResumeCreateCommand extends CommonCommandCreateInfo {

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

@@ -1,7 +1,7 @@
-import type { CommonCommandRunTimeInfo, CommonCommandCreateInfo, OnDeckLabwareLocation } from '.';
+import type { CommonCommandCreateInfo, CommonCommandRunTimeInfo, OnDeckLabwareLocation } from '.';
 import type { MotorAxes } from '../../js/types';
-export type UnsafeRunTimeCommand = UnsafeBlowoutInPlaceRunTimeCommand | UnsafeDropTipInPlaceRunTimeCommand | UnsafeUpdatePositionEstimatorsRunTimeCommand | UnsafeEngageAxesRunTimeCommand | UnsafeUngripLabwareRunTimeCommand | UnsafePlaceLabwareRunTimeCommand;
-export type UnsafeCreateCommand = UnsafeBlowoutInPlaceCreateCommand | UnsafeDropTipInPlaceCreateCommand | UnsafeUpdatePositionEstimatorsCreateCommand | UnsafeEngageAxesCreateCommand | UnsafeUngripLabwareCreateCommand | UnsafePlaceLabwareCreateCommand;
+export type UnsafeRunTimeCommand = UnsafeBlowoutInPlaceRunTimeCommand | UnsafeDropTipInPlaceRunTimeCommand | UnsafeUpdatePositionEstimatorsRunTimeCommand | UnsafeEngageAxesRunTimeCommand | UnsafeUngripLabwareRunTimeCommand | UnsafePlaceLabwareRunTimeCommand | UnsafeFlexStackerCloseLatchRunTimeCommand | UnsafeFlexStackerOpenLatchRunTimeCommand | UnsafeFlexStackerPrepareShuttleRunTimeCommand;
+export type UnsafeCreateCommand = UnsafeBlowoutInPlaceCreateCommand | UnsafeDropTipInPlaceCreateCommand | UnsafeUpdatePositionEstimatorsCreateCommand | UnsafeEngageAxesCreateCommand | UnsafeUngripLabwareCreateCommand | UnsafePlaceLabwareCreateCommand | UnsafeFlexStackerManualRetrieveCreateCommand | UnsafeFlexStackerCloseLatchCreateCommand | UnsafeFlexStackerOpenLatchCreateCommand | UnsafeFlexStackerPrepareShuttleCreateCommand;
 export interface UnsafeBlowoutInPlaceParams {
     pipetteId: string;
     flowRate: number;
@@ -61,3 +61,44 @@ export interface UnsafePlaceLabwareCreateCommand extends CommonCommandCreateInfo
 export interface UnsafePlaceLabwareRunTimeCommand extends CommonCommandRunTimeInfo, UnsafePlaceLabwareCreateCommand {
     result?: any;
 }
+export interface UnsafeFlexStackerManualRetrieveParams {
+    moduleId: string;
+}
+export interface UnsafeFlexStackerManualRetrieveCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/flexStacker/manualRetrieve';
+    params: UnsafeFlexStackerManualRetrieveParams;
+}
+export interface UnsafeFlexStackerManualRetrieveLatchRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeFlexStackerManualRetrieveCreateCommand {
+    result?: any;
+}
+export interface UnsafeFlexStackerCloseLatchParams {
+    moduleId: string;
+}
+export interface UnsafeFlexStackerCloseLatchCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/flexStacker/closeLatch';
+    params: UnsafeFlexStackerCloseLatchParams;
+}
+export interface UnsafeFlexStackerCloseLatchRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeFlexStackerCloseLatchCreateCommand {
+    result?: any;
+}
+export interface UnsafeFlexStackerOpenLatchParams {
+    moduleId: string;
+}
+export interface UnsafeFlexStackerOpenLatchCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/flexStacker/openLatch';
+    params: UnsafeFlexStackerOpenLatchParams;
+}
+export interface UnsafeFlexStackerOpenLatchRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeFlexStackerOpenLatchCreateCommand {
+    result?: any;
+}
+export interface UnsafeFlexStackerPrepareShuttleParams {
+    moduleId: string;
+    ignoreLatch?: boolean;
+}
+export interface UnsafeFlexStackerPrepareShuttleCreateCommand extends CommonCommandCreateInfo {
+    commandType: 'unsafe/flexStacker/prepareShuttle';
+    params: UnsafeFlexStackerPrepareShuttleParams;
+}
+export interface UnsafeFlexStackerPrepareShuttleRunTimeCommand extends CommonCommandRunTimeInfo, UnsafeFlexStackerPrepareShuttleCreateCommand {
+    result?: any;
+}

package/lib/deck/index.d.ts

@@ -1,11 +1,11 @@
-import ot2StandardDeckV3 from './definitions/3/ot2_standard.json';
 import ot2ShortFixedTrashDeckV3 from './definitions/3/ot2_short_trash.json';
+import ot2StandardDeckV3 from './definitions/3/ot2_standard.json';
 import ot3StandardDeckV3 from './definitions/3/ot3_standard.json';
-import ot2StandardDeckV4 from './definitions/4/ot2_standard.json';
 import ot2ShortFixedTrashDeckV4 from './definitions/4/ot2_short_trash.json';
+import ot2StandardDeckV4 from './definitions/4/ot2_standard.json';
 import ot3StandardDeckV4 from './definitions/4/ot3_standard.json';
-import ot2StandardDeckV5 from './definitions/5/ot2_standard.json';
 import ot2ShortFixedTrashDeckV5 from './definitions/5/ot2_short_trash.json';
+import ot2StandardDeckV5 from './definitions/5/ot2_standard.json';
 import ot3StandardDeckV5 from './definitions/5/ot3_standard.json';
 import deckExample from './fixtures/3/deckExample.json';
 import type { DeckDefinition } from '../js/types';

package/lib/errors/definitions/1/errors.json

@@ -210,6 +210,18 @@
             "detail": "HEPA UV Failed",
             "category": "roboticsInteractionError"
         },
+        "3020": {
+            "detail": "Flex Stacker Shuttle Missing",
+            "category": "roboticsInteractionError"
+        },
+        "3021": {
+            "detail": "Flex Stacker Shuttle Labware Detection Failed",
+            "category": "roboticsInteractionError"
+        },
+        "3022": {
+            "detail": "Flex Stacker Hopper Labware Detection Failed",
+            "category": "roboticsInteractionError"
+        },
         "4000": {
             "detail": "Unknown or Uncategorized Error",
             "category": "generalError"

package/lib/errors/index.d.ts

@@ -1,4 +1,4 @@
-import errorSchemaV1 from './schemas/1.json';
 import errorData from './definitions/1/errors.json';
+import errorSchemaV1 from './schemas/1.json';
 export type * from './types';
 export { errorSchemaV1, errorData };