npm - @opentrons/step-generation - Versions diffs - 0.3.0-alpha.1 → 0.3.2-alpha.0 - Mend

@opentrons/step-generation 0.3.0-alpha.1 → 0.3.2-alpha.0

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Files changed (44) hide show

package/lib/index.cjs CHANGED Viewed

@@ -1,197 +1,142 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const f=require("@opentrons/shared-data");function W_(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Y_(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function K_(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Ft(e){const{actionName:t,pipette:r,labware:n,well:a}=e;return{message:n==null||a==null?`Attempted to ${t} with no tip on pipette: ${r} in place`:`Attempted to ${t} with no tip on pipette: ${r} from ${n}'s well ${a}`,type:"NO_TIP_ON_PIPETTE"}}function X_(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ft(e){const{pipette:t}=e;return{message:`This step tries to use the ${t}. Add the pipette to your protocol or change the step to use a different pipette.`,type:"PIPETTE_DOES_NOT_EXIST"}}function dt(e){const{actionName:t,labware:r}=e;return console.warn(`Attempted to ${t} with labware id "${r}", this labware was not found under "labware"`),{message:`This step tries to use ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function ke(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function Z_(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. 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Move the step outside the profile."}),cn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),eo=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Xp=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),kr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),tT=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),cb=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${l}.close_lid()`}},rg=(e,t,r)=>{const{moduleId:n,sampleWavelengths:a,measureMode:o,referenceWavelength:i}=e,s=t.moduleEntities[n].pythonName,l=i!=null?`, reference_wavelength=${i}`:"";return{commands:[{commandType:"absorbanceReader/initialize",key:ne(),params:{moduleId:n,measureMode:o,sampleWavelengths:a,...i!=null?{referenceWavelength:i}:{}}}],python:`${s}.initialize(${ee(o)}, ${Wp(a)}${l})`}},yw=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a}=t,o=Nn(r,e.moduleId),i=Object.keys(n).length>0,s=[];if((e.moduleId==null||o==null)&&s.push(ke()),i||s.push(cb()),s.length>0)return{errors:s};const l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/openLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${l}.open_lid()`}},ng=(e,t,r)=>{const{moduleId:n,fileName:a}=e,o=[],i=Nn(r,n);if(i==null)return{errors:[ke()]};i.initialization===null&&o.push(kr());const s=t.moduleEntities[n].pythonName,l=a!=null?`export_filename=${ee(a)}`:"";return o.length>0?{errors:o}:{commands:[{commandType:"absorbanceReader/read",key:ne(),params:{moduleId:n,...a!=null?{fileName:a}:{}}}],python:`${s}.read(${l})`}},Yt=(e,t,r)=>{const{flowRate:n,pipetteId:a,volume:o,correctionVolume:i}=e,s=[];t.pipetteEntities[a]?.spec||s.push(ft({pipette:a}));const u=t.pipetteEntities[a].pythonName;return{commands:[{commandType:"airGapInPlace",key:ne(),params:{flowRate:n,pipetteId:a,volume:o,...i!=null?{correctionVolume:i}:{}}}],python:`${u}.air_gap(${[`volume=${o}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},bw=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:o,wellName:i,flowRate:s,isAirGap:l,tipRack:u,wellLocation:c,primaryNozzle:p,nozzles:d}=e,y="aspirate",b=r.labware,h=[],g=t.pipetteEntities[n]?.spec,T=(g?.displayCategory==="FLEX"||g?.channels===96)??!1,m=On(o,r.labware);if(g||h.push(ft({pipette:n})),!o||!r.labware[o]?h.push(dt({actionName:y,labware:o})):we(r.labware[o].stack)==="offDeck"&&h.push(fn()),We.includes(m))h.push(Dt({typeOfStep:y}));else if(b[m]!=null){const N=we(b[m].stack);We.includes(N)&&h.push(Dt({typeOfStep:y}))}if(vn({pipette:n,labware:o,invariantContext:t,prevRobotState:r})&&h.push(ca()),r.tipState.pipettes[n]?.hasTip||h.push(Ft({actionName:y,pipette:n,labware:o,well:i})),t.pipetteEntities[n]?.spec.channels!==1&&!It({robotState:r,invariantContext:t,pipetteId:n,labwareId:o,wellLocationOffset:c?.offset??{x:0,y:0,z:0},wellTargetName:i,primaryNozzle:p,nozzleConfiguration:d})&&h.push(Mr()),va(r.modules,r.labware,o)&&h.push(cn()),Sa(r.modules,r.labware,o)&&h.push(kr()),Pa(r.modules,r.labware,o)&&h.push(eo()),ka(r.modules,r.labware,o)&&h.push(pn()),Pn(r.modules,m,T?f.FLEX_ROBOT_TYPE:f.OT2_ROBOT_TYPE)&&h.push(fa()),T||(Ln(r.modules,m)&&h.push(pa()),Rn(r.modules,m,g)&&h.push(da()),Ra(r.modules,m,g,t.labwareEntities[o])&&h.push(to())),h.length===0&&g&&g.liquids.default.maxVolume<a&&h.push(Xa({actionName:y,volume:a,maxVolume:g.liquids.default.maxVolume})),h.length===0&&g){const N=ko(n,t,u);N<a&&h.push(J_({actionName:y,volume:a,maxVolume:N}))}if(h.length>0)return{errors:h};const I=[{commandType:"aspirate",key:ne(),params:{pipetteId:n,volume:a,labwareId:o,wellName:i,wellLocation:c,flowRate:s},...l&&{meta:{isAirGap:l}}}],S=t.pipetteEntities[n].pythonName,O=t.labwareEntities[o].pythonName,v=[`volume=${a}`,`location=${O}[${ee(i)}]${kn(c)}`,`flow_rate=${s}`],C=`${S}.aspirate(
-${ve(v.join(`,
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Vy(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function $y(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function xy(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Bt(e){const{actionName:t,pipette:r,labware:n,well:a}=e;return{message:n==null||a==null?`Attempted to ${t} with no tip on pipette: ${r} in place`:`Attempted to ${t} with no tip on pipette: ${r} from ${n}'s well ${a}`,type:"NO_TIP_ON_PIPETTE"}}function Hy(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ut(e){const{pipette:t}=e;return{message:`This step tries to use the ${t}. Add the pipette to your protocol or change the step to use a different pipette.`,type:"PIPETTE_DOES_NOT_EXIST"}}function ct(e){const{actionName:t,labware:r}=e;return console.warn(`Attempted to ${t} with labware id "${r}", this labware was not found under "labware"`),{message:`This step tries to use ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function X(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function zy(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. In order to pause the protocol and wait for your module to reach a temperature, you must first use a Temperature step to tell the module to start changing to a new temperature",type:"MISSING_TEMPERATURE_STEP"}}function Yc(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function jy(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function Ja(e){const{actionName:t,volume:r,maxVolume:n,disposalVolume:a}=e;return{message:a!=null?`Attemped to ${t} volume + disposal volume greater than pipette max volume (${r} + ${a} > ${n})`:`This step tries to ${t} ${r}µL, but the tip can only hold ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const Gy=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),fa=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),Wy=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),mn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),as=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Kc=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Mr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Yy=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),uh=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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-${ve(v.join(`,
+)`}},hg=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[X()]};const a=t.moduleEntities[n],s=a?.type,o=a?.pythonName,i={moduleId:n};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:F(),params:i}],python:`${o}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:F(),params:i},{commandType:"thermocycler/deactivateBlock",key:F(),params:i}],python:`${o}.deactivate_lid()
+${o}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:F(),params:i}],python:`${o}.deactivate_heater()`}:(console.error(`setTemperature expected module ${n} to be ${c.TEMPERATURE_MODULE_TYPE}, ${c.THERMOCYCLER_MODULE_TYPE} or ${c.HEATERSHAKER_MODULE_TYPE}, got ${s}`),{errors:[X()]})},he=(e,t,r)=>{const{message:n}=e;let a,s;if("seconds"in e){a={commandType:"waitForDuration",key:F(),params:{seconds:e.seconds,message:n}};const o=[`seconds=${e.seconds}`,...n?[`msg=${C(n)}`]:[]];s=`${Ie}.delay(${o.join(", ")})`}else a={commandType:"waitForResume",key:F(),params:{message:n}},s=`${Ie}.pause(${n?C(n):""})`;return{commands:[a],python:s}},_g=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,s="magneticModule/disengage";if(n===null)return{errors:[X()]};if(a[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${a[n]?.type}`);const o=a[n].pythonName;return{commands:[{commandType:s,key:F(),params:{moduleId:n}}],python:`${o}.disengage()`}},n_=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:s,wellName:o,flowRate:i,isAirGap:l,wellLocation:u,pushOut:p,primaryNozzle:d,nozzles:f}=e,_="dispense",m=r.labware,h=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=vn(s,r.labware);if(b||h.push(ut({pipette:n})),Cn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&h.push(fa()),r.tipState.pipettes[n]?.hasTip||h.push(Bt({actionName:_,pipette:n,labware:s,well:o})),!s||!r.labware[s]?h.push(ct({actionName:_,labware:s})):G(r.labware[s].stack)==="offDeck"&&h.push(_n()),Me.includes(y))h.push(qt({typeOfStep:_}));else if(m[y]!=null){const R=G(m[y].stack);Me.includes(R)&&h.push(qt({typeOfStep:_}))}const A=t.pipetteEntities[n]?.spec.channels!==1,S=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:u?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f});if(A&&!S.isSafe&&h.push(Ft({unsafePipetteMovementReason:S.reason})),Na(r.modules,r.labware,s)&&h.push(mn()),va(r.modules,r.labware,s)&&h.push(Mr()),Fa(r.modules,r.labware,s)&&h.push(as()),qa(r.modules,r.labware,s)&&h.push(hn()),Mn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(ha()),T||(Nn(r.modules,y)&&h.push(ma()),Dn(r.modules,y,b)&&h.push(_a()),Ma(r.modules,y,b,t.labwareEntities[s])&&h.push(ss())),h.length>0)return{errors:h};const g=[{commandType:"dispense",key:F(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],I=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,w=[`volume=${a}`,`location=${L}[${C(o)}]${Ln(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],E=`${I}.dispense(
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-)`;return{commands:I,python:C}},st=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:o,pushOut:i,correctionVolume:s,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Ft({actionName:"dispense",pipette:n}));const c=[{commandType:"dispenseInPlace",key:ne(),params:{pipetteId:n,volume:a,flowRate:o,...i!=null?{pushOut:i}:{},...s!=null?{correctionVolume:s}:{}},...l?{meta:{isAirGap:l}}:{}}],p=t.pipetteEntities[n].pythonName,d=[`volume=${a}`,`flow_rate=${o}`,...i!=null?[`push_out=${i}`]:[]],y=`${p}.dispense(${d.join(", ")})`;return u.length>0?{errors:u}:{commands:c,python:y}},wn=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:o,isReturnTip:i}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const s=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:y})=>y===s),c=u!=null&&l!=null;if(i&&!c)return{errors:[Zp()]};let p=null;if(i&&c){const y=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;p=`${y}.drop_tip(location=${h})`}let d=[];if(i){if(s==null||l==null)return{errors:[Zp()]};d=[{commandType:"dropTip",key:ne(),params:{pipetteId:n,labwareId:s,wellName:l}}]}else{if(a==null||o==null)return{errors:[yn()]};d=[{commandType:"dropTip",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o}}]}return{commands:d,...p!=null?{python:p}:{}}},wp=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:ne(),params:{pipetteId:n}}]}:{commands:[]}},Qw=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:o}=t,i="magneticModule/engage";if(n===null)return{errors:[ke()]};jr(o[n]?.type===f.MAGNETIC_MODULE_TYPE,`expected module ${n} to be magdeck, got ${o[n]?.type}`);const s=o[n].pythonName;return{commands:[{commandType:i,key:ne(),params:{moduleId:n,height:a}}],python:`${s}.engage(height_from_base=${a})`}},eI=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:o,message:i,count:s}=e,l=mt(r,a);if(a==null||n[a]==null)return{errors:[ke()]};const u=[];if(l==null&&u.push(ke()),u.length>0)return{errors:u};const c=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:ne(),params:{moduleId:a,strategy:o,message:i,count:s}}],python:`${c}.empty(${e.message?`message=${ee(e.message)}`:""})`}},tI=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:o}=e,{labwareEntities:i,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[ke()]};const l=mt(r,n),u=Np(l,t.labwareEntities),c=s[n].pythonName,p=o.filter(T=>!f.getIsLid(i[T].def)).map(T=>i[T]?.pythonName),y=vo(p,4).map(T=>Na+T.join(", ")).join(`,
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-${y}
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-`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:ne(),params:{moduleId:n,labware:o,message:a??void 0}}],python:`${c}.fill_items(
-${ve(g)})`}},rI=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[ke()]};const o=a[n].pythonName,i=mt(r,n),s=i?.labwareInHopper!=null&&i.labwareInHopper.length>0;return i!==null&&Pp(i)?{errors:[nT()]}:s?{commands:[{commandType:"flexStacker/retrieve",key:ne(),params:{moduleId:n}}],python:`${o}.retrieve()`}:{errors:[rT()]}},nI=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:o}=t;if(n==null||o[n]==null)return{errors:[ke()]};const i=o[n].pythonName,s=mt(r,n),l=s?.labwareOnShuttle?.primaryLabwareId??null,u=Np(s,a);return s!==null&&!Pp(s)?{errors:[aT()]}:l!==null&&!kp(l,t,s)?{errors:[pb()]}:u?{commands:[{commandType:"flexStacker/store",key:ne(),params:{moduleId:n,strategy:"automatic"}}],python:`${i}.store()`}:{errors:[fb()]}};function cu(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function pu(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function aI(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function oI(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function iI(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function sI(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const lI="opentrons_flex_tiprack_lid",uI=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:o}=e,i=a==="usingGripper",{gripperEntities:s,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:c,moduleEntities:p}=t,d=Object.keys(s).length>0,y=Object.values(u).length>0,b=r.tipState!=null?vg(r.tipState,n):!1,h=r.liquidState!=null?Lg(r.liquidState,n):!1,g=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",m=[],_=[],I=f.locationIsOnAddressableArea(o)&&o.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?m.push(dt({actionName:T,labware:n})):we(r.labware[n].stack)==="offDeck"&&i?m.push(fn()):r.labware[n].stack.includes(Je)&&m.push(ET());const S=c[n]?.def.metadata.displayCategory==="aluminumBlock";i&&S&&m.push(uT()),(I&&d&&!i||!d&&i)&&m.push(lT()),g&&i&&m.push(X_());const O=r.labware[n]!=null?we(r.labware[n].stack):null;(y&&O==="gripperWasteChute"||f.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(O)||O==="fixedTrash")&&m.push(ma());const v=O!=null&&r.labware[O]!=null?we(r.labware[O].stack):null,C=v??O,N=P=>P==null?null:P in r.modules?r.modules[P].moduleState:Object.values(r.modules).find(({slot:D})=>D===P)?.moduleState??null,V=Object.entries(r.labware).filter(([P,D])=>D.stack.includes("offDeck")).map(([P])=>P),$=Object.values(o);V.some(P=>$.includes(P))&&i&&m.push(Q_());const G=N(C);G!=null&&(G.type===f.THERMOCYCLER_MODULE_TYPE&&G.lidOpen!==!0?m.push(cn()):G.type===f.HEATERSHAKER_MODULE_TYPE?G.latchOpen!==!0?m.push(Xp()):G.targetSpeed!==null&&m.push(pn()):G.type===f.ABSORBANCE_READER_TYPE&&G.lidOpen!==!0&&m.push(kr()));const X=f.locationIsOnModule(o)&&"moduleId"in o?o.moduleId:null,fe=f.locationIsOnLabware(o)?o.labwareId:null,be=fe!=null?r.labware[fe].stack[1]:null,ge=be??X;o==="offDeck"&&i&&m.push(fn()),b&&I&&y?_.push(oI()):h&&I&&y&&_.push(aI());const le=N(ge);le!=null&&(le.type===f.THERMOCYCLER_MODULE_TYPE&&le.lidOpen!==!0?m.push(cn()):le.type===f.HEATERSHAKER_MODULE_TYPE?(le.latchOpen!==!0&&m.push(Xp()),le.targetSpeed!==null&&m.push(pn())):le.type===f.ABSORBANCE_READER_TYPE&&le.lidOpen!==!0&&m.push(kr())),c[n]?.def.parameters.loadName===lI&&o!=null&&f.locationIsOnDeck(o)&&("slotName"in o||"addressableAreaName"in o&&f.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(o.addressableAreaName))&&m.push(yT());const U={labwareId:n,strategy:a,newLocation:o},x=[{commandType:"moveLabware",key:ne(),params:U}],W=c[n]?.pythonName;let w="",R=null;if(o==="offDeck")w=sa;else if(o==="systemLocation")w="system_location";else if(o==="wasteChuteLocation")w=sa;else if("labwareId"in o){w=c[o.labwareId].pythonName;const P=r.labware[o.labwareId].stack;R=P[P.length-1]}else if("moduleId"in o)R=r.modules[o.moduleId].slot,w=p[o.moduleId].pythonName;else if("slotName"in o){const{slotName:P}=o;if(P in c){const D=we(r.labware[P].stack);w=f.getIsLid(c[P].def)?ee(D):c[P].pythonName;const H=r.labware[P].stack;R=H[H.length-1]}else w=ee(P),R=P}else if("addressableAreaName"in o){const P=We.includes(o.addressableAreaName),D=f.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(o.addressableAreaName),z=o.addressableAreaName==="fixedTrash",oe=f.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(o.addressableAreaName)||z?Object.values(l)?.map(J=>J.location):[],K=!D&&!P?_g(o.addressableAreaName,z?"fixedTrashSlot":"trashBinAdapter",z?f.OT2_ROBOT_TYPE:f.FLEX_ROBOT_TYPE):null,ue=oe.find(J=>J===K),de=ue!=null?Object.values(l).find(J=>J.location===ue)?.id:null;P?w=ee(o.addressableAreaName):de!=null&&!D?w=l[de]?.pythonName??"":de==null&&D?w=Object.values(u)[0]?.pythonName??"":w=""}if(R!=null){const P=_o(r.labware,R),D=we(P),{isCompatible:z,isAboveStackLimit:H}=Ng(n,P,c,p);z||m.push(sT()),H&&m.push(gT({slot:D}))}if(m.length>0)return{errors:m};w===""&&console.error("expected to find a python new location but could not");const E=i?", use_gripper=True":"",A=f.getIsLid(c[n].def),L=r.labware[n].stack;let M="";if(A){const P=Rg(L);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const D=c[P]!=null,z=D&&f.getIsLid(c[P].def);L.length===2||D&&z?M=ee(we(L)):(D||!f.getIsLid(c[P].def))&&(M=c[P].pythonName)}}A&&M===""&&console.error("expected to find a valid lid move location but could not");const q=A?`${$e}.move_lid(${M}, ${w}${E})`:`${$e}.move_labware(${W}, ${w}${E})`;return{commands:x,..._.length>0?{warnings:_}:{},python:q}},Xe=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:o}=e,{pipetteEntities:i,trashBinEntities:s,wasteChuteEntities:l}=t,u=i[n],c=u.spec.channels,p=u.pythonName,d=s[a]??l[a],y=d.pythonName;let b=Tg(c);return s[a]!=null&&(b=Ip(d.location)),{commands:[{commandType:"moveToAddressableArea",key:ne(),params:{pipetteId:n,addressableAreaName:b,offset:o}}],python:`${p}.move_to(${y})`}},yg=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:ne(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},ye=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:o,wellLocation:i,minimumZHeight:s,forceDirect:l,speed:u}=e,c="moveToWell",p=[],d=r.labware,{pipetteEntities:y,labwareEntities:b}=t,h=y[n]?.spec,g=r.pipettes[n]?.nozzles??f.ALL,T=r.pipettes[n]?.primaryNozzle??qr({nozzles:g,channels:h?.channels}),m=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,_=On(a,r.labware);if(h||p.push(ft({pipette:n})),!a||!r.labware[a]?p.push(dt({actionName:c,labware:a})):we(r.labware[a].stack)==="offDeck"&&p.push(fn()),We.includes(_))p.push(Dt({typeOfStep:"move to well"}));else if(d[_]!=null){const N=we(d[_].stack);We.includes(N)&&p.push(Dt({typeOfStep:c}))}if(vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&p.push(ca()),va(r.modules,r.labware,a)&&p.push(cn()),Pa(r.modules,r.labware,a)&&p.push(eo()),Sa(r.modules,r.labware,a)&&p.push(kr()),ka(r.modules,r.labware,a)&&p.push(pn()),Pn(r.modules,_,m?f.FLEX_ROBOT_TYPE:f.OT2_ROBOT_TYPE)&&p.push(fa()),m||(Ln(r.modules,_)&&p.push(pa()),Rn(r.modules,_,h)&&p.push(da()),Ra(r.modules,_,h,b[a])&&p.push(to())),t.pipetteEntities[n]?.spec.channels!==1&&!It({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:i?.offset??{x:0,y:0,z:0},wellTargetName:o,nozzleConfiguration:g,primaryNozzle:T})&&p.push(Mr()),p.length>0)return{errors:p};const S=y[n].pythonName,O=b[a].pythonName,v=[{commandType:"moveToWell",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o,wellLocation:i,...l!=null?{forceDirect:l}:{},...s!=null?{minimumZHeight:s}:{},...u!=null?{speed:u}:null}}],C=[`${O}[${ee(o)}]${kn(i)}`,...l?["force_direct=True"]:[],...s?[`minimum_z_height=${s}`]:[],...u?[`speed=${u}`]:[]];return{commands:v,python:`${S}.move_to(${C.join(", ")})`}},fu=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:o,tipTrackingOption:i=Qc,nozzles:s,primaryNozzle:l}=e,u=[],c=t.pipetteEntities[n].spec.channels,p=It({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:o,nozzleConfiguration:s,primaryNozzle:l}),d=L_({tipState:r.tipState.tipracks[a],primaryNozzle:l??qr({channels:c,nozzles:s}),channels:c,nozzleConfiguration:s,wellName:o,tiprackDef:t.labwareEntities[a].def});p||u.push(Mr()),d.isSafe||u.push(_T()),d.isComplete!==!0&&u.push(TT());const y=we(r.labware[a].stack);if(We.includes(y))u.push(Dt({typeOfStep:"pick up tip"}));else if(r.labware[y]!=null){const T=we(r.labware[y].stack);We.includes(T)&&u.push(Dt({typeOfStep:"pick up tip"}))}const b=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,g=`${b}.pick_up_tip(location=${h}${i===wt?`[${ee(o)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:ne(),params:{pipetteId:n,labwareId:a,wellName:o}}],python:g}},cI=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:o,blockMaxVolumeUl:i}=e,s=t.moduleEntities[n].pythonName,l=P_(e.profileElements),u=l.repeatingProfileSteps.map(b=>`{${ee("temperature")}: ${b.celsius}, ${ee("hold_time_seconds")}: ${b.holdSeconds}},`).join(`
-`),p=`${`[
-${ve(u)}
+)`;return{commands:g,python:E}},nt=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,pushOut:o,correctionVolume:i,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Bt({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:F(),params:{pipetteId:n,volume:a,flowRate:s,...o!=null?{pushOut:o}:{},...i!=null?{correctionVolume:i}:{}},...l?{meta:{isAirGap:l}}:{}}],d=t.pipetteEntities[n].pythonName,f=[`volume=${a}`,`flow_rate=${s}`,...o!=null?[`push_out=${o}`]:[]],_=`${d}.dispense(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:_}},An=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:s,isReturnTip:o}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const i=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:_})=>_===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[Xc()]};let d=null;if(o&&p){const _=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;d=`${_}.drop_tip(location=${h})`}let f=[];if(o){if(i==null||l==null)return{errors:[Xc()]};f=[{commandType:"dropTip",key:F(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[Tn()]};f=[{commandType:"dropTip",key:F(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},Tc=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:F(),params:{pipetteId:n}}]}:{commands:[]}},yg=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:s}=t,o="magneticModule/engage";if(n===null)return{errors:[X()]};if(s[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${s[n]?.type}`);const i=s[n].pythonName;return{commands:[{commandType:o,key:F(),params:{moduleId:n,height:a}}],python:`${i}.engage(height_from_base=${a})`}},bg=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=ft(r,a);if(a==null||n[a]==null)return{errors:[X()]};const u=[];if(l==null&&u.push(X()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:F(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${C(e.message)}`:""})`}},Tg=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:s}=e,{labwareEntities:o,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[X()]};const l=ft(r,n),u=vc(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=Ts(d,4).map(T=>Ra+T.join(", ")).join(`,
+`),m=d.length<4?d.join(", "):`
+${_}
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Qy()]};if(u){if(s.length>0&&!s.every(y=>kc(y,t,l)))return{errors:[ch()]}}else return{errors:[ph()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${m}],
+`:[],...a!=null?[`message=${C(a)},
+`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:F(),params:{moduleId:n,labware:s,message:a??void 0}}],python:`${p}.fill_items(
+${Z(b)})`}},gg=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[X()]};const s=a[n].pythonName,o=ft(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&Rc(o)?{errors:[Xy()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:F(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[Ky()]}},Ig=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[X()]};const o=s[n].pythonName,i=ft(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=vc(i,a);return i!==null&&!Rc(i)?{errors:[Zy()]}:l!==null&&!kc(l,t,i)?{errors:[ch()]}:u?{commands:[{commandType:"flexStacker/store",key:F(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[ph()]}};function cl(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function pl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function Eg(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function wg(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function Sg(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Ag(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const Lg="opentrons_flex_tiprack_lid",Og=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:s}=e,o=a==="usingGripper",{gripperEntities:i,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:p,moduleEntities:d}=t,f=Object.keys(i).length>0,_=Object.values(u).length>0,m=r.tipState!=null?g_(r.tipState,n):!1,h=r.liquidState!=null?I_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",y=[],A=[],S=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(ct({actionName:T,labware:n})):G(r.labware[n].stack)==="offDeck"&&o?y.push(_n()):r.labware[n].stack.includes(je)&&y.push(mb());const g=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&g&&y.push(rb()),(S&&f&&!o||!f&&o)&&y.push(tb()),b&&o&&y.push(Hy());const I=r.labware[n]!=null?G(r.labware[n].stack):null;(_&&I==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(I)||I==="fixedTrash")&&y.push(ya());const L=I!=null&&r.labware[I]!=null?G(r.labware[I].stack):null,w=L??I,E=P=>P==null?null:P in r.modules?r.modules[P].moduleState:Object.values(r.modules).find(({slot:v})=>v===P)?.moduleState??null,R=Object.entries(r.labware).filter(([P,v])=>v.stack.includes("offDeck")).map(([P])=>P),k=Object.values(s);R.some(P=>k.includes(P))&&o&&y.push(Gy());const B=E(w);B!=null&&(B.type===c.THERMOCYCLER_MODULE_TYPE&&B.lidOpen!==!0?y.push(mn()):B.type===c.HEATERSHAKER_MODULE_TYPE?B.latchOpen!==!0?y.push(Kc()):B.targetSpeed!==null&&y.push(hn()):B.type===c.ABSORBANCE_READER_TYPE&&B.lidOpen!==!0&&y.push(Mr()));const q=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,ee=c.locationIsOnLabware(s)?s.labwareId:null,pe=ee!=null?r.labware[ee].stack[1]:null,_e=pe??q;s==="offDeck"&&o&&y.push(_n()),m&&S&&_?A.push(wg()):h&&S&&_&&A.push(Eg());const le=E(_e);le!=null&&(le.type===c.THERMOCYCLER_MODULE_TYPE&&le.lidOpen!==!0?y.push(mn()):le.type===c.HEATERSHAKER_MODULE_TYPE?(le.latchOpen!==!0&&y.push(Kc()),le.targetSpeed!==null&&y.push(hn())):le.type===c.ABSORBANCE_READER_TYPE&&le.lidOpen!==!0&&y.push(Mr())),p[n]?.def.parameters.loadName===Lg&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(ub());const ve={labwareId:n,strategy:a,newLocation:s},He=[{commandType:"moveLabware",key:F(),params:ve}],Be=p[n]?.pythonName;let te="",Ee=null;if(s==="offDeck")te=ia;else if(s==="systemLocation")te="system_location";else if(s==="wasteChuteLocation")te=ia;else if("labwareId"in s){te=p[s.labwareId].pythonName;const P=r.labware[s.labwareId].stack;Ee=P[P.length-1]}else if("moduleId"in s)Ee=r.modules[s.moduleId].slot,te=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:P}=s;if(P in p){const v=G(r.labware[P].stack);te=c.getIsLid(p[P].def)?C(v):p[P].pythonName;const N=r.labware[P].stack;Ee=N[N.length-1]}else te=C(P),Ee=P}else if("addressableAreaName"in s){const P=Me.includes(s.addressableAreaName),v=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),V=s.addressableAreaName==="fixedTrash",ae=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||V?Object.values(l)?.map(D=>D.location):[],U=!v&&!P&&!la(s.addressableAreaName)?d_(s.addressableAreaName,V?"fixedTrashSlot":"trashBinAdapter",V?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,H=ae.find(D=>D===U),z=H!=null?Object.values(l).find(D=>D.location===H)?.id:null;if(P)te=C(s.addressableAreaName);else if(z!=null&&!v)te=l[z]?.pythonName??"";else if(z==null&&v)te=Object.values(u)[0]?.pythonName??"";else if(la(s.addressableAreaName)){const[D]=Object.entries(r.modules).find(([,x])=>x.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(D!=null&&d[D]!=null){const{pythonName:x}=d[D];te=`${x}.manifold_dock`}}else te=""}if(Ee!=null){const P=pn(r.labware,Ee),v=G(P),{isCompatible:V,isAboveStackLimit:N}=A_(n,P,p,d);V||y.push(eb()),N&&y.push(pb({slot:v}))}if(y.length>0)return{errors:y};te===""&&console.error("expected to find a python new location but could not");const ze=o?", use_gripper=True":"",Pe=c.getIsLid(p[n].def),Te=r.labware[n].stack;let K="";if(Pe){const P=E_(Te);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const v=p[P]!=null,V=v&&c.getIsLid(p[P].def);Te.length===2||v&&V?K=C(G(Te)):(v||!c.getIsLid(p[P].def))&&(K=p[P].pythonName)}}Pe&&K===""&&console.error("expected to find a valid lid move location but could not");const W=Pe?`${Ie}.move_lid(${K}, ${te}${ze})`:`${Ie}.move_labware(${Be}, ${te}${ze})`;return{commands:He,...A.length>0?{warnings:A}:{},python:W}},Ue=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:s}=e,{pipetteEntities:o,trashBinEntities:i,wasteChuteEntities:l}=t,u=o[n],p=u.spec.channels,d=u.pythonName,f=i[a]??l[a],_=f.pythonName;let m=f_(p);return i[a]!=null&&(m=Ic(f.location)),{commands:[{commandType:"moveToAddressableArea",key:F(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},a_=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:F(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},$=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,minimumZHeight:i,forceDirect:l,speed:u}=e,p="moveToWell",d=[],f=r.labware,{pipetteEntities:_,labwareEntities:m}=t,h=_[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??ns({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,A=vn(a,r.labware);if(h||d.push(ut({pipette:n})),!a||!r.labware[a]?d.push(ct({actionName:p,labware:a})):G(r.labware[a].stack)==="offDeck"&&d.push(_n()),Me.includes(A))d.push(qt({typeOfStep:"move to well"}));else if(f[A]!=null){const k=G(f[A].stack);Me.includes(k)&&d.push(qt({typeOfStep:p}))}Cn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(fa()),Na(r.modules,r.labware,a)&&d.push(mn()),Fa(r.modules,r.labware,a)&&d.push(as()),va(r.modules,r.labware,a)&&d.push(Mr()),qa(r.modules,r.labware,a)&&d.push(hn()),Mn(r.modules,A,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(ha()),y||(Nn(r.modules,A)&&d.push(ma()),Dn(r.modules,A,h)&&d.push(_a()),Ma(r.modules,A,h,m[a])&&d.push(ss()));const S=t.pipetteEntities[n]?.spec.channels!==1,g=t.pipetteEntities[n]?.spec,I=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T});if(S&&g&&!I.isSafe&&d.push(Ft({unsafePipetteMovementReason:I.reason})),d.length>0)return{errors:d};const L=_[n].pythonName,w=m[a].pythonName,E=[{commandType:"moveToWell",key:F(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],R=[`${w}[${C(s)}]${Ln(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:E,python:`${L}.move_to(${R.join(", ")})`}},dl=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=ec,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=jc({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d.isSafe||u.push(Ft({unsafePipetteMovementReason:d.reason})),f.isSafe||u.push(db()),f.isComplete!==!0&&u.push(fb());const _=G(r.labware[a].stack);if(Me.includes(_))u.push(qt({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=G(r.labware[_].stack);Me.includes(T)&&u.push(qt({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===wt?`[${C(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:F(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},Rg=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=Ey(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${C("temperature")}: ${m.celsius}, ${C("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
+`),d=`${`[
+${Z(u)}
 ],`}
 ${l.numRepetitions},
-`+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),y=(a!=null?`${a} = `:"")+`${s}.start_execute_profile(
-${ve(p)}
-)`;return{commands:[{commandType:"thermocycler/startRunExtendedProfile",key:ne(),params:{moduleId:n,taskId:a,profileElements:o,blockMaxVolumeUl:i}}],python:y}},qt=(e,t,r)=>{const{pipetteId:n}=e,a=t.pipetteEntities[n].pythonName;return{commands:[{commandType:"prepareToAspirate",key:ne(),params:{pipetteId:n}}],python:`${a}.prepare_to_aspirate()`}},bg=(e,t,r)=>{const{moduleId:n,celsius:a}=e;if(n===null)return{errors:[ke()]};const o=t.moduleEntities[n],i=o?.type;return i===f.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/setTargetTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o?.pythonName}.start_set_temperature(${a})`}:i===f.THERMOCYCLER_MODULE_TYPE?(console.error("Thermocycler set temp not implemented!"),{commands:[]}):i===f.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/setTargetTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o?.pythonName}.set_target_temperature(${a})`}:(console.error(`setTemperature expected module ${n} to be ${f.TEMPERATURE_MODULE_TYPE}, ${f.THERMOCYCLER_MODULE_TYPE} or ${f.HEATERSHAKER_MODULE_TYPE}, got ${i}`),{errors:[ke()]})},Ct=(e,t,r)=>{const n="touchTip",{pipetteId:a,labwareId:o,wellName:i,zOffsetFromTop:s,speed:l,mmFromEdge:u}=e,c=r.pipettes[a],p=[];if(c||p.push(ft({pipette:a})),r.tipState.pipettes[a]?.hasTip||p.push(Ft({actionName:n,pipette:a,labware:o,well:i})),p.length>0)return{errors:p};const d=t.pipetteEntities[a].pythonName,b=[`${t.labwareEntities[o].pythonName}[${ee(i)}]`,`v_offset=${s}`,...l!=null?[`speed=${l}`]:[],...u!=null?[`mm_from_edge=${u}`]:[]],h=`${d}.touch_tip(${b.join(", ")})`;return{commands:[{commandType:"touchTip",key:ne(),params:{pipetteId:a,labwareId:o,wellName:i,wellLocation:{origin:f.WELL_ORIGIN_TOP,offset:{z:s}},speed:l,mmFromEdge:u}}],python:h}},gg=(e,t,r)=>{const{moduleId:n,celsius:a}=e,o=n?St(r,n):null,i=[];if(n===null||!o)return{errors:[ke()]};if(o.type!==f.TEMPERATURE_MODULE_TYPE&&o.type!==f.HEATERSHAKER_MODULE_TYPE)return console.error(`expected module to be ${f.TEMPERATURE_MODULE_TYPE} but got ${o.type}`),{errors:[ke()]};const s="status"in o&&o.status===Zc&&o.targetTemperature!==a,l="status"in o&&o.status===Jc&&o.targetTemperature!==a;if(s||"status"in o&&o.status===ba||"targetTemp"in o&&o.targetTemp==null)return{errors:[Z_()]};l&&i.push(iI());const u=t.moduleEntities[n],c=u?.type;switch(c){case f.TEMPERATURE_MODULE_TYPE:return{commands:[{commandType:"temperatureModule/waitForTemperature",key:ne(),params:{moduleId:n,celsius:a}}],warnings:i.length>0?i:void 0,python:`${u?.pythonName}.await_temperature(${a})`};case f.HEATERSHAKER_MODULE_TYPE:return{commands:[{commandType:"heaterShaker/waitForTemperature",key:ne(),params:{moduleId:n,celsius:a}}],warnings:i.length>0?i:void 0,python:`${u?.pythonName}.wait_for_temperature()`};default:return console.error(`awaitTemperature expected module ${n} to be ${f.TEMPERATURE_MODULE_TYPE} or ${f.HEATERSHAKER_MODULE_TYPE}, got ${c}`),{errors:[ke()]}}};function ae(e,t){return(r,n)=>e(t,r,n)}function j(e,t){return(r,n)=>{const a=e(t,r,n);if("python"in a){const{python:o,...i}=a;return i}return a}}const Qe="__air__",$r="source_well",In="dest_well",_g=(e,t,r)=>{const o=f.getDeckDefFromRobotType(r).cutoutFixtures.find(l=>l.id.includes(t))?.providesAddressableAreas,s=(l=>{if(o!=null){for(const u in o)if(o[u].includes(l))return u}return null})(e);if(s==null)throw Error(`expected to find cutoutId from addressableAreaName ${e} but could not`);return s};function Tg(e){switch(e){case 1:return f.ONE_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 8:return f.EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 96:return f.NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA}}function Ip(e){const t=f.getDeckDefFromRobotType(e==="cutout12"?f.OT2_ROBOT_TYPE:f.FLEX_ROBOT_TYPE);let r=null;return 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ZS(e,t,r){const{pipetteId:n,addressableAreaName:a}=e,{wasteChuteEntities:o,trashBinEntities:i}=t,s=f.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(a),l=Object.values(i).find(p=>p.location===Eg(a))?.id,u=s?Object.values(o)[0].id:l,{robotState:c}=r;c.pipettes[n]={...c.pipettes[n],entityId:u}}function JS(e,t,r){const{pipetteId:n,labwareId:a,wellName:o}=e,{robotState:i}=r;i.pipettes[n]={...i.pipettes[n],entityId:a,wellName:o}}function QS(e,t,r){const{pipetteId:n,labwareId:a,wellName:o}=e,i=t.pipetteEntities[n].spec,s=t.labwareEntities[a].def;jr(f.getIsTiprack(s),`forPickUpTip expected ${a} to be a tiprack`);const l=r.robotState.tipState,u=r.robotState.pipettes[n].nozzles,c=r.robotState.pipettes[n].primaryNozzle,p=zp(u,i),d=(h,g)=>h.find(T=>T.includes(g)),y=(h,g)=>{const T=h.findIndex(_=>_.includes(g));if(T===-1)return null;const m=h[T].indexOf(g);return h.map(_=>_[m])},b=(h,g)=>{const T=f.PARTIAL_NOZZLE_MAP[c],m=h.findIndex(v=>v.includes(g)),_=h[m].indexOf(g),I=h[m];if(I.length-_<T){const 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m},b),g=o.reduce((m,_)=>{const{id:I,pipetteName:S}=_,O=f.getPipetteSpecsV2(S),C=i.filter($=>$.commandType==="pickUpTip"&&$.params.pipetteId===I).map($=>h[$.params.labwareId]),N=Array.from(new Set(C.map($=>$.labwareDefURI))),V=Array.from(new Set(C.map($=>$.def)));return O==null||(m[I]={name:S,id:I,tiprackLabwareDef:V,tiprackDefURI:N,spec:O,pythonName:"n/a"}),m},{}),T=i.reduce((m,_)=>{if(_.commandType==="loadLidStack"&&_.result!=null){const{params:I}=_,S=Uc(I);return{...m,stagingAreaEntities:{...m.stagingAreaEntities,...S}}}else if((_.commandType==="loadLabware"||_.commandType==="loadLid")&&_.result!=null){const{params:I}=_,S=Uc(I);return{...m,stagingAreaEntities:{...m.stagingAreaEntities,...S}}}else if(_.commandType==="moveToAddressableArea"||_.commandType==="moveToAddressableAreaForDropTip"){const I=_.params.addressableAreaName,S=`${ne()}:${I}`;let O=Lb;I==="fixedTrash"?O="cutout12":I.includes("WasteChute")?O="cutoutD3":I.includes("movableTrash")&&(O=`cutout${I.split("movableTrash")[1]}`);let v=m.trashBinEntities;!Object.values(m.trashBinEntities).some(N=>N.location===O)&&I.includes("movableTrash")&&(v={...m.trashBinEntities,[S]:{pythonName:"trash_bin_1",id:S,location:O}});let C=m.wasteChuteEntities;return I.includes("WasteChute")&&(C={[S]:{pythonName:"waste_chute",id:S,location:O}}),{...m,trashBinEntities:v,wasteChuteEntities:C}}return m},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:h,pipetteEntities:g,moduleEntities:y,liquidEntities:u||c?d:{},...T}}const BA={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function jA(e,t){const r=e.reduce((i,s)=>s.commandType==="loadPipette"&&s.result!=null?{...i,[s.result.pipetteId]:{mount:s.params.mount}}:i,{}),n=e.reduce((i,s)=>{if(s.commandType==="loadModule"&&s.result!=null){const 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b of o){const T=a[b].labwareDefURI;if(T===u)f.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(T===p){const y=f[f.length-1];y&&(y.adapterLabwareId=b)}else if(T===d){const y=f[f.length-1];y&&(y.lidLabwareId=b)}}const _=[je,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(A=>A!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:T.slice(T.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:T.slice(T.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:T.slice(T.indexOf(b.lidLabwareId))});let y=null;for(const A of T)a[A]!=null&&(y==null?n.labware[A].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[A].stackedOnNode={labwareId:y},y=A)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},ow=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,primaryLabware:o,initialCount:i,adapterLabware:l,lidLabware:u,initialStoredLabware:p}=e,d=n.modules[s].slot,f=ft(n,s),_=[je,s,d];f!=null&&(f.storedLabwareDetails={primaryLabwareURI:`${o.namespace}/${o.loadName}/${o.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},i!=null?Z_(n,f,a,i,_,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&X_(f,p,n,_),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},iw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:s}=e,{labwareEntities:o}=t,i=n.modules[a].slot,l=ft(n,a);if(l==null)return;const u=s.map(g=>g.split(":")[1]),p=new 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I=[g.adapter,g.primary,g.lid,...b].filter(L=>L!=null);n.labware[g.primary]={...n.labware[g.primary],stack:I.slice(I.indexOf(g.primary))},g.adapter!=null&&(n.labware[g.adapter]={...n.labware[g.adapter],stack:I.slice(I.indexOf(g.adapter))}),g.lid!=null&&(n.labware[g.lid]={...n.labware[g.lid],stack:I.slice(I.indexOf(g.lid))})}const T=l.labwareInHopper??[],y=h.map(g=>({primaryLabwareId:g.primary,adapterLabwareId:g.adapter,lidLabwareId:g.lid})),A=new Map(T.map(g=>[g.primaryLabwareId,g])),S=[];for(const g of y)S.push(g),A.delete(g.primaryLabwareId);for(const g of T)A.has(g.primaryLabwareId)&&S.push(g);l.labwareInHopper=S},lw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:s,labwareToStore:o}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=ft(n,a),p=[je,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?Z_(n,u,i,s,p,"fillCount",d,f):o!=null&&X_(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},uw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=ft(n,a),o=n.modules[a].slot;if(s!=null){const{labwareInHopper:i,labwareOnShuttle:l}=s;if(i!=null&&i.length>0&&l==null){const u=i[0];s.labwareOnShuttle=u,i.shift();const p=[o];let d=null;for(const f of Kt){const _=u[f];if(_!=null){if(p.unshift(_),n.labware[_].stack=[...p],d==null){const m=gs(o);m!=null?n.labware[_].stackedOnNode={addressableAreaName:m}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${a} at slot ${o}`)}else n.labware[_].stackedOnNode={labwareId:d};d=_}}}}},cw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=ft(n,a),o=n.modules[a].slot;if(s!=null){const{labwareOnShuttle:i}=s;if(i!=null){s.labwareInHopper=[i,...s.labwareInHopper??[]],s.labwareOnShuttle=null;let l=null;for(const u of Kt){const p=i[u];p!=null&&(n.labware[p].stack=[p,je,a,o],l==null?(n.labware[p].stackedOnNode={kind:"inStackerHopper",moduleId:a},l=p):n.labware[p].stackedOnNode={labwareId:l})}s.storedLabwareDetails==null&&(s.storedLabwareDetails={primaryLabwareURI:t.labwareEntities[i.primaryLabwareId].labwareDefURI,adapterLabwareURI:i.adapterLabwareId!=null?t.labwareEntities[i.adapterLabwareId].labwareDefURI:null,lidLabwareURI:i.lidLabwareId!=null?t.labwareEntities[i.lidLabwareId].labwareDefURI:null})}}};function Q_(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function pw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=St(n,a);Q_(o,s,Ju)}function dw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=St(n,a);o.type===c.TEMPERATURE_MODULE_TYPE&&s===o.targetTemperature&&(o.status=Qu)}function fw(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=St(n,a);Q_(s,null,Ia)}function J_(e,t,r){if(!e)throw new Error("undefined command passed to 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command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function ey(e,t,r){return D_({warnings:[],robotState:r},a=>{J_(e,t,a)})}function Hc(e,t,r){const n=M_(e);return D_({warnings:[],robotState:r},s=>{n.forEach(o=>{J_(o,t,s)})})}const mw=(e,t,r)=>{const n=e.reduce((a,s,o)=>{const i=a.timeline.length===0?r:Pc(a.timeline).robotState;if(a.errors!=null)return a;const l=s(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=M_(l.commands).reduce((f,_)=>ey(_,t,f.robotState),{robotState:i,warnings:[]}),d={commands:l.commands,robotState:p.robotState,warnings:l.warnings,stepInfo:{stepNumber:l.stepNumber,name:l.name,description:l.description},python:l.python};return{timeline:[...a.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},vn=(e,t)=>{const r=t[e]?.stack;return r!=null?G(r):""},Pn=e=>{if(e.type===c.VACUUM_MODULE_TYPE){const t=e;return t.currentPumpActivity.type==="timedHold"||t.currentPumpActivity.type==="profile"}if(e.type===c.THERMOCYCLER_MODULE_TYPE){const t=e;return t.currentBlockActivity.type==="profile"||t.currentBlockActivity.type==="blockTargetTemp"}return!1},Cn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?G(a.labware[r]?.stack):null;if(!t||!r||!s||!o)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(yh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&o==="4"||p==="3"&&o==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(s.name)&&i},ne=(e,t,r)=>{const n=e.reduce((a,s)=>{if(a.errors.length>0)return a;const o=s(t,a.robotState);if("errors"in o)return{robotState:a.robotState,commands:a.commands,errors:o.errors,warnings:a.warnings};const i=[...a.commands,...o.commands],l=[...a.python?[a.python]:[],...o.python?[o.python]:[]].join(`
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gw(e,t,r){const{labware:n,modules:a,pipettes:s,commands:o,liquids:i}=e,l=t.protocolType==="python"?t.apiVersion:null,u=l!=null&&l[0]>=bw&&l[1]>=Tw,p=t.protocolType==="json"&&r>=yw,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,A)=>{const{id:S,description:g,displayName:I,displayColor:L}=A;return{...y,[S]:{description:g,displayName:I??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:S}}},{}),_=a.reduce((y,A)=>{const{id:S,model:g}=A;return{...y,[S]:{id:S,type:c.getModuleType(g),model:g,pythonName:"n/a"}}},{}),m=n.reduce((y,A)=>{const{id:S,definitionUri:g}=A,I=d[g];return I==null||I.schemaVersion===3?y:{...y,[S]:{id:S,labwareDefURI:g,def:I,pythonName:"n/a"}}},{}),h=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{stackLabwareId:S,lidStackDefinition:g}=A.result;if(S!=null&&g!=null&&y[S]==null&&g.schemaVersion!==3)return{...y,[S]:{id:S,labwareDefURI:c.getLabwareDefURI(g),def:g,pythonName:"n/a"}}}return y},m),b=s.reduce((y,A)=>{const{id:S,pipetteName:g}=A,I=c.getPipetteSpecsV2(g),w=o.filter(k=>k.commandType==="pickUpTip"&&k.params.pipetteId===S).map(k=>h[k.params.labwareId]),E=Array.from(new Set(w.map(k=>k.labwareDefURI))),R=Array.from(new Set(w.map(k=>k.def)));return I==null||(y[S]={name:g,id:S,tiprackLabwareDef:R,tiprackDefURI:E,spec:I,pythonName:"n/a"}),y},{}),T=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const S=A.params.addressableAreaName,g=`${F()}:${S}`;let I=Oh;S==="fixedTrash"?I="cutout12":S.includes("WasteChute")?I="cutoutD3":S.includes("movableTrash")&&(I=`cutout${S.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(E=>E.location===I)||(S.includes("movableTrash")?L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}:S==="fixedTrash"&&(L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}));let w=y.wasteChuteEntities;return S.includes("WasteChute")&&(w={[g]:{pythonName:"waste_chute",id:g,location:I}}),{...y,trashBinEntities:L,wasteChuteEntities:w}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:h,pipetteEntities:b,moduleEntities:_,liquidEntities:u||p?f:{},...T}}const Iw={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function Ew(e,t){const r=e.reduce((o,i)=>i.commandType==="loadPipette"&&i.result!=null?{...o,[i.result.pipetteId]:{mount:i.params.mount}}:o,{}),n=e.reduce((o,i)=>{if(i.commandType==="loadModule"&&i.result!=null){const l=c.getModuleDef(i.params.model).moduleType;return{...o,[i.result.moduleId]:{slot:l===c.FLEX_STACKER_MODULE_TYPE?Iw[i.params.location.slotName]:i.params.location.slotName,moduleState:Lh[l]}}}return o},{}),a=e.reduce((o,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,_=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const h=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,h]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(S=>S.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),h=p.reduce((T,y,A)=>{const S=m[y]??u[A];if(S!=null){const g=Uu(S);T[y]={stack:g[0]===y?g:[y,...g]}}else{const g=i.params.location;c.locationIsOffDeck(g)?T[y]={stack:[y,g]}:"slotName"in g?T[y]={stack:[y,g.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...Uu(f)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const m=i.params.location,h=p.reduce((T,y)=>{if(c.locationIsOffDeck(m))T[y]={stack:[y,m]};else if("slotName"in m)T[y]={stack:[y,m.slotName]};else if("moduleId"in m){const A=m.moduleId;T[y]={stack:[y,A,n[A].slot]}}else T[y]={stack:[y,"offDeck"]};return T},{}),b=d!=null?[d,..._(m)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}}else if((i.commandType==="loadLabware"||i.commandType==="loadLid")&&i.result!=null){const l=[i.result.labwareId];if(c.locationIsOffDeck(i.params.location))l.push(i.params.location);else if("slotName"in i.params.location)l.push(i.params.location.slotName);else if("moduleId"in i.params.location){const u=i.params.location.moduleId;if(n[u]==null)return console.warn(`Module ${u} not found when processing loadLabware/loadLid command. `),o;l.push(i.params.location.moduleId,n[i.params.location.moduleId].slot)}else if("labwareId"in i.params.location){const u=i.params.location.labwareId;o[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),o[u]={stack:[u,"offDeck"]});const p=o[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...o,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return Vm(i).forEach(u=>{Bm(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return Vm(i).forEach(u=>{Bm(o,u,"fillCount")}),o}return o},{}),s=wc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...Hc(e,t,s),command:e[e.length-1]},invariantContext:t}}const Bm=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},Vm=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],zc=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var bu,$m;function ww(){if($m)return bu;$m=1;var e=hc();function t(r,n){var a;return e(r,function(s,o,i){return a=n(s,o,i),!a}),!!a}return bu=t,bu}var Tu,xm;function Sw(){if(xm)return Tu;xm=1;var e=Mh(),t=Sn(),r=ww(),n=Xe(),a=yc();function s(o,i,l){var u=n(o)?e:r;return l&&a(o,i,l)&&(i=void 0),u(o,t(i,3))}return Tu=s,Tu}var Aw=Sw();const Da=xe(Aw),Nn=(e,t)=>Da(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),Dn=(e,t,r)=>r.channels!==1&&Da(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),Ma=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Da(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),ty=(e,t,r)=>Da(e,(a,s)=>c.getAreSlotsHorizontallyAdjacent(r,G(a.stack))&&c.getIsLabwareAboveHeight(t[s].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Fa=(e,t,r)=>{const n=ka(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},Mn=(e,t,r)=>Da(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&n.moduleState.targetSpeed!=null&&n.moduleState.targetSpeed>0&&(r===c.OT2_ROBOT_TYPE?c.getAreSlotsAdjacent(n.slot,t):c.getAreFlexSlotsAdjacent(n.slot,t))),qa=(e,t,r)=>{const n=ka(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.targetSpeed!==null)},Ls=e=>{const{args:t,pipetteName:r,tiprackUri:n,liquidClassValuesForTip:a}=e;let s=null;"mixBeforeAspirate"in t?s=t.mixBeforeAspirate:"mixFirstAspirate"in t&&(s=t.mixFirstAspirate);const o=Lw(t),i={dispense_position:{offset:{x:t.dispenseXOffset,y:t.dispenseYOffset,z:t.dispenseZOffset},position_reference:t.dispensePositionReference},flow_rate_by_volume:[[0,t.dispenseFlowRateUlSec??0]],delay:{enabled:!!t.dispenseDelay?.seconds,...t.dispenseDelay?.seconds?{duration:t.dispenseDelay?.seconds}:{}},submerge:{delay:{enabled:!!t.dispenseSubmergeDelay?.seconds,...t.dispenseSubmergeDelay?.seconds?{duration:t.dispenseSubmergeDelay?.seconds}:{}},speed:t.dispenseSubmergeSpeed??void 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-`),_=`labware=[${h.length<4?h.join(", "):`
+`)||"pass";return`def run(${Ie}: protocol_api.ProtocolContext) -> None:
+${Z(T)}`}function Jw(e){const t=Object.values(e).filter(r=>!c.getLabwareDefIsStandard(r.def)).map(r=>r.def);if(t.length>0){const r=Object.fromEntries(t.map(n=>[c.getLabwareDefURI(n),n]));return`${bs} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Rs=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},by=(e,t,r,n,a)=>{const o=Object.values(e).map(i=>{const{id:l,type:u,pythonName:p}=i;if(u===c.FLEX_STACKER_MODULE_TYPE){const d=n[l].slot,f=a.timeline.map(h=>h.robotState.labware),_=Object.entries(r).filter(([h,b])=>b.stack.includes(l)&&b.stack.includes(je)),m=[...Object.entries(r),...f.flatMap(h=>Object.entries(h))].filter(([h,b])=>G(b.stack)===d&&!b.stack.includes(je));if(_.length===0){if(m.length===0)return"";const h=m.find(([y])=>t[y].def.allowedRoles?.includes("lid")),b=m.find(([y])=>!t[y].def.allowedRoles?.includes("lid"));if(b==null)return"";const T=[`load_name=${C(t[b[0]].def.parameters.loadName)}`,`namespace=${C(t[b[0]].def.namespace)}`,`version=${t[b[0]].def.version}`,"count=0",...h!=null?[`lid=${C(t[h[0]].def.parameters.loadName)}`]:[]].join(`,
+`);return`${p}.set_stored_labware(
+${Z(T)}
+)`}else{const h=Object.values(_).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=Ts(h,4).map(S=>Ra+S.join(", ")).join(`,
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 ${T}
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t=f.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>f.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},IO=(e,t,r,n)=>{const{modules:a,labware:o}=e,{moduleEntities:i,labwareEntities:s,wasteChuteEntities:l}=t;let u=0;const c=r?.addressableArea?.id;if(c){const p=Lp(o,c),d=Object.keys(a).find(b=>a[b].slot===c);Object.values(l).find(b=>b.location===O_(r))&&(u+=wO(n)),p.length>0?p.forEach(b=>{a[b]!=null&&(u+=Jy(i[b].model,n)),o[b]!=null&&(u+=s[b].def.dimensions.zDimension)}):d!=null&&(u+=Jy(i[d].model,n))}return u},SO=(e,t,r,n,a)=>{const o=Object.values(n.moduleEntities).some(({type:i})=>i===f.THERMOCYCLER_MODULE_TYPE);for(const i of t){const s=i.addressableArea?.boundingBox,l=i.position;if(o&&a===f.OT2_ROBOT_TYPE&&i.addressableArea?.id!=null&&Pb.includes(i.addressableArea.id))return!0;if(l==null||s==null)continue;const 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S=b.pipettes[n]?.tiprackURI,O=S!=null?c[S]:null,v=O!=null?O.def.parameters.tipLength:0,C=Object.values(p).map(R=>R.location),N=b.pipettes[n]?.hasTip??!1,V=N?v??0:0,$=we(y[a].stack),G=f.getPositionFromSlotId($,I)??[0,0,0],fe=_===f.FLEX_ROBOT_TYPE&&y[a].stack.some(R=>d[R]?.type===f.THERMOCYCLER_MODULE_TYPE)?I.locations.addressableAreas.find(R=>R.id===f.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],be=[fe[0]+G[0],fe[1]+G[1],fe[2]+G[2]],ge=OO(c[a],i,o,be,N),{channels:le}=h.spec,re=O!=null?vO({pipetteSpecs:g,tiprackUri:O.labwareDefURI,nozzles:l}):0,U=EO(h,V,ge,s??qr({nozzles:l,channels:le}),re);if(!RO({channels:le,boundingBox:U,robotType:_}))return!1;const w=(_===f.OT2_ROBOT_TYPE?f.getOt2SurroundingSlots($):f.getFlexSurroundingSlots($,C)).map(R=>{const 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u=r===f.A12_NOZZLE,c=zc(o),p=l[c],d=u?[...l].reverse():l,y=d.indexOf(p);return{isSafe:d.slice(y+1).flat().every(b=>t[b]===Pe||s.includes(b)),isComplete:d[y].every(b=>t[b]!==Pe)}}if(a===f.ROW){const u=l[0].map((y,b)=>l.map(h=>h[b])),p=r===f.H1_NOZZLE?[...u].reverse():u,d=p.findIndex(y=>y.some(b=>b===o));return{isSafe:p.slice(d+1).flat().every(y=>t[y]===Pe||s.includes(y)),isComplete:p[d].every(y=>t[y]!==Pe)}}if(a===f.SINGLE){const u=ra(r??qr({nozzles:a,channels:n})),c=R_(r??qr({nozzles:a,channels:n})),p=u==="H",y=c==="12"?[...l].reverse():l,b=y.findIndex(h=>h.some(g=>g===o));return{isSafe:y.slice(b).every(h=>{const g=p?[...h].reverse():h,T=g.findIndex(m=>ra(m)===ra(o));return g.slice(T).every(m=>t[m]===Pe||s.includes(m)||m===o)}),isComplete:t[o]!==Pe}}return{isSafe:!1}},ra=e=>e.slice(0,1),R_=e=>e.slice(1),zc=e=>parseInt(e.slice(1))-1,qr=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===f.SINGLE)return"H1";if(r===96){if(t===f.COLUMN)return"A12";if(t===f.SINGLE)return"H12"}return"A1"},qa=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;if(r===f.ROW){const o=t[0].length;return Array.from({length:o},(s,l)=>t.map(u=>u[l])).map(s=>s[0])}return t.map(o=>n===96&&r===f.ALL?a:r===f.COLUMN||n===8&&r===f.ALL||n===8&&r===f.PARTIAL_COLUMN?ra(a)==="H"?o[o.length-1]:o[0]:(console.assert(o.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),o[0]))},vO=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,o=LO(a,n),i=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[o]?.default.tipOverlaps;if(i==null)return console.error(`No tip overlaps found for ${n} and ${o} overlap.`),0;const s=Math.max(...Object.keys(i).map(l=>Number(l.slice(1))));return i[`v${s}`]?.[r]??i[`v${s}`]?.default??0},LO=(e,t)=>{if(e===1)return"SingleA1";if(e===8)return t===f.SINGLE?"SingleH1":"Full";if(e===96){if(t===f.SINGLE)return"SingleH12";if(t===f.COLUMN)return"Column12";if(t===f.ROW)return"RowA"}return"Full"},RO=e=>{const{channels:t,boundingBox:r,robotType:n}=e,a=f.getRobotDefFromRobotType(n),{paddingOffsets:o}=a,{front:i,rear:s,leftSide:l,rightSide:u}=o,[c,p]=a.extents,[d,y]=r,{x:b,y:h}=d,{x:g,y:T}=y;if(t===96){if(g<l)return!1;const m=c+u;if(b>m)return!1}if(t!==1){if(h<i)return!1;const m=p+s;if(T>m)return!1}return!0};function P_(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:Yp(e)}}function Yp(e){return e.flatMap(t=>"steps"in t?wg(t.steps,t.repetitions):t)}const ne=YT;function k_(e){return Object.keys(e).sort((r,n)=>{const a=we(e[r].stack),o=we(e[n].stack),i=parseInt(a),s=parseInt(o);return We.includes(a)&&We.includes(o)?r.localeCompare(n):We.includes(a)?1:We.includes(o)?-1:i-s})}function N_(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:a,nozzles:o,primaryNozzle:i}=e,s=n.pipetteEntities[t]?.spec?.channels,l=i??qr({nozzles:o,channels:s}),u=n.labwareEntities[r]?.def,c=a.tipState.tipracks[r];if(!s||!u||!c)return console.assert(!1,`Pipette ${t} missing channels/spec or tiprack definition`),null;const p=V=>c[V]===ro,d=f.orderWells(u.ordering,"t2b","l2r"),y=f.orderWells(u.ordering,"b2t","l2r"),b=V=>V.find(p)??null,h=V=>[...V].reverse().find(p)??null,g=V=>V.find($=>$.every(p))??null,T=V=>[...V].reverse().find($=>$.every(p))??null,m=s===8&&o===f.SINGLE,_=m&&l===f.H1_NOZZLE,I=m&&l===f.A1_NOZZLE,S=s===96&&o===f.SINGLE,O=S&&l===f.H12_NOZZLE,v=S&&l===f.A12_NOZZLE,C=S&&l===f.H1_NOZZLE,N=S&&l===f.A1_NOZZLE;if(s===1||_||O)return b(d);if(I)return b(y);if(o===f.PARTIAL_COLUMN){const V=b(d);if(!V)return null;const $=d.indexOf(V);return d[$]??null}if(o===f.ALL&&s===8)return g(u.ordering)?.[0]??null;if(N)return h(d);if(v)return b(y);if(C)return h(y);if(o===f.COLUMN){const V=u.ordering;return(l===f.A1_NOZZLE?T(V):g(V))?.[0]??null}if(o===f.ROW){const V=u.ordering,$=V[0].map((X,fe)=>V.map(be=>be[fe]));return(l===f.A1_NOZZLE?T($):g($))?.[0]??null}return o===f.ALL&&s===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Fa(e,t,r,n,a,o){const i=r.pipetteEntities[e];if(!i)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const s=k_(n.labware).filter(b=>{console.assert(r.labwareEntities[b]?.labwareDefURI,`cannot getNextTiprack, no labware entity for "${b}"`);const h=we(n.labware[b].stack)!=="offDeck",g=r.labwareEntities[b].labwareDefURI;return h&&g===t});let l=s;const u=i.spec.channels===96,c=[],p=[];u&&(l=l.filter(b=>{const h=n.labware[b].stack[1],g=r.labwareEntities[h],T=g?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&f.getLabwareDefIsStandard(g?.def),m=o===f.ALL?T:!T;return m||c.push(b),m})),l=l.filter(b=>{const h=Object.entries(n.labware).find(([g,T])=>T.stack.includes(b)&&f.getIsLid(r.labwareEntities[g].def));return h!=null&&p.push(b),h==null});let d=null,y=null;for(const b of l){const h=N_({pipetteId:e,tiprackId:b,nozzles:o,invariantContext:r,robotState:n,primaryNozzle:a});if(h){d=b,y=h;break}}return d&&y?{nextTiprack:{tiprackId:d,well:y},tipracks:{totalTipracks:s.length,excludedBy96Channel:c.length,excludedByLid:p.length,filteredSortedTiprackIds:l}}:{nextTiprack:null,tipracks:{totalTipracks:s.length,excludedBy96Channel:c.length,excludedByLid:p.length,filteredSortedTiprackIds:l}}}function ko(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,o=n.tiprackLabwareDef;let i=null;for(const l of o)if(f.getLabwareDefURI(l)===r){i=l;break}const s=f.getTiprackVolume(i??o[0]);return!a||!s?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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null},rS=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=eS(s,e,a,n),u=i.backLeftCorner[0],p=i.frontRightCorner[0],d=i.backLeftCorner[1],f=i.frontRightCorner[1],_=r.x-(l.x-u),m=r.x+(p-l.x),h=r.y+(d-l.y),b=r.y-(l.y-f),T=(r.z??0)+t-o;return[{x:_,y:h,z:T},{x:m,y:b,z:T},{x:m,y:h,z:T},{x:_,y:b,z:T}]},gy=(e,t)=>{const r=e[1].x<t[0].x,n=e[0].x>t[1].x,a=e[0].y<t[1].y,s=e[1].y>t[0].y;return!(r||n||a||s)},Zm=(e,t)=>{if(t===c.FLEX_ROBOT_TYPE){const r=c.getDeckDefFromRobotType(t),{addressableAreas:n}=r.locations;return n.find(s=>s.id.includes(e))?.offsetFromCutoutFixture[2]??0}return c.getModuleDef(e).dimensions.bareOverallHeight},nS=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},aS=(e,t,r,n)=>{const{modules:a,labware:s}=e,{moduleEntities:o,labwareEntities:i,wasteChuteEntities:l}=t;let u=0;const p=r?.addressableArea?.id;if(p){const 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null},oS=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?gy([Xm,tS],[e[0],e[1]])&&e[0].x<=Xm.z:!1,iS=(e,t,r,n)=>{const{wells:a}=e.def,s=a[t];return{x:s.x+r.x,y:s.y+r.y,z:n?s.z+(r.z??0):e.def.dimensions.zDimension}},dt=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:a,wellLocationOffset:s={x:0,y:0,z:0},wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,tiprackId:u}=e,{pipetteEntities:p,labwareEntities:d,stagingAreaEntities:f,moduleEntities:_}=r,{labware:m,tipState:h}=t,b=p[n];if(b==null)return{isSafe:!0};const{spec:T}=b,{channels:y}=T,g=T?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,I=c.getDeckDefFromRobotType(g);if(d[a]==null||o==null||y===1)return{isSafe:!0};const L=u?!0:h.pipettes[n]?.hasTip??!1,w=u??h.pipettes[n]?.tiprackURI,E=w!=null?d[w]:null,R=E!=null?E.def.parameters.tipLength:0,k=Object.values(f).map(v=>v.location),B=L?R??0:0,q=G(m[a].stack),ee=m[a].stack.some(v=>_[v]?.type===c.THERMOCYCLER_MODULE_TYPE),pe=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),_e=(ee?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,pe):c.getPositionFromSlotId(q,I))??[0,0,0],le=ee?pe.locations.addressableAreas.find(v=>v.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],be={x:le[0]+_e[0],y:le[1]+_e[1],z:le[2]+_e[2]},{def:ve}=d[a],He=pS({wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:ve}),Be={x:s.x+He.x+be.x,y:s.y+He.y+be.y,z:(s.z??0)+(be.z??0)},te=iS(d[a],o,Be,L),Ee=E!=null?lS({pipetteSpecs:T,tiprackUri:E.labwareDefURI,nozzles:l}):0,ze=d[a].def,Pe=rS(b,B,te,ze,i,l,Ee);if(!cS({channels:y,boundingBox:Pe,robotType:g}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const W=(g===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(q):c.getFlexSurroundingSlots(q,k)).map(v=>{const V=c.getAddressableAreaFromSlotId(v,I),N=c.getPositionFromSlotId(v,I);return{addressableArea:V,position:N}});if(oS(Pe,_))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const P=sS(Pe,W,t,r,g);return P!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:P.addressableAreaCausingCollision}}:{isSafe:!0}},jc=e=>{const{tipState:t,primaryNozzle:r,channels:n,nozzleConfiguration:a,wellName:s,tiprackDef:o,tipsToIgnore:i=[]}=e,{ordering:l}=o;if(n===1)return{isSafe:!0,isComplete:t[s]!==ie};if(n===8){const u=r!==c.A1_NOZZLE,p=Wu(s),d=l[p],f=u?[...d].reverse():d;if(a===c.SINGLE){const _=f.indexOf(s);return{isSafe:f.slice(_+1).every(m=>t[m]===ie||i.includes(m)),isComplete:t[s]!==ie}}if(a===c.PARTIAL_COLUMN){const _=f.indexOf(s),m=c.PARTIAL_NOZZLE_MAP[r],h=u?f.slice(_-m+1,_+1):f.slice(_,_+m);return{isSafe:f.slice(_+1).every(b=>t[b]===ie||i.includes(b)),isComplete:h.every(b=>t[b]!==ie&&!i.includes(b))}}return{isSafe:!0,isComplete:f.every(_=>t[_]!==ie)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(o.wells).every(u=>t[u]!==ie)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=Wu(s),d=l[p],f=u?[...l].reverse():l,_=f.indexOf(d);return{isSafe:f.slice(_+1).flat().every(m=>t[m]===ie||i.includes(m)),isComplete:f[_].every(m=>t[m]!==ie)}}if(a===c.ROW){const u=l[0].map((_,m)=>l.map(h=>h[m])),d=r===c.H1_NOZZLE?[...u].reverse():u,f=d.findIndex(_=>_.some(m=>m===s));return{isSafe:d.slice(f+1).flat().every(_=>t[_]===ie||i.includes(_)),isComplete:d[f].every(_=>t[_]!==ie)}}if(a===c.SINGLE){const u=fn(r??ns({nozzles:a,channels:n})),p=Gc(r??ns({nozzles:a,channels:n})),d=u==="H",_=p==="12"?[...l].reverse():l,m=_.findIndex(h=>h.some(b=>b===s));return{isSafe:_.slice(m).every(h=>{const 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u=Gc(t)==="12"?1:-1,p=Iy(n);return i?(l-1)*p/2*u:0},fS=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:s}=e,{channels:o}=a,{ordering:i}=s,l=i.findIndex(m=>m.includes(t));if(!(i[l].length===1))return 0;let d;n===c.COLUMN||n===c.ALL&&o===96||o===8?d=8:n===c.PARTIAL_COLUMN?d=c.PARTIAL_NOZZLE_MAP[r]:n===c.QUADRANT?d=4:d=1;const f=Iy(a),_=fn(r)==="H"?-1:1;return(d-1)*f/2*_};function Ey(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:Wc(e)}}function Wc(e){return e.flatMap(t=>"steps"in t?h_(t.steps,t.repetitions):t)}const F=$b;function wy(e){return Object.keys(e).sort((r,n)=>{const a=G(e[r].stack),s=G(e[n].stack),o=parseInt(a),i=parseInt(s);return Me.includes(a)&&Me.includes(s)?r.localeCompare(n):Me.includes(a)?1:Me.includes(s)?-1:o-i})}function Sy(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:a,nozzles:s,primaryNozzle:o}=e,i=n.pipetteEntities[t]?.spec?.channels,l=n.labwareEntities[r]?.def,u=a.tipState.tipracks[r];if(!i||!l||!u)return console.assert(!1,`Pipette ${t} missing channels/spec or tiprack definition`),null;const p=E=>u[E]===Ea,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),_=E=>E.find(p)??null,m=E=>[...E].reverse().find(p)??null,h=E=>E.find(R=>R.every(p))??null,b=E=>[...E].reverse().find(R=>R.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,A=T&&o===c.A1_NOZZLE,S=i===96&&s===c.SINGLE,g=S&&o===c.H12_NOZZLE,I=S&&o===c.A12_NOZZLE,L=S&&o===c.H1_NOZZLE,w=S&&o===c.A1_NOZZLE;if(i===1||y||g)return _(d);if(A)return _(f);if(s===c.PARTIAL_COLUMN){const E=_(d);if(!E)return null;const R=d.indexOf(E);return d[R]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(w)return m(d);if(I)return _(f);if(L)return m(f);if(s===c.COLUMN){const E=l.ordering;return(o===c.A1_NOZZLE?b(E):h(E))?.[0]??null}if(s===c.ROW){const E=l.ordering,R=E[0].map((B,q)=>E.map(ee=>ee[q]));return(o===c.A1_NOZZLE?b(R):h(R))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Va(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=wy(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const h=G(n.labware[m].stack)!=="offDeck",b=r.labwareEntities[m].labwareDefURI;return h&&b===t});let l=i;const u=o.spec.channels===96,p=[],d=[];u&&(l=l.filter(m=>{const h=n.labware[m].stack[1],b=r.labwareEntities[h],T=b?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(b?.def),y=s===c.ALL?T:!T;return y||p.push(m),y})),l=l.filter(m=>{const h=Object.entries(n.labware).find(([b,T])=>T.stack.includes(m)&&c.getIsLid(r.labwareEntities[b].def));return h!=null&&d.push(m),h==null});let f=null,_=null;for(const m of l){const h=Sy({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:b}=h!=null?dt({robotState:n,invariantContext:r,pipetteId:e,labwareId:m,wellTargetName:h,primaryNozzle:a,nozzleConfiguration:s}):{isSafe:!1},{isSafe:T,isComplete:y=!1}=h!=null?jc({tipState:n.tipState.tipracks[m],primaryNozzle:a,channels:o.spec.channels,nozzleConfiguration:s,wellName:h,tiprackDef:r.labwareEntities[m].def}):{isSafe:!1};if(h&&b&&T&&y){f=m,_=h;break}}return f&&_?{nextTiprack:{tiprackId:f,well:_},tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}:{nextTiprack:null,tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}}function ks(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,s=n.tiprackLabwareDef;let o=null;for(const l of s)if(c.getLabwareDefURI(l)===r){o=l;break}const i=c.getTiprackVolume(o??s[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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0}),h=u.pipetteEntities[t].spec,g=f.getByVolumeValue({liquidClass:c,pipetteSpecs:h,tiprackDefUri:p,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=f.getByVolumeValue({liquidClass:c,pipetteSpecs:h,tiprackDefUri:p,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_=d!=null?[j(ye,{...d,wellLocation:{...d.wellLocation}})]:[];for(let I=0;I<n;I++)_.push(j(mo,{pipetteId:t,volume:r,flowRate:a,...g>0?{correctionVolume:g}:{}}),...tb(i),j(st,{pipetteId:t,volume:r,flowRate:o,...I<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...tb(s));return[..._,...y?[b]:[]]},jO=(e,t,r)=>{const n="mix",{pipette:a,labware:o,wells:i,volume:s,times:l,changeTip:u,aspirateFlowRateUlSec:c,dispenseFlowRateUlSec:p,blowoutFlowRateUlSec:d,blowoutOffsetFromTopMm:y,dropTipLocation:b,tipRack:h,positionReference:g,xOffset:T,yOffset:m,zOffset:_,finalPushOut:I,nozzles:S,primaryNozzle:O,tipsSelected:v,tiprackSelected:C,tipTracking:N}=e,V=e.aspirateDelaySeconds??0,$=e.dispenseDelaySeconds??0,G=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[ft({pipette:a})]};if(r.labware[o]==null)return{errors:[dt({actionName:n,labware:o})]};const X=we(r.labware[o]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&X===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ma()]};const be=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ge=be.length>0?be[0]:null,le=Object.values(t.labwareEntities).find(({labwareDefURI:q})=>q===b),re=le!=null&&f.getIsTiprack(le.def),U=t.wasteChuteEntities[b]!=null,x=t.trashBinEntities[b]!=null,W=r.pipettes[a]?.tipWell!=null;if(b==null||re&&ge==null&&u!=="never"&&W||!re&&!U&&!x)return{errors:[yn()]};if(G){const q=It({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:m},wellTargetName:i[0],primaryNozzle:O,nozzleConfiguration:S}),P=It({robotState:r,invariantContext:t,pipetteId:a,labwareId:o,wellLocationOffset:{x:T,y:m},wellTargetName:i[0],primaryNozzle:O,nozzleConfiguration:S});if(!q&&!P)return{errors:[Mr()]}}const w=f.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),R=w?[ae(na,{pipetteId:a,volume:s})]:[],E=t.pipetteEntities[a].spec,L=N===wt&&C!=null&&v!=null&&v.length>0?qa({wellSets:v,nozzles:S,channels:E.channels,primaryNozzle:O}):null,M=dn(i,(q,P)=>{let D=[];if(u==="always"||u==="once"&&P===0){const B=L?.shift();D=[ae(Ma,{pipette:a,primaryNozzle:O,dropTipLocation:re&&ge!=null?ge:b,tipRack:h,nozzles:S,...N===wt&&B!=null&&C!=null?{tipSelectionArgs:{tipRackId:C,tipWell:B}}:{},isFromMixCommand:!0})]}const z=w||e.blowoutLocation!=null&&P>0?[ae(qt,{pipetteId:a})]:[],H=e.touchTip?[ae(Ct,{pipetteId:a,labwareId:o,wellName:q,zOffsetFromTop:e.touchTipMmFromTop})]:[],oe=Ig({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:q,destLabwareId:e.labware,destWell:q,blowoutLocation:e.blowoutLocation,flowRate:d,offsetFromTopMm:y,invariantContext:t}),de=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(B=>B===e.blowoutLocation)?[...H,...oe]:[...oe,...H],J=re&&(P===i.length-1||u==="always")?[ae(wn,{pipette:a,dropTipLocation:h,isReturnTip:re})]:[],ce=Pr({pipette:a,volume:s,times:l,aspirateFlowRateUlSec:c,dispenseFlowRateUlSec:p,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:I,aspirateDelaySeconds:V,dispenseDelaySeconds:$,moveToWellParams:{pipetteId:a,labwareId:o,wellName:q,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[g],offset:{x:T,y:m,z:_}}},generatePython:!0});return[...D,...R,...z,...ce,...de,...J]});return Ne(M,t,r)},$O=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:s,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:c,aspirateRetractZOffset:p,aspirateSubmergeDelay:d,aspirateSubmergePositionReference:y,aspirateSubmergeSpeed:b,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:g,aspirateSubmergeZOffset:T,aspirateXOffset:m,aspirateYOffset:_,aspirateZOffset:I,blowoutFlowRateUlSec:S,blowoutLocation:O,changeTip:v,destLabware:C,destWell:N,dispenseDelay:V,dispenseFlowRateUlSec:$,dispensePositionReference:G,dispenseRetractPositionReference:X,dispenseRetractXOffset:fe,dispenseRetractYOffset:be,dispenseRetractZOffset:ge,dispenseSubmergeDelay:le,dispenseSubmergePositionReference:re,dispenseSubmergeSpeed:U,dispenseSubmergeXOffset:x,dispenseSubmergeYOffset:W,dispenseSubmergeZOffset:w,dispenseXOffset:R,dispenseYOffset:E,dispenseZOffset:A,dropTipLocation:L,liquidClass:M,mixInDestination:q,nozzles:P,pipette:D,primaryNozzle:z,pushOut:H,sourceLabware:oe,sourceWells:K,tipRack:ue,tipTracking:de,tiprackSelected:J,tipsSelected:ce,touchTipAfterAspirate:B,touchTipAfterAspirateMmFromEdge:qe,touchTipAfterAspirateOffsetMmFromTop:Oe,touchTipAfterAspirateSpeed:Ce,touchTipAfterDispense:Ee,touchTipAfterDispenseMmFromEdge:k,touchTipAfterDispenseOffsetMmFromTop:F,touchTipAfterDispenseSpeed:Y,stepNumber:Q,volume:Z}=e,{pipetteEntities:ie,labwareEntities:te,trashBinEntities:se,wasteChuteEntities:pe}=t,me="consolidate",he=[],Ze=r.pipettes[D],Be=ie[D]?.spec.channels!==1,_e=e.aspirateAirGapVolume??0,Se=e.dispenseAirGapVolume??0;Ze==null&&he.push(ft({pipette:D})),(C==null||te[C]==null&&se[C]==null&&pe[C]==null)&&he.push(db());const rt=we(r.labware[C]?.stack),nt=we(r.labware[oe]?.stack);Object.keys(pe).length>0&&(rt===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||nt===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&he.push(ma());const Fe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],at=Fe.length>0?Fe[0]:null,Hr=Object.values(t.labwareEntities).find(({labwareDefURI:Ue})=>Ue===L),At=Hr!=null&&f.getIsTiprack(Hr.def),Ua=t.wasteChuteEntities[L]!=null,Gr=t.trashBinEntities[L]!=null,Zt=r.tipState.pipettes[D]?.hasTip;(L==null||At&&at==null&&v!=="never"&&Zt||!At&&!Ua&&!Gr)&&he.push(yn());let ut,Ie;if(v==="never"){const Ue=r.tipState.pipettes[D]?.tiprackURI;ut=t.labwareEntities[Ue??""],Ie=ut?.labwareDefURI}else ut=Object.values(te).find(({labwareDefURI:Ue})=>Ue===ue),Ie=ue;ut==null&&(v==="never"?he.push(Ft({actionName:me,pipette:D})):he.push(dt({actionName:me,labware:Ie})));const{def:Ot=null}=ut??{},{spec:je,name:vt,pythonName:Ae}=ie[D],Te=f.getAllLiquidClassDefs()[M===f.NONE_LIQUID_CLASS_NAME||M==null?f.WATER_LIQUID_CLASS_NAME:M].byPipette?.find(({pipetteModel:Ue})=>Ue===f.getFlexNameConversion(je))?.byTipType.find(({tiprack:Ue})=>Ue===Ie)??null,{aspirate:ct}=Te??{},{multiWellHandling:De}=Rp({pipetteSpecs:je,tiprackDefinition:Ot,volume:Z,path:"multiAspirate",numAspirateWells:K.length,numDispenseWells:1,aspirateAirGapByVolume:ct?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:ot}=De;if((!De.isSupported||ot==null||ot===1)&&he.push(dT()),Be&&P!==f.ALL){const Ue=It({robotState:r,invariantContext:t,pipetteId:D,labwareId:oe,wellLocationOffset:{x:m,y:_},primaryNozzle:z,nozzleConfiguration:P}),Le=It({robotState:r,invariantContext:t,pipetteId:D,labwareId:C,wellLocationOffset:{x:R,y:E},primaryNozzle:z,nozzleConfiguration:P});!Ue&&!Le&&he.push(Mr())}const Ut=N!=null?te[oe]?.def.wells[N]?.depth:null,Lt=f.getMmFromBottom(A,G,Ut),zr=f.getMmFromBottom(w,re,Ut),Jt=f.getMmFromBottom(ge,X,Ut);if(Lt!=null&&zr!=null&&Lt>zr&&he.push(pT()),Lt!=null&&Jt!=null&&Lt>Jt&&he.push(fT()),he.length>0)return{errors:he};const{tipracks:pr}=Fa(D,Ie,t,r,z,P),Qt=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Z,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,xe=se[C]?.pythonName??pe[C]?.pythonName,Rt=se[L]?.pythonName??pe[L]?.pythonName,fr=O==null?null:se[O]?.pythonName??pe[O]?.pythonName,dr=te[oe].pythonName,Wr=te[C]?.pythonName,mr=K.map(Ue=>`${dr}[${ee(Ue)}]`).join(", "),Yr=e.destWell!=null&&Wr!=null?`${Wr}[${ee(e.destWell)}]`:null,Kr=[`name=${ee(`${e.commandCreatorFnName}_step_${Q}`)}`,...M!=null?[`base_liquid_class=${Da(M,!0)}`]:[],`properties=${Lo({args:e,pipetteName:f.isFlexPipette(vt)?f.getFlexNameConversion(je):vt,tiprackUri:Ie,liquidClassValuesForTip:Te})}`],Dn=`${$e}.define_liquid_class(
-${ve(Kr.join(`,
+)`}},Dr=e=>{const{pipette:t,volume:r,times:n,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:s,aspirateDelaySeconds:o=0,dispenseDelaySeconds:i=0,finalPushOut:l,invariantContext:u,liquidClass:p,tiprack:d,moveToWellParams:f,generatePython:_}=e,m=ES({invariantContext:u,pipette:t,volume:r,times:n,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:s,aspirateDelaySeconds:o,dispenseDelaySeconds:i,finalPushOut:l,positionArgs:f!=null?{labware:f.labwareId,well:f.wellName,wellOrigin:f.wellLocation?.origin??c.WELL_ORIGIN_BOTTOM,xOffset:f.wellLocation?.offset?.x??0,yOffset:f.wellLocation?.offset?.y??0,zOffset:f.wellLocation?.offset?.z??0}:void 0}),h=u.pipetteEntities[t].spec,b=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,A=f!=null?[O($,{...f,wellLocation:{...f.wellLocation}})]:[];for(let S=0;S<n;S++)A.push(O(_s,{pipetteId:t,volume:r,flowRate:a,...b>0?{correctionVolume:b}:{}}),...eh(o),O(nt,{pipetteId:t,volume:r,flowRate:s,...S<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...eh(i));return[...A,..._?[m]:[]]},wS=(e,t,r)=>{const{pipette:a,labware:s,wells:o,volume:i,times:l,changeTip:u,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,blowoutFlowRateUlSec:f,blowoutOffsetFromTopMm:_,dropTipLocation:m,tipRack:h,positionReference:b,xOffset:T,yOffset:y,zOffset:A,finalPushOut:S,nozzles:g,primaryNozzle:I,tipsSelected:L,tiprackSelected:w,tipTracking:E}=e,R=e.aspirateDelaySeconds??0,k=e.dispenseDelaySeconds??0,B=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[ut({pipette:a})]};if(r.labware[s]==null)return{errors:[ct({actionName:"mix",labware:s})]};const q=G(r.labware[s]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&q===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ya()]};const pe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],_e=pe.length>0?pe[0]:null,le=Object.values(t.labwareEntities).find(({labwareDefURI:W})=>W===m),be=le!=null&&c.getIsTiprack(le.def),ve=t.wasteChuteEntities[m]!=null,He=t.trashBinEntities[m]!=null,Be=r.pipettes[a]?.tipWell!=null;if(m==null||be&&_e==null&&u!=="never"&&Be||!be&&!ve&&!He)return{errors:[Tn()]};if(B){const W=dt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g});if(!W.isSafe)return{errors:[Ft({unsafePipetteMovementReason:W.reason})]};const P=dt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g});if(!P.isSafe)return{errors:[Ft({unsafePipetteMovementReason:P.reason})]}}const te=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Ee=te?[M(oa,{pipetteId:a,volume:i})]:[],ze=t.pipetteEntities[a].spec,Te=E===wt&&w!=null&&L!=null&&L.length>0?Ba({wellSets:L,nozzles:g,channels:ze.channels,primaryNozzle:I}):null,K=yn(o,(W,P)=>{let v=[];if(u==="always"||u==="once"&&P===0){const ye=Te?.shift();v=[M($a,{pipette:a,primaryNozzle:I,dropTipLocation:be&&_e!=null?_e:m,tipRack:h,nozzles:g,...E===wt&&ye!=null&&w!=null?{tipSelectionArgs:{tipRackId:w,tipWell:ye}}:{},isFromMixCommand:!0})]}const V=te||e.blowoutLocation!=null&&P>0?[M(Ut,{pipetteId:a})]:[],N=e.touchTip?[M(Mt,{pipetteId:a,labwareId:s,wellName:W,zOffsetFromTop:e.touchTipMmFromTop})]:[],ae=__({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:W,destLabwareId:e.labware,destWell:W,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:_,invariantContext:t}),z=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(ye=>ye===e.blowoutLocation)?[...N,...ae]:[...ae,...N],D=be&&(P===o.length-1||u==="always")?[M(An,{pipette:a,dropTipLocation:h,isReturnTip:be})]:[],x=Dr({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:S,aspirateDelaySeconds:R,dispenseDelaySeconds:k,moveToWellParams:{pipetteId:a,labwareId:s,wellName:W,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:T,y,z:A}}},generatePython:!0});return[...v,...Ee,...V,...x,...z,...D]});return ne(K,t,r)},SS=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:w,destWell:E,dispenseDelay:R,dispenseFlowRateUlSec:k,dispensePositionReference:B,dispenseRetractPositionReference:q,dispenseRetractXOffset:ee,dispenseRetractYOffset:pe,dispenseRetractZOffset:_e,dispenseSubmergeDelay:le,dispenseSubmergePositionReference:be,dispenseSubmergeSpeed:ve,dispenseSubmergeXOffset:He,dispenseSubmergeYOffset:Be,dispenseSubmergeZOffset:te,dispenseXOffset:Ee,dispenseYOffset:ze,dispenseZOffset:Pe,dropTipLocation:Te,liquidClass:K,mixInDestination:W,nozzles:P,pipette:v,primaryNozzle:V,pushOut:N,sourceLabware:ae,sourceWells:U,tipRack:H,tipTracking:z,tiprackSelected:D,tipsSelected:x,touchTipAfterAspirate:ye,touchTipAfterAspirateMmFromEdge:Ve,touchTipAfterAspirateOffsetMmFromTop:Ze,touchTipAfterAspirateSpeed:$e,touchTipAfterDispense:ce,touchTipAfterDispenseMmFromEdge:Qe,touchTipAfterDispenseOffsetMmFromTop:mt,touchTipAfterDispenseSpeed:At,stepNumber:ht,volume:Oe}=e,{pipetteEntities:Je,labwareEntities:Re,trashBinEntities:ke,wasteChuteEntities:Ce}=t,ue="consolidate",re=[],Lt=r.pipettes[v],We=Je[v]?.spec.channels!==1,Y=e.aspirateAirGapVolume??0,we=e.dispenseAirGapVolume??0;Lt==null&&re.push(ut({pipette:v})),(w==null||Re[w]==null&&ke[w]==null&&Ce[w]==null)&&re.push(dh());const mr=G(r.labware[w]?.stack),et=G(r.labware[ae]?.stack);Object.keys(Ce).length>0&&(mr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||et===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&re.push(ya());const fe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],tt=fe.length>0?fe[0]:null,Gr=Object.values(t.labwareEntities).find(({labwareDefURI:me})=>me===Te),Ot=Gr!=null&&c.getIsTiprack(Gr.def),xa=t.wasteChuteEntities[Te]!=null,Wr=t.trashBinEntities[Te]!=null,tr=r.tipState.pipettes[v]?.hasTip;(Te==null||Ot&&tt==null&&L!=="never"&&tr||!Ot&&!xa&&!Wr)&&re.push(Tn());let ot,Q;if(L==="never"){const me=r.tipState.pipettes[v]?.tiprackURI;ot=t.labwareEntities[me??""],Q=ot?.labwareDefURI}else ot=Object.values(Re).find(({labwareDefURI:me})=>me===H),Q=H;ot==null&&(L==="never"?re.push(Bt({actionName:ue,pipette:v})):re.push(ct({actionName:ue,labware:Q})));const{def:Rt=null}=ot??{},{spec:ge,name:kt,pythonName:J}=Je[v],j=c.getAllLiquidClassDefs()[K===c.NONE_LIQUID_CLASS_NAME||K==null?c.WATER_LIQUID_CLASS_NAME:K].byPipette?.find(({pipetteModel:me})=>me===c.getFlexNameConversion(ge))?.byTipType.find(({tiprack:me})=>me===Q)??null,{aspirate:it}=j??{},{multiWellHandling:de}=Oc({pipetteSpecs:ge,tiprackDefinition:Rt,volume:Oe,path:"multiAspirate",numAspirateWells:U.length,numDispenseWells:1,aspirateAirGapByVolume:it?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:rt}=de;if((!de.isSupported||rt==null||rt===1)&&re.push(ob()),We&&P!==c.ALL){const me=dt({robotState:r,invariantContext:t,pipetteId:v,labwareId:ae,wellLocationOffset:{x:y,y:A},primaryNozzle:V,nozzleConfiguration:P});me.isSafe||re.push(Ft({unsafePipetteMovementReason:me.reason}));const se=dt({robotState:r,invariantContext:t,pipetteId:v,labwareId:w,wellLocationOffset:{x:Ee,y:ze},primaryNozzle:V,nozzleConfiguration:P});se.isSafe||re.push(Ft({unsafePipetteMovementReason:se.reason}))}const $t=E!=null?Re[ae]?.def.wells[E]?.depth:null,vt=c.getMmFromBottom(Pe,B,$t),Yr=c.getMmFromBottom(te,be,$t),rr=c.getMmFromBottom(_e,q,$t);if(vt!=null&&Yr!=null&&vt>Yr&&re.push(ab()),vt!=null&&rr!=null&&vt>rr&&re.push(sb()),re.length>0)return{errors:re};const{tipracks:hr}=Va(v,Q,t,r,V,P),nr=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Oe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Se=ke[w]?.pythonName??Ce[w]?.pythonName,Pt=ke[Te]?.pythonName??Ce[Te]?.pythonName,_r=I==null?null:ke[I]?.pythonName??Ce[I]?.pythonName,yr=Re[ae].pythonName,Kr=Re[w]?.pythonName,br=U.map(me=>`${yr}[${C(me)}]`).join(", "),Xr=e.destWell!=null&&Kr!=null?`${Kr}[${C(e.destWell)}]`:null,Zr=[`name=${C(`${e.commandCreatorFnName}_step_${ht}`)}`,...K!=null?[`base_liquid_class=${Ua(K,!0)}`]:[],`properties=${Ls({args:e,pipetteName:c.isFlexPipette(kt)?c.getFlexNameConversion(ge):kt,tiprackUri:Q,liquidClassValuesForTip:j})}`],Un=`${Ie}.define_liquid_class(
+${Z(Zr.join(`,
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-)`,hr=de===wt&&J!=null&&ce!=null&&ce.length>0?qa({wellSets:ce,nozzles:P,channels:je.channels,primaryNozzle:z}):null,er=J!=null?te[J]?.pythonName:null,Fn=hr?.map(Ue=>`${er}[${ee(Ue)}]`).join(", "),Xr=[`volume=${Z}`,`source=[${mr}]`,`dest=${Yr!=null?`[${Yr}]`:xe}`,`new_tip=${ee(Po(v))}`,...At?["return_tip=True",...fr!=null?[`trash_location=${fr}`]:[]]:[`trash_location=${Rt}`,"keep_last_tip=True"],...je.channels>1?["group_wells=False"]:[],...pr.filteredSortedTiprackIds.length>0?[Ro({labwareEntities:te,tiprackIds:pr.filteredSortedTiprackIds})]:[],`liquid_class=${Dn}`,...hr!=null&&er!=null?[`tips=[${Fn}]`]:[]],Mn=()=>({commands:[],python:`${Ae}.consolidate_with_liquid_class(
-${ve(Xr.join(`,
+)`,Tr=z===wt&&D!=null&&x!=null&&x.length>0?Ba({wellSets:x,nozzles:P,channels:ge.channels,primaryNozzle:V}):null,ar=D!=null?Re[D]?.pythonName:null,Vn=Tr?.map(me=>`${ar}[${C(me)}]`).join(", "),Qr=[`volume=${Oe}`,`source=[${br}]`,`dest=${Xr!=null?`[${Xr}]`:Se}`,`new_tip=${C(Rs(L))}`,...Ot?["return_tip=True",..._r!=null?[`trash_location=${_r}`]:[]]:[`trash_location=${Pt}`,"keep_last_tip=True"],...ge.channels>1?["group_wells=False"]:[],...hr.filteredSortedTiprackIds.length>0?[Os({labwareEntities:Re,tiprackIds:hr.filteredSortedTiprackIds})]:[],`liquid_class=${Un}`,...Tr!=null&&ar!=null?[`tips=[${Vn}]`]:[]],$n=()=>({commands:[],python:`${J}.consolidate_with_liquid_class(
+${Z(Qr.join(`,
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-)`}),yr=q_(K,ot),Ba=f.LOW_VOLUME_PIPETTES.includes(vt)?[j(na,{pipetteId:D,volume:Z})]:[],tr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[re],offset:{x,y:W,z:w}},Un={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[X],offset:{x:fe,y:be,z:ge}},Bt=n!=null?[j(Me,{seconds:n.seconds})]:[],br=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gr=V!=null?[j(Me,{seconds:V.seconds})]:[],Bn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Zr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,jn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Jr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Se,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,rr=Nr({retractZOffset:ge,retractPositionReference:X,labwareId:C,labwareEntities:te,well:N}),_r=!rr&&N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],ja=[...dn(yr,(Ue,Le)=>{const ht=(He,xt=!0)=>Se>0&&!(v==="never"&&Ge&&He)?[...xt?_r:[],j(qt,{pipetteId:D}),j(Yt,{pipetteId:D,volume:Se,flowRate:jn,...br>0?{correctionVolume:br}:{}}),...Bt]:[],yt=He=>N!=null&&Ee?[j(Ct,{pipetteId:D,labwareId:C,wellName:N,...k!=null?{mmFromEdge:k}:{},zOffsetFromTop:F,...Y!=null?{speed:Y}:{}}),...ht(He).length>0&&rr?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:Un})]:[]]:[],Ve=Le===0,Ge=Le===yr.length-1,xn=Ue.length,Re=Z*xn,it=v==="always"||v==="once"&&Ve;let nr=[];if(it){const He=hr?.shift();nr=[ae(Ma,{pipette:D,primaryNozzle:z,nozzles:P,dropTipLocation:At&&at!=null?at:L,tipRack:Ie,...de===wt&&He!=null&&J!=null?{tipSelectionArgs:{tipRackId:J,tipWell:He}}:{}})]}const Tr=dn(Ue,(He,xt)=>{const Sr=xt===0;let gt=0,Vt=$;Sr&&!it&&!Ve?(gt=Se,Vt=Jr):Sr||(gt=_e,Vt=Zr);const zn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:h,y:g,z:T}},tn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:u,y:c,z:p}},rn=Nr({retractZOffset:p,retractPositionReference:s,labwareId:oe,labwareEntities:te,well:He}),Wn=!rn&&He!=null?[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],nn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:gt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ar=Sr?[...f.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[D].name)?[j(na,{pipetteId:D,volume:Re})]:[],j(qt,{pipetteId:D})]:[],Yn=gt>0?[j(st,{pipetteId:D,volume:gt,flowRate:Vt,...nn>0?{correctionVolume:nn}:{},isAirGap:!0,pushOut:0}),...gr]:[],Or=[...[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],...Yn,...Ar],an=[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:zn}),j(ye,{pipetteId:D,labwareId:oe,...b!=null?{speed:b}:{},wellName:He,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:m,y:_,z:I}}}),...d!=null&&d.seconds>0?[j(Me,{seconds:d.seconds})]:[]],ir=B?[j(Ct,{pipetteId:D,labwareId:oe,wellName:He,...qe!=null?{mmFromEdge:qe}:{},zOffsetFromTop:Oe,...Ce!=null?{speed:Ce}:{}}),..._e>0&&rn?[j(ye,{pipetteId:D,labwareId:oe,wellName:He,wellLocation:tn})]:[]]:[],vr=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=_e>0?[...Wn,j(Yt,{pipetteId:D,volume:_e,flowRate:Bn,...vr>0?{correctionVolume:vr}:{}}),...Bt]:[],sr=[j(mo,{pipetteId:D,volume:Z,flowRate:a,correctionVolume:Qt}),...Bt],Kn=[j(ye,{pipetteId:D,labwareId:oe,...l!=null?{speed:l}:{},wellName:He,wellLocation:tn}),...i!=null&&i?.seconds>0?[j(Me,{seconds:i.seconds})]:[]];return[...Or,...an,...sr,...Kn,...ir,...Ht]}),Er=N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION}),j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:tr,...U!=null?{speed:U}:{}})]:[j(Xe,{pipetteId:D,fixtureId:C,offset:{x:0,y:0,z:0}})],Vn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:_e,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Hn=_e>0?[j(st,{pipetteId:D,volume:_e,flowRate:Zr,pushOut:0,correctionVolume:Vn,isAirGap:!0}),...gr]:[],bt=N!=null?[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:tr}),j(ye,{pipetteId:D,labwareId:C,...U!=null?{speed:U}:{},wellName:N,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:R,y:E,z:A}}}),...le!=null&&le.seconds>0?[j(Me,{seconds:le.seconds})]:[]]:[],Gn=f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:Re,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ar=q!=null?0:H,wr=[j(st,{pipetteId:D,volume:Re,flowRate:$,...ar!=null?{pushOut:ar}:{},correctionVolume:Gn}),...gr],jt=(q!=null?f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:q.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,$t=(q!=null?f.getByVolumeValue({liquidClass:M,pipetteSpecs:je,tiprackDefUri:Ie,targetVolume:q.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):$)??$,Qr=q!=null?Pr({pipette:D,volume:q.volume,times:q.times,aspirateFlowRateUlSec:jt,dispenseFlowRateUlSec:$t,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:V?.seconds,finalPushOut:H,invariantContext:t,liquidClass:M,tiprack:Ie,generatePython:!1}):[],Ir=[j(Ea,{pipetteId:D,flowRate:S})];let or=[];O==null||O===$r?or=[...yt(!0),...ht(!0)]:O===In&&N!=null?or=[j(ye,{pipetteId:D,labwareId:C,wellName:N,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Ir,...yt(!0),...ht(!0)]:or=[...yt(!1),...ht(!1),j(Xe,{pipetteId:D,fixtureId:Object.values(se).length>0?Object.values(se)[0].id:Object.values(pe)[0].id,offset:{x:0,y:0,z:0}}),...Ir,...ht(!0,!1)];const en=At&&(Le===yr.length-1||v==="always")?[j(wn,{pipette:D,dropTipLocation:Ie,isReturnTip:At})]:[];return[...nr,...Ba,...Tr,...Er,...Hn,...bt,...wr,...Qr,...or,...en]}),Mn];return Ne(ja,t,r)},xO=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:o,volume:i}=e,{pipetteEntities:s,trashBinEntities:l}=t,u=l[a],c=s[n].pythonName,p=u.pythonName,d=[`volume=${i}`,`location=${p}`,`rate=${o} / ${c}.flow_rate.dispense`],y=()=>({commands:[],python:`${c}.dispense(
-${ve(d.join(`,
+)`}),gr=Oy(U,rt),Ha=c.LOW_VOLUME_PIPETTES.includes(kt)?[O(oa,{pipetteId:v,volume:Oe})]:[],sr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[be],offset:{x:He,y:Be,z:te}},xn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[q],offset:{x:ee,y:pe,z:_e}},xt=n!=null?[O(he,{seconds:n.seconds})]:[],Ir=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Er=R!=null?[O(he,{seconds:R.seconds})]:[],Hn=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Jr=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,zn=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,en=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,or=qr({retractZOffset:_e,retractPositionReference:q,labwareId:w,labwareEntities:Re,well:E}),wr=!or&&E!=null?[O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],za=[...yn(gr,(me,se)=>{const _t=(Le,jt=!0)=>we>0&&!(L==="never"&&Ne&&Le)?[...jt?wr:[],O(Ut,{pipetteId:v}),O(Qt,{pipetteId:v,volume:we,flowRate:zn,...Ir>0?{correctionVolume:Ir}:{}}),...xt]:[],yt=Le=>E!=null&&ce?[O(Mt,{pipetteId:v,labwareId:w,wellName:E,...Qe!=null?{mmFromEdge:Qe}:{},zOffsetFromTop:mt,...At!=null?{speed:At}:{}}),..._t(Le).length>0&&or?[O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:xn})]:[]]:[],Ae=se===0,Ne=se===gr.length-1,Gn=me.length,oe=Oe*Gn,Ye=L==="always"||L==="once"&&Ae;let ir=[];if(Ye){const Le=Tr?.shift();ir=[M($a,{pipette:v,primaryNozzle:V,nozzles:P,dropTipLocation:Ot&&tt!=null?tt:Te,tipRack:Q,...z===wt&&Le!=null&&D!=null?{tipSelectionArgs:{tipRackId:D,tipWell:Le}}:{}})]}const Sr=yn(me,(Le,jt)=>{const Rr=jt===0;let Tt=0,Gt=k;Rr&&!Ye&&!Ae?(Tt=we,Gt=en):Rr||(Tt=Y,Gt=Jr);const Xn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},nn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},an=qr({retractZOffset:d,retractPositionReference:i,labwareId:ae,labwareEntities:Re,well:Le}),Zn=!an&&Le!=null?[O($,{pipetteId:v,labwareId:ae,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],sn=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Tt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kr=Rr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[v].name)?[O(oa,{pipetteId:v,volume:oe})]:[],O(Ut,{pipetteId:v})]:[],Qn=Tt>0?[O(nt,{pipetteId:v,volume:Tt,flowRate:Gt,...sn>0?{correctionVolume:sn}:{},isAirGap:!0,pushOut:0}),...Er]:[],vr=[...[O($,{pipetteId:v,labwareId:ae,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...Qn,...kr],on=[O($,{pipetteId:v,labwareId:ae,wellName:Le,wellLocation:Xn}),O($,{pipetteId:v,labwareId:ae,...m!=null?{speed:m}:{},wellName:Le,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:S}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],cr=ye?[O(Mt,{pipetteId:v,labwareId:ae,wellName:Le,...Ve!=null?{mmFromEdge:Ve}:{},zOffsetFromTop:Ze,...$e!=null?{speed:$e}:{}}),...Y>0&&an?[O($,{pipetteId:v,labwareId:ae,wellName:Le,wellLocation:nn})]:[]]:[],Pr=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Wt=Y>0?[...Zn,O(Qt,{pipetteId:v,volume:Y,flowRate:Hn,...Pr>0?{correctionVolume:Pr}:{}}),...xt]:[],pr=[O(_s,{pipetteId:v,volume:Oe,flowRate:a,correctionVolume:nr}),...xt],Jn=[O($,{pipetteId:v,labwareId:ae,...l!=null?{speed:l}:{},wellName:Le,wellLocation:nn}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]];return[...vr,...on,...pr,...Jn,...cr,...Wt]}),Ar=E!=null?[O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:sr,...ve!=null?{speed:ve}:{}})]:[O(Ue,{pipetteId:v,fixtureId:w,offset:{x:0,y:0,z:0}})],Wn=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yn=Y>0?[O(nt,{pipetteId:v,volume:Y,flowRate:Jr,pushOut:0,correctionVolume:Wn,isAirGap:!0}),...Er]:[],bt=E!=null?[O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:sr}),O($,{pipetteId:v,labwareId:w,...ve!=null?{speed:ve}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Ee,y:ze,z:Pe}}}),...le!=null&&le.seconds>0?[O(he,{seconds:le.seconds})]:[]]:[],Kn=c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:oe,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,lr=W!=null?0:N,Lr=[O(nt,{pipetteId:v,volume:oe,flowRate:k,...lr!=null?{pushOut:lr}:{},correctionVolume:Kn}),...Er],Ht=(W!=null?c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:W.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,zt=(W!=null?c.getByVolumeValue({liquidClass:K,pipetteSpecs:ge,tiprackDefUri:Q,targetVolume:W.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):k)??k,tn=W!=null?Dr({pipette:v,volume:W.volume,times:W.times,aspirateFlowRateUlSec:Ht,dispenseFlowRateUlSec:zt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:R?.seconds,finalPushOut:N,invariantContext:t,liquidClass:K,tiprack:Q,generatePython:!1}):[],Or=[O(Oa,{pipetteId:v,flowRate:g})];let ur=[];I==null||I===Hr?ur=[...yt(!0),..._t(!0)]:I===On&&E!=null?ur=[O($,{pipetteId:v,labwareId:w,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Or,...yt(!0),..._t(!0)]:ur=[...yt(!1),..._t(!1),O(Ue,{pipetteId:v,fixtureId:Object.values(ke).length>0?Object.values(ke)[0].id:Object.values(Ce)[0].id,offset:{x:0,y:0,z:0}}),...Or,..._t(!0,!1)];const rn=Ot&&(se===gr.length-1||L==="always")?[O(An,{pipette:v,dropTipLocation:Q,isReturnTip:Ot})]:[];return[...ir,...Ha,...Sr,...Ar,...Yn,...bt,...Lr,...tn,...ur,...rn]}),$n];return ne(za,t,r)},AS=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s,volume:o}=e,{pipetteEntities:i,trashBinEntities:l}=t,u=l[a],p=i[n].pythonName,d=u.pythonName,f=[`volume=${o}`,`location=${d}`,`rate=${s} / ${p}.flow_rate.dispense`],_=()=>({commands:[],python:`${p}.dispense(
+${Z(f.join(`,
 `))},
-)`}),b=[j(Xe,{pipetteId:n,fixtureId:a,offset:Et}),j(st,{pipetteId:n,volume:i,flowRate:o}),y];return Ne(b,t,r)},VO=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:o,wasteChuteId:i}=e,{pipetteEntities:s,wasteChuteEntities:l}=t,u=l[i].pythonName,c=s[n].pythonName,p=[`volume=${o}`,`location=${u}`,`rate=${a} / ${c}.flow_rate.dispense`],d=()=>({commands:[],python:`${c}.dispense(
-${ve(p.join(`,
+)`}),m=[O(Ue,{pipetteId:n,fixtureId:a,offset:Et}),O(nt,{pipetteId:n,volume:o,flowRate:s}),_];return ne(m,t,r)},LS=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:s,wasteChuteId:o}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[o].pythonName,p=i[n].pythonName,d=[`volume=${s}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
+${Z(d.join(`,
 `))},
-)`}),y=[j(Xe,{pipetteId:n,fixtureId:i,offset:Et}),j(st,{pipetteId:n,flowRate:a,volume:o}),d];return Ne(y,t,r)},HO=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:s,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:c,aspirateRetractZOffset:p,aspirateSubmergeDelay:d,aspirateSubmergePositionReference:y,aspirateSubmergeSpeed:b,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:g,aspirateSubmergeZOffset:T,aspirateXOffset:m,aspirateYOffset:_,aspirateZOffset:I,blowoutFlowRateUlSec:S,blowoutLocation:O,changeTip:v,destLabware:C,destWells:N,dispenseDelay:V,dispenseFlowRateUlSec:$,dispensePositionReference:G,dispenseRetractDelay:X,dispenseRetractPositionReference:fe,dispenseRetractSpeed:be,dispenseRetractXOffset:ge,dispenseRetractYOffset:le,dispenseRetractZOffset:re,dispenseSubmergeDelay:U,dispenseSubmergePositionReference:x,dispenseSubmergeSpeed:W,dispenseSubmergeXOffset:w,dispenseSubmergeYOffset:R,dispenseSubmergeZOffset:E,dispenseXOffset:A,dispenseYOffset:L,dispenseZOffset:M,dropTipLocation:q,liquidClass:P,mixBeforeAspirate:D,nozzles:z,pipette:H,preWetTip:oe,primaryNozzle:K,pushOut:ue,sourceLabware:de,sourceWell:J,tipRack:ce,tipTracking:B,tiprackSelected:qe,tipsSelected:Oe,touchTipAfterAspirate:Ce,touchTipAfterAspirateMmFromEdge:Ee,touchTipAfterAspirateOffsetMmFromTop:k,touchTipAfterAspirateSpeed:F,touchTipAfterDispense:Y,touchTipAfterDispenseMmFromEdge:Q,touchTipAfterDispenseOffsetMmFromTop:Z,touchTipAfterDispenseSpeed:ie,stepNumber:te,volume:se}=e,{pipetteEntities:pe,labwareEntities:me,trashBinEntities:he,wasteChuteEntities:Ze}=t,Be="distribute",_e=[],Se=pe[H]?.spec.channels!==1,rt=me[de]?.def.parameters.quirks?.includes("touchTipDisabled"),nt=e.aspirateAirGapVolume??0,Ke=e.dispenseAirGapVolume??0,Fe=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,at=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[H]==null||pe[H]==null)&&_e.push(ft({pipette:H})),(!de||!r.labware[de])&&_e.push(dt({actionName:Be,labware:de}));const Hr=we(r.labware[C]?.stack),At=we(r.labware[de]?.stack);Object.keys(Ze).length>0&&(Hr===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||At===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&_e.push(ma());const Gr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],Zt=Gr.length>0?Gr[0]:null,ut=Object.values(t.labwareEntities).find(({labwareDefURI:Re})=>Re===q),Ie=ut!=null&&f.getIsTiprack(ut.def),Ot=t.wasteChuteEntities[q]!=null,je=t.trashBinEntities[q]!=null,vt=r.tipState.pipettes[H]?.hasTip;(q==null||Ie&&Zt==null&&v!=="never"&&vt||!Ie&&!Ot&&!je)&&_e.push(yn());let Ae,Te;if(v==="never"){const Re=r.tipState.pipettes[H]?.tiprackURI;Ae=t.labwareEntities[Re??""],Te=Ae?.labwareDefURI}else Ae=Object.values(me).find(({labwareDefURI:Re})=>Re===ce),Te=ce;Ae==null&&(v==="never"?_e.push(Ft({actionName:Be,pipette:H})):_e.push(dt({actionName:Be,labware:Te})));const{def:ct=null}=Ae??{},{spec:De,name:ot,pythonName:Ut}=pe[H],Lt=f.getAllLiquidClassDefs()[P===f.NONE_LIQUID_CLASS_NAME||P==null?f.WATER_LIQUID_CLASS_NAME:P].byPipette?.find(({pipetteModel:Re})=>Re===f.getFlexNameConversion(De))?.byTipType.find(({tiprack:Re})=>Re===Te)??null,{aspirate:zr,multiDispense:Jt}=Lt??{},{multiWellHandling:pr}=Rp({pipetteSpecs:De,tiprackDefinition:ct,volume:se,path:"multiDispense",numAspirateWells:1,numDispenseWells:N.length,conditioningByVolume:Jt?.conditioningByVolume??[],disposalByVolume:Jt?.disposalByVolume??[],aspirateAirGapByVolume:zr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:Qt}=pr;if((!pr.isSupported||Qt==null||Qt===1)&&_e.push(mT()),Se&&z!==f.ALL){const Re=It({robotState:r,invariantContext:t,pipetteId:H,labwareId:de,wellLocationOffset:{x:m,y:_},wellTargetName:J,primaryNozzle:K,nozzleConfiguration:z}),it=It({robotState:r,invariantContext:t,pipetteId:H,labwareId:C,wellLocationOffset:{x:A,y:L},wellTargetName:N[0],primaryNozzle:K,nozzleConfiguration:z});!Re&&!it&&_e.push(Mr())}const xe=t.labwareEntities[de]?.def.wells[J]?.depth??null,Rt=f.getMmFromBottom(I,o,xe),fr=f.getMmFromBottom(T,y,xe),dr=f.getMmFromBottom(p,s,xe);Rt!=null&&fr!=null&&Rt>fr&&_e.push(mb()),Rt!=null&&dr!=null&&Rt>dr&&_e.push(hb());const Wr=[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],mr=ko(H,t,Te)-nt;if(Math.floor((mr-Fe)/se)===0&&_e.push(Xa({actionName:Be,volume:se,maxVolume:mr,disposalVolume:Fe})),_e.length>0)return{errors:_e};const{tipracks:Kr}=Fa(H,Te,t,r,K,z),Dn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:se,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,qn=he[C]?.pythonName??Ze[C]?.pythonName,hr=he[q]?.pythonName??Ze[q]?.pythonName,er=O==null?null:he[O]?.pythonName??Ze[O]?.pythonName,Fn=me[de].pythonName,Xr=me[C]?.pythonName,Mn=`${Fn}[${ee(e.sourceWell)}]`,yr=e.destWells.map(Re=>`${Xr}[${ee(Re)}]`).join(", "),Ba=[`name=${ee(`${e.commandCreatorFnName}_step_${te}`)}`,...P!=null?[`base_liquid_class=${Da(P,!0)}`]:[],`properties=${Lo({args:e,pipetteName:f.isFlexPipette(ot)?f.getFlexNameConversion(De):ot,tiprackUri:Te,liquidClassValuesForTip:Lt})}`],tr=`${$e}.define_liquid_class(
-${ve(Ba.join(`,
+)`}),_=[O(Ue,{pipetteId:n,fixtureId:o,offset:Et}),O(nt,{pipetteId:n,flowRate:a,volume:s}),f];return ne(_,t,r)},OS=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:w,destWells:E,dispenseDelay:R,dispenseFlowRateUlSec:k,dispensePositionReference:B,dispenseRetractDelay:q,dispenseRetractPositionReference:ee,dispenseRetractSpeed:pe,dispenseRetractXOffset:_e,dispenseRetractYOffset:le,dispenseRetractZOffset:be,dispenseSubmergeDelay:ve,dispenseSubmergePositionReference:He,dispenseSubmergeSpeed:Be,dispenseSubmergeXOffset:te,dispenseSubmergeYOffset:Ee,dispenseSubmergeZOffset:ze,dispenseXOffset:Pe,dispenseYOffset:Te,dispenseZOffset:K,dropTipLocation:W,liquidClass:P,mixBeforeAspirate:v,nozzles:V,pipette:N,preWetTip:ae,primaryNozzle:U,pushOut:H,sourceLabware:z,sourceWell:D,tipRack:x,tipTracking:ye,tiprackSelected:Ve,tipsSelected:Ze,touchTipAfterAspirate:$e,touchTipAfterAspirateMmFromEdge:ce,touchTipAfterAspirateOffsetMmFromTop:Qe,touchTipAfterAspirateSpeed:mt,touchTipAfterDispense:At,touchTipAfterDispenseMmFromEdge:ht,touchTipAfterDispenseOffsetMmFromTop:Oe,touchTipAfterDispenseSpeed:Je,stepNumber:Re,volume:ke}=e,{pipetteEntities:Ce,labwareEntities:ue,trashBinEntities:re,wasteChuteEntities:Lt}=t,We="distribute",Y=[],we=Ce[N]?.spec.channels!==1,mr=ue[z]?.def.parameters.quirks?.includes("touchTipDisabled"),et=e.aspirateAirGapVolume??0,Fe=e.dispenseAirGapVolume??0,fe=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,tt=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[N]==null||Ce[N]==null)&&Y.push(ut({pipette:N})),(!z||!r.labware[z])&&Y.push(ct({actionName:We,labware:z}));const Gr=G(r.labware[w]?.stack),Ot=G(r.labware[z]?.stack);Object.keys(Lt).length>0&&(Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Ot===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&Y.push(ya());const Wr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],tr=Wr.length>0?Wr[0]:null,ot=Object.values(t.labwareEntities).find(({labwareDefURI:oe})=>oe===W),Q=ot!=null&&c.getIsTiprack(ot.def),Rt=t.wasteChuteEntities[W]!=null,ge=t.trashBinEntities[W]!=null,kt=r.tipState.pipettes[N]?.hasTip;(W==null||Q&&tr==null&&L!=="never"&&kt||!Q&&!Rt&&!ge)&&Y.push(Tn());let J,j;if(L==="never"){const oe=r.tipState.pipettes[N]?.tiprackURI;J=t.labwareEntities[oe??""],j=J?.labwareDefURI}else J=Object.values(ue).find(({labwareDefURI:oe})=>oe===x),j=x;J==null&&(L==="never"?Y.push(Bt({actionName:We,pipette:N})):Y.push(ct({actionName:We,labware:j})));const{def:it=null}=J??{},{spec:de,name:rt,pythonName:$t}=Ce[N],vt=c.getAllLiquidClassDefs()[P===c.NONE_LIQUID_CLASS_NAME||P==null?c.WATER_LIQUID_CLASS_NAME:P].byPipette?.find(({pipetteModel:oe})=>oe===c.getFlexNameConversion(de))?.byTipType.find(({tiprack:oe})=>oe===j)??null,{aspirate:Yr,multiDispense:rr}=vt??{},{multiWellHandling:hr}=Oc({pipetteSpecs:de,tiprackDefinition:it,volume:ke,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:rr?.conditioningByVolume??[],disposalByVolume:rr?.disposalByVolume??[],aspirateAirGapByVolume:Yr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:nr}=hr;if((!hr.isSupported||nr==null||nr===1)&&Y.push(ib()),we&&V!==c.ALL){const oe=dt({robotState:r,invariantContext:t,pipetteId:N,labwareId:z,wellLocationOffset:{x:y,y:A},wellTargetName:D,primaryNozzle:U,nozzleConfiguration:V});oe.isSafe||Y.push(Ft({unsafePipetteMovementReason:oe.reason}));const Ye=dt({robotState:r,invariantContext:t,pipetteId:N,labwareId:w,wellLocationOffset:{x:Pe,y:Te},wellTargetName:E[0],primaryNozzle:U,nozzleConfiguration:V});Ye.isSafe||Y.push(Ft({unsafePipetteMovementReason:Ye.reason}))}const Se=t.labwareEntities[z]?.def.wells[D]?.depth??null,Pt=c.getMmFromBottom(S,s,Se),_r=c.getMmFromBottom(T,_,Se),yr=c.getMmFromBottom(d,i,Se);Pt!=null&&_r!=null&&Pt>_r&&Y.push(fh()),Pt!=null&&yr!=null&&Pt>yr&&Y.push(mh());const Kr=[O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],br=ks(N,t,j)-et;if(Math.floor((br-fe)/ke)===0&&Y.push(Ja({actionName:We,volume:ke,maxVolume:br,disposalVolume:fe})),Y.length>0)return{errors:Y};const{tipracks:Zr}=Va(N,j,t,r,U,V),Un=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Bn=re[w]?.pythonName??Lt[w]?.pythonName,Tr=re[W]?.pythonName??Lt[W]?.pythonName,ar=I==null?null:re[I]?.pythonName??Lt[I]?.pythonName,Vn=ue[z].pythonName,Qr=ue[w]?.pythonName,$n=`${Vn}[${C(e.sourceWell)}]`,gr=e.destWells.map(oe=>`${Qr}[${C(oe)}]`).join(", "),Ha=[`name=${C(`${e.commandCreatorFnName}_step_${Re}`)}`,...P!=null?[`base_liquid_class=${Ua(P,!0)}`]:[],`properties=${Ls({args:e,pipetteName:c.isFlexPipette(rt)?c.getFlexNameConversion(de):rt,tiprackUri:j,liquidClassValuesForTip:vt})}`],sr=`${Ie}.define_liquid_class(
+${Z(Ha.join(`,
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-)`,Bt=B===wt&&qe!=null&&Oe!=null&&Oe.length>0?qa({wellSets:Oe,nozzles:z,channels:De.channels,primaryNozzle:K}):null,br=qe!=null?me[qe]?.pythonName:null,gr=Bt?.map(Re=>`${br}[${ee(Re)}]`).join(", "),Bn=[`volume=${se}`,`source=[${Mn}]`,`dest=[${yr??qn}]`,`new_tip=${ee(Po(v))}`,...Ie?["return_tip=True",...er!=null?[`trash_location=${er}`]:[]]:[`trash_location=${hr}`,"keep_last_tip=True"],...De.channels>1?["group_wells=False"]:[],...Kr.filteredSortedTiprackIds.length>0?[Ro({labwareEntities:me,tiprackIds:Kr.filteredSortedTiprackIds})]:[],`liquid_class=${tr}`,...Bt!=null&&br!=null?[`tips=[${gr}]`]:[]],Zr=()=>({commands:[],python:`${Ut}.distribute_with_liquid_class(
-${ve(Bn.join(`,
+)`,xt=ye===wt&&Ve!=null&&Ze!=null&&Ze.length>0?Ba({wellSets:Ze,nozzles:V,channels:de.channels,primaryNozzle:U}):null,Ir=Ve!=null?ue[Ve]?.pythonName:null,Er=xt?.map(oe=>`${Ir}[${C(oe)}]`).join(", "),Hn=[`volume=${ke}`,`source=[${$n}]`,`dest=[${gr??Bn}]`,`new_tip=${C(Rs(L))}`,...Q?["return_tip=True",...ar!=null?[`trash_location=${ar}`]:[]]:[`trash_location=${Tr}`,"keep_last_tip=True"],...de.channels>1?["group_wells=False"]:[],...Zr.filteredSortedTiprackIds.length>0?[Os({labwareEntities:ue,tiprackIds:Zr.filteredSortedTiprackIds})]:[],`liquid_class=${sr}`,...xt!=null&&Ir!=null?[`tips=[${Er}]`]:[]],Jr=()=>({commands:[],python:`${$t}.distribute_with_liquid_class(
+${Z(Hn.join(`,
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-)`}),jn={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[y],offset:{x:h,y:g,z:T}},Jr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:u,y:c,z:p}},rr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[x],offset:{x:w,y:R,z:E}},_r={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[fe],offset:{x:ge,y:le,z:re}},$n=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,ja=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,Ue=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Le=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??$,ht=q_(N,Qt),yt=Nr({retractZOffset:p,retractPositionReference:s,labwareId:de,labwareEntities:me,well:J}),Ve=!yt&&J!=null?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],xn=[...dn(ht,(Re,it)=>{const nr=Re.length,Tr=se*nr,Er=Tr+Fe+at,Vn=it===0,Hn=it===ht.length-1,bt=v==="always"||v==="once"&&Vn,Gn=f.LOW_VOLUME_PIPETTES.includes(ot)?[j(na,{pipetteId:H,volume:Er})]:[];let ar=[];if(bt){const ze=Bt?.shift();ar=[ae(Ma,{pipette:H,nozzles:z,primaryNozzle:K,dropTipLocation:Ie&&Zt!=null?Zt:q,tipRack:Te,...B===wt&&ze!=null&&qe!=null?{tipSelectionArgs:{tipRackId:qe,tipWell:ze}}:{}})]}const wr=[j(qt,{pipetteId:H})],jt=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,$t=V!=null?[j(Me,{seconds:V.seconds})]:[],Qr=Ke>0&&!bt&&!Vn&&Fe===0&&O==null?[j(st,{isAirGap:!0,pipetteId:H,volume:Ke,flowRate:Le,...jt>0?{correctionVolume:jt}:{},pushOut:0}),...$t]:[],Ir=[...Wr,...Qr,...Gn,...wr],or=[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:jn}),j(ye,{pipetteId:H,labwareId:de,...b!=null?{speed:b}:{},wellName:J,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:m,y:_,z:I}}}),...d!=null&&d.seconds>0?[j(Me,{seconds:d.seconds})]:[]],en=oe?Pr({pipette:H,volume:Tr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:$,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:V?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:Te,generatePython:!1}):[],He=D!=null?Pr({pipette:H,volume:D.volume,times:D.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:$,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:V?.seconds,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:Te,generatePython:!1}):[],xt=n!=null?[j(Me,{seconds:n.seconds})]:[],Sr=Ce?[j(Ct,{pipetteId:H,labwareId:de,wellName:J,...Ee!=null?{mmFromEdge:Ee}:{},zOffsetFromTop:k,...F!=null?{speed:F}:{}}),...nt>0&&yt?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:Jr})]:[]]:[],gt=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:nt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=nt>0?[...Ve,j(Yt,{pipetteId:H,volume:nt,flowRate:$n,...gt>0?{correctionVolume:gt}:{}}),...xt]:[],zn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Er,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,tn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:at,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,rn=at!=null&&at>0?[j(st,{pipetteId:H,volume:at,flowRate:$,correctionVolume:tn,pushOut:0}),...$t]:[],Wn=[j(mo,{pipetteId:H,volume:Er,flowRate:a,correctionVolume:zn}),...xt,...rn],nn=[j(ye,{pipetteId:H,labwareId:de,...l!=null?{speed:l}:{},wellName:J,wellLocation:Jr}),...i!=null&&i?.seconds>0?[j(Me,{seconds:i.seconds})]:[]],Ar=dn(Re,(ze,Or)=>{const an=Or===0,ir=Or===Re.length-1,vr=Hn&&ir;let Ht=0,sr=$;an&&nt>0?(Ht=nt,sr=ja):!an&&Ke>0&&at===0&&(Ht=Ke,sr=Le);const Kn=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ht,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,$a=Nr({retractZOffset:re,retractPositionReference:fe,labwareId:C,labwareEntities:me,well:ze}),Co=$a?[]:[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],xa=ze!=null?[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:rr}),...Ht>0?[j(st,{isAirGap:!0,pipetteId:H,volume:Ht,flowRate:sr,pushOut:0,correctionVolume:Kn}),...$t]:[],j(ye,{pipetteId:H,labwareId:C,...W!=null?{speed:W}:{},wellName:ze,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[G],offset:{x:A,y:L,z:M}}}),...U!=null&&U.seconds>0?[j(Me,{seconds:U.seconds})]:[]]:[j(Xe,{fixtureId:C,pipetteId:H,offset:{x:0,y:0,z:0}})],Xn=Fe===0&&ir?ue:0,_t=[j(st,{pipetteId:H,volume:se,flowRate:$,...Xn!=null?{pushOut:Xn}:{},correctionVolume:Dn}),...$t],on=ze!=null?[j(ye,{pipetteId:H,labwareId:C,...be!=null?{speed:be}:{},wellName:ze,wellLocation:_r}),...X!=null&&X?.seconds>0?[j(Me,{seconds:X.seconds})]:[]]:[],Pt=ir?[j(Ea,{pipetteId:H,flowRate:S})]:[],Va=f.getByVolumeValue({liquidClass:P,pipetteSpecs:De,tiprackDefUri:Te,targetVolume:Ke,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kt=(Zn,z_=!0)=>Ke>0&&!(Or<Re.length-1&&at>0)&&!(v==="never"&&vr&&Zn)?[...z_?Co:[],j(qt,{pipetteId:H}),j(Yt,{pipetteId:H,volume:Ke,flowRate:Ue,...Va>0?{correctionVolume:Va}:{}}),...xt]:[],Tt=Zn=>ze!=null&&Y?[j(Ct,{pipetteId:H,labwareId:C,wellName:ze,...Q!=null?{mmFromEdge:Q}:{},zOffsetFromTop:Z,...ie!=null?{speed:ie}:{}}),...kt(Zn).length>0&&$a?[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:_r})]:[]]:[];let Lr=[];if(O==null||!ir)Lr=[...Tt(!0),...kt(!0)];else if(O===In)Lr=[j(ye,{pipetteId:H,labwareId:C,wellName:ze,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Pt,...Tt(!0),...kt(!0)];else if(O===$r){const Zn=kt(!0);Lr=[...Tt(!1),...kt(!1),j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),...Pt,...Y&&!rt?[j(Ct,{pipetteId:H,labwareId:de,wellName:J,...Q!=null?{mmFromEdge:Q}:{},zOffsetFromTop:Z,...ie!=null?{speed:ie}:{}})]:[],...Zn.length>0?[j(ye,{pipetteId:H,labwareId:de,wellName:J,wellLocation:{origin:f.WELL_ORIGIN_TOP}})]:[],...kt(!0,!1)]}else Lr=[...Tt(!1),...kt(!1),j(Xe,{pipetteId:H,fixtureId:Object.values(he).length>0?Object.values(he)[0].id:Object.values(Ze)[0].id,offset:{x:0,y:0,z:0}}),...Pt,...kt(!0,!1)];return[...xa,..._t,...on,...Lr]}),Yn=Ie&&(it===ht.length-1||v==="always")?[j(wn,{pipette:H,dropTipLocation:Te,isReturnTip:Ie})]:[];return[...ar,...Ir,...or,...He,...en,...Wn,...nn,...Sr,...Vt,...Ar,...Yn]}),Zr];return Ne(xn,t,r)},GO=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},rb=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},zO=["1","4","7","10"],WO=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:o}=t,i=r.modules[e.moduleId].slot,s=Object.keys(n)[0],l=n[s]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&l_(r.labware,a,i)){const p=zO.includes(i)?"right":"left";return{errors:[iT(p)]}}const c=o[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:ne(),params:{moduleId:e.moduleId}}],python:`${c}.open_labware_latch()`}},YO=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:o}=e;if(a===null)return{errors:[ke()]};jr(n[a]?.type===f.HEATERSHAKER_MODULE_TYPE,`expected module ${a} to be heaterShaker, got ${n[a]?.type}`);const i=n[a].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:ne(),params:{moduleId:a,rpm:o}}],python:`${i}.set_and_wait_for_shake_speed(${o})`}},nb=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},KO=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:o,latchOpen:i,targetTemperature:s,rpm:l}=e;if(e.moduleId==null)return{errors:[ke()]};const u=St(r,e.moduleId),c=e.moduleId??"";if(u==null)return{errors:[ke()]};const p=[];if(i||p.push(ae(GO,{moduleId:c})),s===null?p.push(ae(rb,{moduleId:c})):p.push(ae(bg,{moduleId:c,celsius:s})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?p.push(ae(nb,{moduleId:c})):l!==null&&p.push(ae(YO,{moduleId:c,rpm:l})),[n,a,o].some(y=>y!=null&&y!==0)){s!==null&&p.push(ae(gg,{moduleId:c,celsius:s}));const y=(n??0)*3600+(a??0)*60+(o??0);p.push(ae(Me,{seconds:y})),p.push(ae(nb,{moduleId:c})),p.push(ae(rb,{moduleId:c}))}return i&&p.push(ae(WO,{moduleId:c})),Ne(p,t,r)},U_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:o}=t,i=[],s=a[n].pythonName,u=Object.values(r.labware).filter(d=>d.stack.includes(n)).find(d=>d.stack.find(y=>o[y]?.def.allowedRoles?.includes("lid")&&o[y]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),c=u!=null?Op(u.stack):null,p=c!=null?o[c].def.metadata.displayName:null;return p!=null&&i.push(hT({lidDisplayName:p})),i.length>0?{errors:i}:{commands:[{commandType:"thermocycler/closeLid",key:ne(),params:{moduleId:n}}],python:`${s}.close_lid()`}},B_=(e,t,r)=>{const{moduleId:n,celsius:a}=e,o=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:ne(),params:{moduleId:n,celsius:a}}],python:`${o}.set_lid_temperature(${a})`}},XO=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:o,profileVolume:i}=e,s=No(r,n);if(s===null)return{errors:[ke()]};const l=t.moduleEntities[n].pythonName,u=[];s.lidOpen!==!1&&u.push(ae(U_,{moduleId:n})),o!==s.lidTargetTemp&&u.push(ae(B_,{moduleId:n,celsius:o}));const c=`${l}_task_${s.numProfilesStarted+1}`;return u.push(ae(cI,{moduleId:n,profileElements:a,blockMaxVolumeUl:i,taskId:c})),Ne(u,t,r)},ZO=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),JO=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},QO=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},ev=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,tv=(e,t)=>{const r={...JO(e,t)},n={...QO(e,t)},a=!ev(e,t.blockTargetTemp),o=a&&t.blockTargetTemp===null,i=a&&t.blockTargetTemp!==null,s=e.lidTargetTemp!==t.lidTargetTemp,l=s&&t.lidTargetTemp===null,u=s&&t.lidTargetTemp!==null;return{...ZO(),...r,...n,setBlockTemperature:i,deactivateBlockTemperature:o,setLidTemperature:u,deactivateLidTemperature:l}},rv=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},nv=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},av=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:ne(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},ov=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:ne(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},iv=(e,t,r)=>{const n=No(r,e.moduleId);if(n===null)return{errors:[ke()]};if(n.currentBlockActivity.type==="profile")return{errors:[eT()]};const{lidOpen:a,lidClosed:o,setBlockTemperature:i,deactivateBlockTemperature:s,setLidTemperature:l,deactivateLidTemperature:u}=tv(n,e),{blockTargetTemp:c,lidTargetTemp:p}=e,d=[];return a&&d.push(ae(av,{moduleId:e.moduleId})),o&&d.push(ae(U_,{moduleId:e.moduleId})),s&&d.push(ae(rv,{moduleId:e.moduleId})),c!==null&&i&&d.push(ae(ov,{moduleId:e.moduleId,celsius:c})),u&&d.push(ae(nv,{moduleId:e.moduleId})),p!==null&&l&&d.push(ae(B_,{moduleId:e.moduleId,celsius:p})),Ne(d,t,r)};var Rc,ab;function sv(){if(ab)return Rc;ab=1;var e=ya(),t=zg(),r=Wg();function n(a,o){return r(t(a,o,e),a+"")}return Rc=n,Rc}var Pc,ob;function lv(){if(ob)return Pc;ob=1;var e=Br(),t=Kt();function r(n){return t(n)&&e(n)}return Pc=r,Pc}var kc,ib;function uv(){if(ib)return kc;ib=1;var e=xb(),t=ga(),r=Jb(),n=Hb(),a=lv(),o=Math.max;function i(s){if(!(s&&s.length))return[];var l=0;return s=e(s,function(u){if(a(u))return l=o(u.length,l),!0}),n(l,function(u){return t(s,r(u))})}return kc=i,kc}var Nc,sb;function cv(){if(sb)return Nc;sb=1;var e=sv(),t=uv(),r=e(t);return Nc=r,Nc}var pv=cv();const fv=Ye(pv),dv=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:a,aspirateFlowRateUlSec:o,aspiratePositionReference:i,aspirateRetractDelay:s,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:c,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:y,aspirateSubmergePositionReference:b,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:g,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:m,aspirateXOffset:_,aspirateYOffset:I,aspirateZOffset:S,blowoutFlowRateUlSec:O,blowoutLocation:v,changeTip:C,destLabware:N,destWells:V,dispenseAirGapVolume:$,dispenseDelay:G,dispenseFlowRateUlSec:X,dispensePositionReference:fe,dispenseRetractDelay:be,dispenseRetractPositionReference:ge,dispenseRetractSpeed:le,dispenseRetractXOffset:re,dispenseRetractYOffset:U,dispenseRetractZOffset:x,dispenseSubmergeDelay:W,dispenseSubmergePositionReference:w,dispenseSubmergeSpeed:R,dispenseSubmergeXOffset:E,dispenseSubmergeYOffset:A,dispenseSubmergeZOffset:L,dispenseXOffset:M,dispenseYOffset:q,dispenseZOffset:P,dropTipLocation:D,liquidClass:z,mixBeforeAspirate:H,mixInDestination:oe,pipette:K,preWetTip:ue,primaryNozzle:de,pushOut:J,sourceLabware:ce,nozzles:B,sourceWells:qe,tipRack:Oe,tipTracking:Ce,tiprackSelected:Ee,tipsSelected:k,touchTipAfterAspirate:F,touchTipAfterAspirateMmFromEdge:Y,touchTipAfterAspirateOffsetMmFromTop:Q,touchTipAfterAspirateSpeed:Z,touchTipAfterDispense:ie,touchTipAfterDispenseMmFromEdge:te,touchTipAfterDispenseOffsetMmFromTop:se,touchTipAfterDispenseSpeed:pe,volume:me,stepNumber:he}=e,{pipetteEntities:Ze,trashBinEntities:Be,wasteChuteEntities:_e,labwareEntities:Se}=t,rt=Sn(Se,_e,Be,N),nt=Se[ce]?.def.parameters.quirks?.includes("touchTipDisabled");rt==="labware"&&V!=null&&qe.length===V.length||(rt==="wasteChute"||rt==="trashBin")&&V==null&&qe.length>=1||jr(!1,`Transfer command creator expected N:N source-to-dest wells ratio. Got ${qe.length}:${V?.length} in labware`);const Ke="transfer",Fe=[];(!r.pipettes[K]||!Ze[K])&&Fe.push(ft({pipette:K})),(!ce||!r.labware[ce])&&Fe.push(dt({actionName:Ke,labware:ce}));const at=r.labware[N]!=null?we(r.labware[N].stack):"",Hr=we(r.labware[ce]?.stack),At=Object.keys(_e).length>0,Ua=_e[D]!=null,Gr=Be[D]!=null;At&&(at===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Hr===f.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&Fe.push(ma());const Zt=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ut=Zt.length>0?Zt[0]:null,Ie=Object.values(t.labwareEntities).find(({labwareDefURI:Le})=>Le===D),Ot=Ie!=null&&f.getIsTiprack(Ie.def),je=r.tipState.pipettes[K]?.hasTip;if(D==null||Ot&&ut==null&&C!=="never"&&je||!Ot&&!Ua&&!Gr)return{errors:[yn()]};(!N||!Se[N]&&!_e[N]&&!Be[N])&&Fe.push(db());let vt,Ae;if(C==="never"){const Le=r.tipState.pipettes[K]?.tiprackURI;vt=t.labwareEntities[Le??""],Ae=vt?.labwareDefURI}else vt=Object.values(Se).find(({labwareDefURI:Le})=>Le===Oe),Ae=Oe;if(vt==null&&(C==="never"?Fe.push(Ft({actionName:Ke,pipette:K})):Fe.push(dt({actionName:Ke,labware:Ae}))),Fe.length>0)return{errors:Fe};const Te=n||0,ct=$||0,De=ko(K,t,Ae)-Te;if(De<=0||!isFinite(De))return Fe.push(Xa({volume:me,maxVolume:De,actionName:Ke})),{errors:Fe};const ot=Math.ceil(me/De);if(!isFinite(ot)||ot<=0)return Fe.push(Xa({volume:me,maxVolume:ot,actionName:Ke})),{errors:Fe};const Ut=me/ot,Lt=Array(ot).fill(Ut),zr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:g,y:T,z:m}},Jt={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:c,y:p,z:d}},pr={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[w],offset:{x:E,y:A,z:L}},Qt={origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ge],offset:{x:re,y:U,z:x}},{spec:xe,name:Rt,pythonName:fr}=Ze[K],{tipracks:dr}=Fa(K,Ae,t,r,de,B),Wr=f.getAllLiquidClassDefs()[z===f.NONE_LIQUID_CLASS_NAME||z==null?f.WATER_LIQUID_CLASS_NAME:z].byPipette?.find(({pipetteModel:Le})=>Le===f.getFlexNameConversion(xe))?.byTipType.find(({tiprack:Le})=>Le===Ae)??null,mr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Ut,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Ut,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Kr=Be[N]?.pythonName??_e[N]?.pythonName,Dn=Be[D]?.pythonName??_e[D]?.pythonName,qn=v==null?null:Be[v]?.pythonName??_e[v]?.pythonName,hr=Se[ce].pythonName,er=Se[N]?.pythonName,Fn=qe.map(Le=>`${hr}[${ee(Le)}]`).join(", "),Xr=V!=null&&er!=null?V.map(Le=>`${er}[${ee(Le)}]`).join(", "):null,Mn=[`name=${ee(`${e.commandCreatorFnName}_step_${he}`)}`,...z!=null?[`base_liquid_class=${Da(z,!0)}`]:[],`properties=${Lo({args:e,pipetteName:f.isFlexPipette(Rt)?f.getFlexNameConversion(xe):Rt,tiprackUri:Ae,liquidClassValuesForTip:Wr})}`],yr=`${$e}.define_liquid_class(
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ir=oe.length,Sr=ke*ir,Ar=Sr+fe+tt,Wn=Ye===0,Yn=Ye===_t.length-1,bt=L==="always"||L==="once"&&Wn,Kn=c.LOW_VOLUME_PIPETTES.includes(rt)?[O(oa,{pipetteId:N,volume:Ar})]:[];let lr=[];if(bt){const De=xt?.shift();lr=[M($a,{pipette:N,nozzles:V,primaryNozzle:U,dropTipLocation:Q&&tr!=null?tr:W,tipRack:j,...ye===wt&&De!=null&&Ve!=null?{tipSelectionArgs:{tipRackId:Ve,tipWell:De}}:{}})]}const Lr=[O(Ut,{pipetteId:N})],Ht=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Fe,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,zt=R!=null?[O(he,{seconds:R.seconds})]:[],tn=Fe>0&&!bt&&!Wn&&fe===0&&I==null?[O(nt,{isAirGap:!0,pipetteId:N,volume:Fe,flowRate:se,...Ht>0?{correctionVolume:Ht}:{},pushOut:0}),...zt]:[],Or=[...Kr,...tn,...Kn,...Lr],ur=[O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:zn}),O($,{pipetteId:N,labwareId:z,...m!=null?{speed:m}:{},wellName:D,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:S}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],rn=ae?Dr({pipette:N,volume:Sr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:R?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],Le=v!=null?Dr({pipette:N,volume:v.volume,times:v.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:R?.seconds,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],jt=n!=null?[O(he,{seconds:n.seconds})]:[],Rr=$e?[O(Mt,{pipetteId:N,labwareId:z,wellName:D,...ce!=null?{mmFromEdge:ce}:{},zOffsetFromTop:Qe,...mt!=null?{speed:mt}:{}}),...et>0&&yt?[O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:en})]:[]]:[],Tt=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:et,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=et>0?[...Ae,O(Qt,{pipetteId:N,volume:et,flowRate:jn,...Tt>0?{correctionVolume:Tt}:{}}),...jt]:[],Xn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Ar,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:tt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,an=tt!=null&&tt>0?[O(nt,{pipetteId:N,volume:tt,flowRate:k,correctionVolume:nn,pushOut:0}),...zt]:[],Zn=[O(_s,{pipetteId:N,volume:Ar,flowRate:a,correctionVolume:Xn}),...jt,...an],sn=[O($,{pipetteId:N,labwareId:z,...l!=null?{speed:l}:{},wellName:D,wellLocation:en}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]],kr=yn(oe,(De,vr)=>{const on=vr===0,cr=vr===oe.length-1,Pr=Yn&&cr;let Wt=0,pr=k;on&&et>0?(Wt=et,pr=za):!on&&Fe>0&&tt===0&&(Wt=Fe,pr=se);const Jn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Wt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ja=qr({retractZOffset:be,retractPositionReference:ee,labwareId:w,labwareEntities:ue,well:De}),Ps=ja?[]:[O($,{pipetteId:N,labwareId:w,wellName:De,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Ga=De!=null?[O($,{pipetteId:N,labwareId:w,wellName:De,wellLocation:or}),...Wt>0?[O(nt,{isAirGap:!0,pipetteId:N,volume:Wt,flowRate:pr,pushOut:0,correctionVolume:Jn}),...zt]:[],O($,{pipetteId:N,labwareId:w,...Be!=null?{speed:Be}:{},wellName:De,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Pe,y:Te,z:K}}}),...ve!=null&&ve.seconds>0?[O(he,{seconds:ve.seconds})]:[]]:[O(Ue,{fixtureId:w,pipetteId:N,offset:{x:0,y:0,z:0}})],ea=fe===0&&cr?H:0,gt=[O(nt,{pipetteId:N,volume:ke,flowRate:k,...ea!=null?{pushOut:ea}:{},correctionVolume:Un}),...zt],ln=De!=null?[O($,{pipetteId:N,labwareId:w,...pe!=null?{speed:pe}:{},wellName:De,wellLocation:wr}),...q!=null&&q?.seconds>0?[O(he,{seconds:q.seconds})]:[]]:[],Ct=cr?[O(Oa,{pipetteId:N,flowRate:g})]:[],Wa=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Fe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Nt=(ta,By=!0)=>Fe>0&&!(vr<oe.length-1&&tt>0)&&!(L==="never"&&Pr&&ta)?[...By?Ps:[],O(Ut,{pipetteId:N}),O(Qt,{pipetteId:N,volume:Fe,flowRate:me,...Wa>0?{correctionVolume:Wa}:{}}),...jt]:[],It=ta=>De!=null&&At?[O(Mt,{pipetteId:N,labwareId:w,wellName:De,...ht!=null?{mmFromEdge:ht}:{},zOffsetFromTop:Oe,...Je!=null?{speed:Je}:{}}),...Nt(ta).length>0&&ja?[O($,{pipetteId:N,labwareId:w,wellName:De,wellLocation:wr})]:[]]:[];let Cr=[];if(I==null||!cr)Cr=[...It(!0),...Nt(!0)];else if(I===On)Cr=[O($,{pipetteId:N,labwareId:w,wellName:De,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ct,...It(!0),...Nt(!0)];else if(I===Hr){const ta=Nt(!0);Cr=[...It(!1),...Nt(!1),O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ct,...At&&!mr?[O(Mt,{pipetteId:N,labwareId:z,wellName:D,...ht!=null?{mmFromEdge:ht}:{},zOffsetFromTop:Oe,...Je!=null?{speed:Je}:{}})]:[],...ta.length>0?[O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Nt(!0,!1)]}else Cr=[...It(!1),...Nt(!1),O(Ue,{pipetteId:N,fixtureId:Object.values(re).length>0?Object.values(re)[0].id:Object.values(Lt)[0].id,offset:{x:0,y:0,z:0}}),...Ct,...Nt(!0,!1)];return[...Ga,...gt,...ln,...Cr]}),Qn=Q&&(Ye===_t.length-1||L==="always")?[O(An,{pipette:N,dropTipLocation:j,isReturnTip:Q})]:[];return[...lr,...Or,...ur,...Le,...rn,...Zn,...sn,...Rr,...Gt,...kr,...Qn]}),Jr];return ne(Gn,t,r)},RS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},th=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},kS=["1","4","7","10"],vS=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:s}=t,o=r.modules[e.moduleId].slot,i=Object.keys(n)[0],l=n[i]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&ty(r.labware,a,o)){const d=kS.includes(o)?"right":"left";return{errors:[Jy(d)]}}const p=s[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:F(),params:{moduleId:e.moduleId}}],python:`${p}.open_labware_latch()`}},PS=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:s}=e;if(a===null)return{errors:[X()]};if(n[a]?.type!==c.HEATERSHAKER_MODULE_TYPE)throw new Error(`expected module ${a} to be heaterShaker, got ${n[a]?.type}`);const o=n[a].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:F(),params:{moduleId:a,rpm:s}}],python:`${o}.set_and_wait_for_shake_speed(${s})`}},rh=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},CS=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:s,latchOpen:o,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[X()]};const u=St(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[X()]};const d=[];if(o||d.push(M(RS,{moduleId:p})),i===null?d.push(M(th,{moduleId:p})):d.push(M(s_,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(M(rh,{moduleId:p})):l!==null&&d.push(M(PS,{moduleId:p,rpm:l})),[n,a,s].some(_=>_!=null&&_!==0)){i!==null&&d.push(M(p_,{moduleId:p,celsius:i}));const _=(n??0)*3600+(a??0)*60+(s??0);d.push(M(he,{seconds:_})),d.push(M(rh,{moduleId:p})),d.push(M(th,{moduleId:p}))}return o&&d.push(M(vS,{moduleId:p})),ne(d,t,r)},vy=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:s}=t,o=[],i=a[n].pythonName,u=Object.values(r.labware).filter(f=>f.stack.includes(n)).find(f=>f.stack.find(_=>s[_]?.def.allowedRoles?.includes("lid")&&s[_]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),p=u!=null?Sc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(lb({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:F(),params:{moduleId:n}}],python:`${i}.close_lid()`}},Py=(e,t,r)=>{const{moduleId:n,celsius:a}=e,s=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:F(),params:{moduleId:n,celsius:a}}],python:`${s}.set_lid_temperature(${a})`}},NS=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:s,profileVolume:o}=e,i=vs(r,n);if(i===null)return{errors:[X()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(M(vy,{moduleId:n})),s!==i.lidTargetTemp&&u.push(M(Py,{moduleId:n,celsius:s}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(M(Rg,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ne(u,t,r)},DS=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),MS=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},FS=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},qS=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,US=(e,t)=>{const r={...MS(e,t)},n={...FS(e,t)},a=!qS(e,t.blockTargetTemp),s=a&&t.blockTargetTemp===null,o=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...DS(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},BS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},VS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},$S=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:F(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},xS=(e,t,r)=>{e.celsius!==void 0&&console.warn("'volume' param not implemented for thermocycler/setTargetBlockTemperature, should not be set!");const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/setTargetBlockTemperature",key:F(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},HS=(e,t,r)=>{const n=vs(r,e.moduleId);if(n===null)return{errors:[X()]};if(n.currentBlockActivity.type==="profile")return{errors:[Wy()]};const{lidOpen:a,lidClosed:s,setBlockTemperature:o,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=US(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(M($S,{moduleId:e.moduleId})),s&&f.push(M(vy,{moduleId:e.moduleId})),i&&f.push(M(BS,{moduleId:e.moduleId})),p!==null&&o&&f.push(M(xS,{moduleId:e.moduleId,celsius:p})),u&&f.push(M(VS,{moduleId:e.moduleId})),d!==null&&l&&f.push(M(Py,{moduleId:e.moduleId,celsius:d})),ne(f,t,r)};var ku,nh;function zS(){if(nh)return ku;nh=1;var e=ga(),t=B_(),r=V_();function n(a,s){return r(t(a,s,e),a+"")}return ku=n,ku}var vu,ah;function jS(){if(ah)return vu;ah=1;var e=xr(),t=Jt();function r(n){return t(n)&&e(n)}return vu=r,vu}var Pu,sh;function GS(){if(sh)return Pu;sh=1;var e=Vh(),t=Sa(),r=Xh(),n=xh(),a=jS(),s=Math.max;function o(i){if(!(i&&i.length))return[];var l=0;return i=e(i,function(u){if(a(u))return l=s(u.length,l),!0}),n(l,function(u){return t(i,r(u))})}return Pu=o,Pu}var Cu,oh;function WS(){if(oh)return Cu;oh=1;var e=zS(),t=GS(),r=e(t);return Cu=r,Cu}var YS=WS();const KS=xe(YS),XS=(e,t,r)=>{const{aspirateAirGapVolume:n,aspirateDelay:a,aspirateFlowRateUlSec:s,aspiratePositionReference:o,aspirateRetractDelay:i,aspirateRetractPositionReference:l,aspirateRetractSpeed:u,aspirateRetractXOffset:p,aspirateRetractYOffset:d,aspirateRetractZOffset:f,aspirateSubmergeDelay:_,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:h,aspirateSubmergeXOffset:b,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:y,aspirateXOffset:A,aspirateYOffset:S,aspirateZOffset:g,blowoutFlowRateUlSec:I,blowoutLocation:L,changeTip:w,destLabware:E,destWells:R,dispenseAirGapVolume:k,dispenseDelay:B,dispenseFlowRateUlSec:q,dispensePositionReference:ee,dispenseRetractDelay:pe,dispenseRetractPositionReference:_e,dispenseRetractSpeed:le,dispenseRetractXOffset:be,dispenseRetractYOffset:ve,dispenseRetractZOffset:He,dispenseSubmergeDelay:Be,dispenseSubmergePositionReference:te,dispenseSubmergeSpeed:Ee,dispenseSubmergeXOffset:ze,dispenseSubmergeYOffset:Pe,dispenseSubmergeZOffset:Te,dispenseXOffset:K,dispenseYOffset:W,dispenseZOffset:P,dropTipLocation:v,liquidClass:V,mixBeforeAspirate:N,mixInDestination:ae,pipette:U,preWetTip:H,primaryNozzle:z,pushOut:D,sourceLabware:x,nozzles:ye,sourceWells:Ve,tipRack:Ze,tipTracking:$e,tiprackSelected:ce,tipsSelected:Qe,touchTipAfterAspirate:mt,touchTipAfterAspirateMmFromEdge:At,touchTipAfterAspirateOffsetMmFromTop:ht,touchTipAfterAspirateSpeed:Oe,touchTipAfterDispense:Je,touchTipAfterDispenseMmFromEdge:Re,touchTipAfterDispenseOffsetMmFromTop:ke,touchTipAfterDispenseSpeed:Ce,volume:ue,stepNumber:re}=e,{pipetteEntities:Lt,trashBinEntities:We,wasteChuteEntities:Y,labwareEntities:we}=t,mr=Rn(we,Y,We,E),et=we[x]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(mr==="labware"&&R!=null&&Ve.length===R.length||(mr==="wasteChute"||mr==="trashBin")&&R==null&&Ve.length>=1))throw new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${Ve.length}:${R?.length} in labware`);const Fe="transfer",fe=[];(!r.pipettes[U]||!Lt[U])&&fe.push(ut({pipette:U})),(!x||!r.labware[x])&&fe.push(ct({actionName:Fe,labware:x}));const tt=r.labware[E]!=null?G(r.labware[E].stack):"",Gr=G(r.labware[x]?.stack),Ot=Object.keys(Y).length>0,xa=Y[v]!=null,Wr=We[v]!=null;Ot&&(tt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&fe.push(ya());const tr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ot=tr.length>0?tr[0]:null,Q=Object.values(t.labwareEntities).find(({labwareDefURI:se})=>se===v),Rt=Q!=null&&c.getIsTiprack(Q.def),ge=r.tipState.pipettes[U]?.hasTip;if(v==null||Rt&&ot==null&&w!=="never"&&ge||!Rt&&!xa&&!Wr)return{errors:[Tn()]};(!E||!we[E]&&!Y[E]&&!We[E])&&fe.push(dh());let kt,J;if(w==="never"){const se=r.tipState.pipettes[U]?.tiprackURI;kt=t.labwareEntities[se??""],J=kt?.labwareDefURI}else kt=Object.values(we).find(({labwareDefURI:se})=>se===Ze),J=Ze;if(kt==null&&(w==="never"?fe.push(Bt({actionName:Fe,pipette:U})):fe.push(ct({actionName:Fe,labware:J}))),fe.length>0)return{errors:fe};const j=n||0,it=k||0,de=ks(U,t,J)-j;if(de<=0||!isFinite(de))return fe.push(Ja({volume:ue,maxVolume:de,actionName:Fe})),{errors:fe};const rt=Math.ceil(ue/de);if(!isFinite(rt)||rt<=0)return fe.push(Ja({volume:ue,maxVolume:rt,actionName:Fe})),{errors:fe};const $t=ue/rt,vt=Array(rt).fill($t),Yr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:b,y:T,z:y}},rr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},hr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[te],offset:{x:ze,y:Pe,z:Te}},nr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_e],offset:{x:be,y:ve,z:He}},{spec:Se,name:Pt,pythonName:_r}=Lt[U],{tipracks:yr}=Va(U,J,t,r,z,ye),Kr=c.getAllLiquidClassDefs()[V===c.NONE_LIQUID_CLASS_NAME||V==null?c.WATER_LIQUID_CLASS_NAME:V].byPipette?.find(({pipetteModel:se})=>se===c.getFlexNameConversion(Se))?.byTipType.find(({tiprack:se})=>se===J)??null,br=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:$t,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:$t,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zr=We[E]?.pythonName??Y[E]?.pythonName,Un=We[v]?.pythonName??Y[v]?.pythonName,Bn=L==null?null:We[L]?.pythonName??Y[L]?.pythonName,Tr=we[x].pythonName,ar=we[E]?.pythonName,Vn=Ve.map(se=>`${Tr}[${C(se)}]`).join(", "),Qr=R!=null&&ar!=null?R.map(se=>`${ar}[${C(se)}]`).join(", "):null,$n=[`name=${C(`${e.commandCreatorFnName}_step_${re}`)}`,...V!=null?[`base_liquid_class=${Ua(V,!0)}`]:[],`properties=${Ls({args:e,pipetteName:c.isFlexPipette(Pt)?c.getFlexNameConversion(Se):Pt,tiprackUri:J,liquidClassValuesForTip:Kr})}`],gr=`${Ie}.define_liquid_class(
+${Z($n.join(`,
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-)`,tr=Ce===wt&&Ee!=null&&k!=null&&k.length>0?qa({wellSets:k,nozzles:B,channels:xe.channels,primaryNozzle:de}):null,Un=Ee!=null?Se[Ee]?.pythonName:null,Bt=tr?.map(Le=>`${Un}[${ee(Le)}]`).join(", "),br=[`volume=${me}`,`source=[${Fn}]`,`dest=${Xr!=null?`[${Xr}]`:Kr}`,`new_tip=${ee(Po(C))}`,...Ot?["return_tip=True",...qn!=null?[`trash_location=${qn}`]:[]]:[`trash_location=${Dn}`,"keep_last_tip=True"],...xe.channels>1?["group_wells=False"]:[],...dr.filteredSortedTiprackIds.length>0?[Ro({labwareEntities:Se,tiprackIds:dr.filteredSortedTiprackIds})]:[],`liquid_class=${yr}`,...tr!=null&&Un!=null?[`tips=[${Bt}]`]:[]],gr=()=>({commands:[],python:`${fr}.transfer_with_liquid_class(
-${ve(br.join(`,
+)`,sr=$e===wt&&ce!=null&&Qe!=null&&Qe.length>0?Ba({wellSets:Qe,nozzles:ye,channels:Se.channels,primaryNozzle:z}):null,xn=ce!=null?we[ce]?.pythonName:null,xt=sr?.map(se=>`${xn}[${C(se)}]`).join(", "),Ir=[`volume=${ue}`,`source=[${Vn}]`,`dest=${Qr!=null?`[${Qr}]`:Zr}`,`new_tip=${C(Rs(w))}`,...Rt?["return_tip=True",...Bn!=null?[`trash_location=${Bn}`]:[]]:[`trash_location=${Un}`,"keep_last_tip=True"],...Se.channels>1?["group_wells=False"]:[],...yr.filteredSortedTiprackIds.length>0?[Os({labwareEntities:we,tiprackIds:yr.filteredSortedTiprackIds})]:[],`liquid_class=${gr}`,...sr!=null&&xn!=null?[`tips=[${xt}]`]:[]],Er=()=>({commands:[],python:`${_r}.transfer_with_liquid_class(
+${Z(Ir.join(`,
 `))},
-)`}),Bn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,Zr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??X,jn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??o,Jr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??X,rr=fv(qe,V);let _r=null,$n=null;const Ue=[...rr.reduce((Le,ht,yt)=>{const[Ve,Ge]=ht,xn=Lt.reduce((Re,it,nr)=>{const Tr=yt===0&&nr===0,Er=yt+1===rr.length,Hn=nr+1===Lt.length&&Er;let bt=!1;C==="always"?bt=!0:C==="once"?bt=Tr:C==="perSource"?bt=Ve!==_r:C==="perDest"&&(bt=Tr||Ge!==$n);const Gn=f.LOW_VOLUME_PIPETTES.includes(Rt)?[j(na,{pipetteId:K,volume:it})]:[];let ar=[];if(bt){const Tt=tr?.shift();ar=[ae(Ma,{pipette:K,primaryNozzle:de,nozzles:B,dropTipLocation:Ot&&ut!=null?ut:D,tipRack:Ae,...B!=null?{nozzles:B}:{},...Ce===wt&&Tt!=null&&Ee!=null?{tipSelectionArgs:{tipRackId:Ee,tipWell:Tt}}:{}})]}const wr=Se[ce]?.def.wells[Ve]?.depth??null,jt=f.getMmFromBottom(S,i,wr),$t=f.getMmFromBottom(m,b,wr),Qr=f.getMmFromBottom(d,l,wr);jt!=null&&$t!=null&&jt>$t&&Fe.push(mb());const Ir=Nr({retractZOffset:d,retractPositionReference:l,labwareId:ce,labwareEntities:Se,well:Ve}),or=!Ir&&Ve!=null?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[],en=Nr({retractZOffset:x,retractPositionReference:ge,labwareId:N,labwareEntities:Se,well:Ge}),He=!en&&Ge!=null?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})]:[];jt!=null&&Qr!=null&&jt>Qr&&Fe.push(hb());const xt=[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:f.SAFE_MOVE_TO_WELL_LOCATION})],Sr=[j(qt,{pipetteId:K})],gt=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Vt=G!=null?[j(Me,{seconds:G.seconds})]:[],zn=ct>0&&!bt&&(nr>0||yt>0)?[j(st,{isAirGap:!0,pipetteId:K,volume:ct,flowRate:Jr,...gt>0?{correctionVolume:gt}:{},pushOut:0}),...Vt]:[],tn=[...xt,...zn,...Gn,...Sr],rn=[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:zr}),j(ye,{pipetteId:K,labwareId:ce,...h!=null?{speed:h}:{},wellName:Ve,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:_,y:I,z:S}}}),...y!=null&&y.seconds>0?[j(Me,{seconds:y.seconds})]:[]],Wn=ue?Pr({pipette:K,volume:it,times:1,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:G?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],nn=H!=null?Pr({pipette:K,volume:H.volume,times:H.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:G?.seconds,finalPushOut:0,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],Ar=a!=null?[j(Me,{seconds:a.seconds})]:[],Yn=F?[j(Ct,{pipetteId:K,labwareId:ce,wellName:Ve,...Y!=null?{mmFromEdge:Y}:{},zOffsetFromTop:Q,...Z!=null?{speed:Z}:{}}),...Te>0&&Ir?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:Jt})]:[]]:[],ze=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Or=Te>0?[...or,j(Yt,{pipetteId:K,volume:Te,flowRate:Bn,...ze>0?{correctionVolume:ze}:{}}),...Ar]:[],an=[j(mo,{pipetteId:K,volume:it,flowRate:o,...Yr>0?{correctionVolume:Yr}:{}}),...Ar],ir=[j(ye,{pipetteId:K,labwareId:ce,...u!=null?{speed:u}:{},wellName:Ve,wellLocation:Jt}),...s!=null&&s?.seconds>0?[j(Me,{seconds:s.seconds})]:[]],vr=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:Te,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=Ge!=null?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:pr}),...Te>0?[j(st,{isAirGap:!0,pipetteId:K,volume:Te,flowRate:Zr,pushOut:0,...vr>0?{correctionVolume:vr}:{}}),...Vt]:[],j(ye,{pipetteId:K,labwareId:N,...R!=null?{speed:R}:{},wellName:Ge,wellLocation:{origin:f.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[fe],offset:{x:M,y:q,z:P}}}),...W!=null&&W.seconds>0?[j(Me,{seconds:W.seconds})]:[]]:[j(Xe,{fixtureId:N,pipetteId:K,offset:{x:0,y:0,z:0}})],sr=oe!=null&&Ge!=null?0:J,Kn=[j(st,{pipetteId:K,volume:it,flowRate:X,...sr!=null?{pushOut:sr}:{},...mr>0?{correctionVolume:mr}:{}}),...Vt],$a=oe!=null&&Ge!=null?Pr({pipette:K,volume:oe.volume,times:oe.times,aspirateFlowRateUlSec:o,dispenseFlowRateUlSec:X,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:G?.seconds,finalPushOut:J,invariantContext:t,liquidClass:z,tiprack:Ae,generatePython:!1}):[],Co=Ge!=null?[j(ye,{pipetteId:K,labwareId:N,...le!=null?{speed:le}:{},wellName:Ge,wellLocation:Qt}),...be!=null&&be?.seconds>0?[j(Me,{seconds:be.seconds})]:[]]:[],xa=j(Ea,{pipetteId:K,flowRate:O}),Xn=f.getByVolumeValue({liquidClass:z,pipetteSpecs:xe,tiprackDefUri:Ae,targetVolume:ct,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,_t=(Tt,Lr=!0)=>ct>0&&!(C==="never"&&Hn&&Tt)?[...Lr?He:[],j(qt,{pipetteId:K}),j(Yt,{pipetteId:K,volume:ct,flowRate:jn,...Xn>0?{correctionVolume:Xn}:{}}),...Ar]:[],on=Tt=>Ge!=null&&ie?[j(Ct,{pipetteId:K,labwareId:N,wellName:Ge,...te!=null?{mmFromEdge:te}:{},zOffsetFromTop:se,...pe!=null?{speed:pe}:{}}),..._t(Tt).length>0&&en?[j(ye,{pipetteId:K,labwareId:N,wellName:Ge,wellLocation:Qt})]:[]]:[];let Pt=[];switch(v){case null:case void 0:Pt=[...on(!0),..._t(!0)];break;case In:Pt=[xa,...on(!0),..._t(!0)];break;case $r:Pt=[...on(!0),..._t(!1),j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:{origin:f.WELL_ORIGIN_TOP}}),xa,...ie&&!nt?[j(Ct,{pipetteId:K,labwareId:ce,wellName:Ve,...te!=null?{mmFromEdge:te}:{},zOffsetFromTop:se,...pe!=null?{speed:pe}:{}})]:[],..._t(!0).length>0?[j(ye,{pipetteId:K,labwareId:ce,wellName:Ve,wellLocation:{origin:f.WELL_ORIGIN_TOP}})]:[],..._t(!0,!1)];break;default:v in Be?Pt=[...on(!1),..._t(!1),j(C_,{pipetteId:K,flowRate:O,trashId:v}),..._t(!0,!1)]:v in _e&&(Pt=[j(D_,{pipetteId:K,flowRate:O,wasteChuteId:v}),..._t(!0,!1)]);break}const Va=Ot&&(yt===rr.length-1||C==="always")?[j(wn,{pipette:K,dropTipLocation:Ae,isReturnTip:Ot})]:[],kt=[...ar,...tn,...rn,...nn,...Wn,...an,...ir,...Yn,...Or,...Ht,...Kn,...$a,...Co,...Pt,...Va];return _r=Ve,$n=Ge,[...Re,...kt]},[]);return[...Le,...xn]},[]),gr];return Ne(Ue,t,r)},mv=(e,t,r)=>{const n=`[${e.task_ids.join(", ")}]`,a=`${$e}.wait_for_tasks(${n})`;return{commands:[{key:ne(),commandType:"waitForTasks",params:e}],python:a}},hv=(e,t,r)=>{const{waitCondition:n}=e;return yv(e,t,r)},yv=(e,t,r)=>{const{moduleId:n}=e,a=[],o=No(r,n);if(o==null)return{errors:[ke()]};if(o.currentBlockActivity.type!=="profile")return{errors:[Kp()]};const{taskId:i}=o.currentBlockActivity;return i==null?{errors:[Kp()]}:(a.push(ae(mv,{task_ids:[i]})),Ne(a,t,r))};var Cc,lb;function bv(){if(lb)return Cc;lb=1;var e=Hg(),t=1,r=4;function n(a){return e(a,t|r)}return Cc=n,Cc}var gv=bv();const _v=Ye(gv),j_=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Fr="p300SingleId",ua="p300MultiId",Wc="p100096Id",Yc="sourcePlateId",Kc="destPlateId",Xc="troughId",Tv="A1",Ev="tiprack1Id",wv={isAirGap:!0},Wa=f.fixture96Plate,ub=f.fixture12Trough,Ya=f.fixtureTiprack10ul,Nt=f.fixtureTiprack300ul,sn=f.fixtureTiprack1000ul,Ka=f.fixtureTiprackAdapter,$_={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function x_(e){return j_.reduce((t,r)=>({...t,[r]:e?ro:Pe}),{})}function Iv(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function V_(){const e={[Yc]:{id:Yc,pythonName:"mock_source_plate",labwareDefURI:f.getLabwareDefURI(Wa),def:Wa},[Kc]:{id:Kc,pythonName:"mock_dest_plate",labwareDefURI:f.getLabwareDefURI(Wa),def:Wa},[Xc]:{id:Xc,pythonName:"mock_trough",labwareDefURI:f.getLabwareDefURI(ub),def:ub},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:f.getLabwareDefURI(Nt),def:Nt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:f.getLabwareDefURI(Ka),def:Ka},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:f.getLabwareDefURI(Ka),def:Ka},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:f.getLabwareDefURI(sn),def:sn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:f.getLabwareDefURI(sn),def:sn}},t={},r={[qc]:{id:qc,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[f.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:f.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[f.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:f.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Fr]:{name:"p300_single",id:Fr,tiprackDefURI:[f.getLabwareDefURI(Nt)],tiprackLabwareDef:[Nt],spec:f.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ua]:{name:"p300_multi",id:ua,tiprackDefURI:[f.getLabwareDefURI(Nt)],tiprackLabwareDef:[Nt],spec:f.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Wc]:{name:"p1000_96",id:Wc,tiprackDefURI:[f.getLabwareDefURI(sn)],tiprackLabwareDef:[sn],spec:f.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:$_}}const Vr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:o}=e,i=Ap({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return i.tipState.tipracks=Wt(o,s=>x_(s)),i},Cn=()=>({pipetteLocations:{[Fr]:{mount:"left",tiprackId:"tiprack1Id"},[ua]:{mount:"right",tiprackId:"tiprack1Id"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","1"]},tiprack2Id:{stack:["tiprack2Id","5"]},tiprack4AdapterId:{stack:["tiprack4AdapterId","7"]},tiprack5AdapterId:{stack:["tiprack5AdapterId","8"]},tiprack4Id:{stack:["tiprack4Id","tiprack4AdapterId","7"]},tiprack5Id:{stack:["tiprack5Id","tiprack5AdapterId","8"]},sourcePlateId:{stack:["sourcePlateId","2"]},destPlateId:{stack:["destPlateId","3"]}},moduleLocations:{}}),H_=()=>({pipetteLocations:{[Fr]:{mount:"left"},[ua]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),G_=e=>Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),Sv=e=>Vr({...H_(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),Av=e=>({robotState:G_(e),warnings:[]}),Ov=e=>{const t=Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Fr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},vv=e=>{const t=Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Fr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=Pe,t},Lv=e=>Vr({...Cn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),Rv=({temperatureModuleId:e,thermocyclerId:t})=>{const r=V_();r.moduleEntities={[e]:{id:e,type:f.TEMPERATURE_MODULE_TYPE,model:"foo",pythonName:"mock_temperature_module_1"},[t]:{id:t,type:f.THERMOCYCLER_MODULE_TYPE,model:"foo",pythonName:"mock_thermocycler"}};const n=Vr({...Cn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:f.TEMPERATURE_MODULE_TYPE,status:ba,targetTemperature:null}},[t]:{slot:"span7_8_10_11",moduleState:{type:f.THERMOCYCLER_MODULE_TYPE,currentBlockActivity:{type:"blockDeactivated"},lidTargetTemp:null,lidOpen:null,numProfilesStarted:0}}},{invariantContext:r,robotState:n}},Pv=(e,t,r,n)=>{const a=_v(e);return a.modules[t].moduleState={type:f.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Ib;exports.AIR=Qe;exports.AIR_GAP_META=wv;exports.AIR_GAP_OFFSET_FROM_TOP=Dc;exports.AUTOMATIC=Qc;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Gt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=PT;exports.CLEAN=ro;exports.COLUMN_4_SLOTS=We;exports.CUSTOM_LABWARE_DICT_NAME=Oo;exports.DEFAULT_BLOWOUT_WELL=Tv;exports.DEFAULT_CONFIG=$_;exports.DEFAULT_PIPETTE=Fr;exports.DEST_LABWARE=Kc;exports.DEST_WELL_BLOWOUT_DESTINATION=In;exports.DIRTY=lr;exports.EMPTY=Pe;exports.FAKE_HOPPER_LOCATION_MAP=Nb;exports.FIXED_TRASH_ID=qc;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Ab;exports.FLEX_TRASH_DEF_URI=RT;exports.GRIPPER_LOCATION=Lb;exports.HEATERSHAKER_MODULE_INITIAL_STATE=wb;exports.HOPPER_FAKE_LOCATIONS=kb;exports.HOPPER_STACKER_LOCATION=Je;exports.INDENT=Na;exports.MAGNETIC_BLOCK_INITIAL_STATE=Sb;exports.MAGNETIC_MODULE_INITIAL_STATE=_b;exports.MANUAL=wt;exports.MIXED_WELL_COLOR=p_;exports.MODULES_WITH_COLLISION_ISSUES=gb;exports.MODULE_INITIAL_STATE_BY_TYPE=vb;exports.MULTI_PIPETTE=ua;exports.OFF_DECK=sa;exports.OT2_TC_SLOTS=Pb;exports.OT_2_TRASH_DEF_URI=LT;exports.PAPI_VERSION=d_;exports.PD_APPLICATION_VERSION=pO;exports.PIPETTE_96=Wc;exports.PROTOCOL_CONTEXT_NAME=$e;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=kT;exports.SOURCE_LABWARE=Yc;exports.SOURCE_WELL_BLOWOUT_DESTINATION=$r;exports.STAGING_AREA_SLOTS=Rb;exports.TEMPERATURE_APPROACHING_TARGET=Jc;exports.TEMPERATURE_AT_TARGET=Zc;exports.TEMPERATURE_DEACTIVATED=ba;exports.TEMPERATURE_MODULE_INITIAL_STATE=Tb;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Eb;exports.TIPRACK_1=Ev;exports.TOUCHED_PIPETTABLE_LABWARE=Gc;exports.TROUGH_LABWARE=Xc;exports.VACUUM_MAX_PRESSURE_MBAR=VT;exports.VACUUM_MIN_PRESSURE_MBAR=xT;exports.VACUUM_MODE_POWER=DT;exports.VACUUM_MODE_PRESSURE=qT;exports.VACUUM_MODULE_INITIAL_STATE=Ob;exports.VACUUM_PROGRAM_PROFILE=MT;exports.VACUUM_PROGRAM_STATE=FT;exports.VACUUM_STATE_PUMP=UT;exports.VACUUM_STATE_VENT=BT;exports.VACUUM_VENT_CLOSED=CT;exports.VACUUM_VENT_OPEN=NT;exports.VACUUM_VENT_SET_CLOSED=$T;exports.VACUUM_VENT_SET_OPEN=jT;exports.ZERO_OFFSET=Et;exports._getNextTip=N_;exports._wellContentsForLabware=tO;exports.absorbanceReaderCloseInitialize=kO;exports.absorbanceReaderCloseLid=hp;exports.absorbanceReaderCloseRead=NO;exports.absorbanceReaderCollision=Sa;exports.absorbanceReaderInitialize=rg;exports.absorbanceReaderOpenLid=yw;exports.absorbanceReaderRead=ng;exports.absorbanceReaderStateGetter=Nn;exports.airGapLocationHelper=dI;exports.aspirate=bw;exports.assignContainsAmongSiblings=Hp;exports.blowOutInWell=ag;exports.captureImage=gw;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=Pg;exports.commandCreatorsTimeline=NA;exports.comment=_w;exports.consolidate=$O;exports.constructInvariantContextFromAnalysis=UA;exports.createEmptyLiquidState=Sg;exports.createStagingAreaForInvariantContext=Uc;exports.createTipLiquidState=Ag;exports.curryCommandCreator=ae;exports.curryWithoutPython=j;exports.deactivateTemperature=Ew;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=hI;exports.delay=Me;exports.delayLocationHelper=mI;exports.disengageMagnet=Jw;exports.dispense=hg;exports.dispenseLocationHelper=pI;exports.distribute=HO;exports.dropTip=wn;exports.dropTipInPlace=wp;exports.dropTipInTrash=F_;exports.dropTipInWasteChute=M_;exports.engageMagnet=Qw;exports.enrichRobotStateForStackGraphTraversals=KS;exports.flexStackerEmpty=eI;exports.flexStackerFillItems=tI;exports.flexStackerRetrieve=rI;exports.flexStackerStateGetter=mt;exports.flexStackerStore=nI;exports.formatChangeTipArg=Po;exports.formatPyDict=Ca;exports.formatPyList=Wp;exports.formatPyStr=ee;exports.formatPyTuple=u_;exports.formatPyValue=la;exports.formatPyWellLocation=kn;exports.getAddressableAreaFromModule=Vp;exports.getAddressableAreaNameFromLabwareLocation=VS;exports.getAllLargestStacks=Xg;exports.getAllProvidedAddressableAreasFromDeckConfig=Zg;exports.getAllWellsForLabware=c_;exports.getChunkForIndentingLists=vo;exports.getCustomLiquidClassProperties=Lo;exports.getCutoutIdByAddressableArea=_g;exports.getCutoutIdFromSlot=O_;exports.getDefaultPrimaryNozzle=qr;exports.getDefineLiquids=__;exports.getDispenseAirGapLocation=Og;exports.getFlexStackerCutoutBaseDeckSlotId=vp;exports.getFlexStackerShuttleAddressableArea=To;exports.getFullStackFromLabwares=Lp;exports.getFullStackFromNodeTopDownRecursive=Ao;exports.getHasNoWellsFromCCArgs=DA;exports.getInitialRobotStateStandard=G_;exports.getInitialRobotStateWithOffDeckLabwareStandard=Sv;exports.getIsHeaterShakerEastWestMultiChannelPipette=Rn;exports.getIsHeaterShakerEastWestWithLatchOpen=Ln;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ra;exports.getIsLabwareCompatibleWithStack=Ng;exports.getIsRetractSafeForAirGap=Nr;exports.getIsSafePickupWithinTiprack=L_;exports.getIsSafePipetteMovement=It;exports.getIsSlotAHopper=Cg;exports.getIsSpaceInHopper=Np;exports.getIsTallLabwareEastWestOfHeaterShaker=l_;exports.getLabwareHasLiquid=Lg;exports.getLabwareIdOnHopper=gI;exports.getLabwareIdOnShuttle=Pp;exports.getLabwareSlot=On;exports.getLargestStackContainingLabware=Kg;exports.getLargestStackInSlot=_o;exports.getLiquidClassName=Da;exports.getLiquidIdsOnLabware=aO;exports.getLiquidIdsOnLabwareStack=nO;exports.getLoadAdapters=h_;exports.getLoadLabware=b_;exports.getLoadLidStacks=y_;exports.getLoadLiquidClasses=E_;exports.getLoadLiquids=T_;exports.getLoadModules=m_;exports.getLoadPipettes=g_;exports.getLoadTrashBins=w_;exports.getLoadWasteChute=I_;exports.getLocationTotalVolume=ur;exports.getModuleIdFromRobotStateStack=Ia;exports.getModuleState=St;exports.getNearestParentInStack=Rg;exports.getNextRobotStateAndWarnings=Gp;exports.getNextRobotStateAndWarningsSingleCommand=s_;exports.getNextTiprack=Fa;exports.getNodeParentModuleId=$S;exports.getNozzleConfig=zp;exports.getPipetteIdFromCCArgs=CA;exports.getPipetteWithTipMaxVol=ko;exports.getProvidedAddressableAreasExposed=HS;exports.getPythonAssignTipRacksString=Ro;exports.getResultingTimelineFrameFromRunCommands=jA;exports.getRobotInitialStateNoTipsRemain=Lv;exports.getRobotStateAndWarningsStandard=Av;exports.getRobotStatePickedUpTipStandard=vv;exports.getRobotStateWithTipStandard=Ov;exports.getSetStoredLabware=A_;exports.getSlotInLocationStack=we;exports.getStackForLabwareLocation=Mc;exports.getStackedOnNodeFromPdStack=Jg;exports.getStateAndContextTempTCModules=Rv;exports.getTargetTipsFromWellSets=qa;exports.getThermocyclerProfileRepetitionsForPython=P_;exports.getTipColumn=Iv;exports.getTipColumnIndex=zc;exports.getTipColumnName=R_;exports.getTipRowName=ra;exports.getTiprackHasTips=vg;exports.getTiprackTipstate=x_;exports.getTopLocationInStack=Op;exports.getTopmostLabwareOnModuleFromStackRobotState=yI;exports.getTransferPlanAndReferenceVolumes=Rp;exports.getTrashBinAddressableAreaName=Ip;exports.getTrashLocationFromAddressableAreaName=Eg;exports.getTrashOrLabware=Sn;exports.getVolumesPerLiquid=rO;exports.getWasteChuteAddressableAreaNamePip=Tg;exports.getWellsForTips=Sp;exports.heaterShaker=KO;exports.indentPyLines=ve;exports.labwareMatchesLabwareInHopper=kp;exports.makeContext=V_;exports.makeInitialRobotState=Ap;exports.makeState=Vr;exports.makeStateArgsLabwareOffDeck=H_;exports.makeStateArgsStandard=Cn;exports.mergeLiquid=cr;exports.mix=jO;exports.mixBlowoutLocationHelper=Ig;exports.modulePipetteCollision=vn;exports.moveHelper=fI;exports.moveLabware=uI;exports.moveToAddressableArea=Xe;exports.moveToAddressableAreaForDropTip=yg;exports.pipetteAdjacentHeaterShakerWhileShaking=Pn;exports.pipetteIntoHeaterShakerLatchOpen=Pa;exports.pipetteIntoHeaterShakerWhileShaking=ka;exports.pythonCustomLabwareDict=_O;exports.pythonDefRun=gO;exports.pythonImports=fO;exports.pythonMetadata=dO;exports.pythonRequirements=mO;exports.reduceCommandCreators=Ne;exports.repeatArray=wg;exports.replaceTip=Ma;exports.resolveDeckSlotKeyForLabwareStackInSlot=kg;exports.robotWithStatusAndTemp=Pv;exports.setTemperature=bg;exports.sortLabwareBySlot=k_;exports.splitLiquid=zt;exports.stepCommands=S_;exports.swatchColors=f_;exports.thermocyclerPipetteCollision=va;exports.thermocyclerProfileStep=XO;exports.thermocyclerStateGetter=No;exports.thermocyclerStateStep=iv;exports.tiprackWellNamesFlat=j_;exports.touchTip=Ct;exports.transfer=dv;exports.unrollThermocyclerProfile=Yp;exports.uuid=ne;exports.vacuumModuleStateGetter=PO;exports.waitForModuleTask=hv;exports.waitForTemperature=gg;exports.wellFillFromWellContents=iO;
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Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function Fy(){const e={[Ku]:{id:Ku,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(Xa),def:Xa},[Xu]:{id:Xu,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(Xa),def:Xa},[Zu]:{id:Zu,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(lh),def:lh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(Dt),def:Dt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(Qa),def:Qa},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(Qa),def:Qa},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(un),def:un},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(un),def:un}},t={},r={[Mu]:{id:Mu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(Za)],tiprackLabwareDef:[Za],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(Za)],tiprackLabwareDef:[Za],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Vr]:{name:"p300_single",id:Vr,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[da]:{name:"p300_multi",id:da,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Yu]:{name:"p1000_96",id:Yu,tiprackDefURI:[c.getLabwareDefURI(un)],tiprackLabwareDef:[un],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:Dy}}const jr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=wc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=Zt(s,i=>My(i)),o},qn=()=>({pipetteLocations:{[Vr]:{mount:"left",tiprackId:"tiprack1Id"},[da]:{mount:"right",tiprackId:"tiprack1Id"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","1"]},tiprack2Id:{stack:["tiprack2Id","5"]},tiprack4AdapterId:{stack:["tiprack4AdapterId","7"]},tiprack5AdapterId:{stack:["tiprack5AdapterId","8"]},tiprack4Id:{stack:["tiprack4Id","tiprack4AdapterId","7"]},tiprack5Id:{stack:["tiprack5Id","tiprack5AdapterId","8"]},sourcePlateId:{stack:["sourcePlateId","2"]},destPlateId:{stack:["destPlateId","3"]}},moduleLocations:{}}),qy=()=>({pipetteLocations:{[Vr]:{mount:"left"},[da]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Uy=e=>jr({...qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),cA=e=>jr({...qy(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),pA=e=>({robotState:Uy(e),warnings:[]}),dA=e=>{const t=jr({...qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},fA=e=>{const t=jr({...qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=ie,t},mA=e=>jr({...qn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),hA=({temperatureModuleId:e,thermocyclerId:t})=>{const r=Fy();r.moduleEntities={[e]:{id:e,type:c.TEMPERATURE_MODULE_TYPE,model:"foo",pythonName:"mock_temperature_module_1"},[t]:{id:t,type:c.THERMOCYCLER_MODULE_TYPE,model:"foo",pythonName:"mock_thermocycler"}};const n=jr({...qn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ia,targetTemperature:null}},[t]:{slot:"span7_8_10_11",moduleState:{type:c.THERMOCYCLER_MODULE_TYPE,currentBlockActivity:{type:"blockDeactivated"},lidTargetTemp:null,lidOpen:null,numProfilesStarted:0}}},{invariantContext:r,robotState:n}},_A=(e,t,r,n)=>{const a=sA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Eh;exports.AIR=Ge;exports.AIR_GAP_META=lA;exports.AIR_GAP_OFFSET_FROM_TOP=Du;exports.AUTOMATIC=ec;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Kt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=Lb;exports.CLEAN=Ea;exports.COLUMN_4_SLOTS=Me;exports.CUSTOM_LABWARE_DICT_NAME=bs;exports.DEFAULT_BLOWOUT_WELL=oA;exports.DEFAULT_CONFIG=Dy;exports.DEFAULT_PIPETTE=Vr;exports.DEST_LABWARE=Xu;exports.DEST_WELL_BLOWOUT_DESTINATION=On;exports.DIRTY=Yt;exports.EMPTY=ie;exports.FAKE_HOPPER_LOCATION_MAP=vh;exports.FIXED_TRASH_ID=Mu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Sh;exports.FLEX_TRASH_DEF_URI=Sb;exports.GRIPPER_LOCATION=Oh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=Ih;exports.HOPPER_FAKE_LOCATIONS=kh;exports.HOPPER_STACKER_LOCATION=je;exports.INDENT=Ra;exports.MAGNETIC_BLOCK_INITIAL_STATE=wh;exports.MAGNETIC_MODULE_INITIAL_STATE=bh;exports.MANUAL=wt;exports.MIXED_WELL_COLOR=ay;exports.MODULES_WITH_COLLISION_ISSUES=yh;exports.MODULE_INITIAL_STATE_BY_TYPE=Lh;exports.MULTI_PIPETTE=da;exports.OFF_DECK=ia;exports.OT2_TC_SLOTS=Ab;exports.OT_2_TRASH_DEF_URI=wb;exports.PAPI_VERSION=oy;exports.PD_APPLICATION_VERSION=jw;exports.PIPETTE_96=Yu;exports.PROTOCOL_CONTEXT_NAME=Ie;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=Ob;exports.SOURCE_LABWARE=Ku;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Hr;exports.STAGING_AREA_SLOTS=Rh;exports.TEMPERATURE_APPROACHING_TARGET=Ju;exports.TEMPERATURE_AT_TARGET=Qu;exports.TEMPERATURE_DEACTIVATED=Ia;exports.TEMPERATURE_MODULE_INITIAL_STATE=Th;exports.THERMOCYCLER_MODULE_INITIAL_STATE=gh;exports.TIPRACK_1=iA;exports.TOUCHED_PIPETTABLE_LABWARE=Gu;exports.TROUGH_LABWARE=Zu;exports.VACUUM_AT_TARGET=qb;exports.VACUUM_DEACTIVATED=Fb;exports.VACUUM_DOCK_ADDRESSABLE_AREA=Rb;exports.VACUUM_DOCK_LOCATION=tc;exports.VACUUM_MODE_POWER=Fu;exports.VACUUM_MODE_PRESSURE=qu;exports.VACUUM_MODULE_INITIAL_STATE=Ah;exports.VACUUM_PROGRAM_PROFILE=vb;exports.VACUUM_PROGRAM_STATE=kb;exports.VACUUM_STATE_PUMP_OFF=Pb;exports.VACUUM_STATE_PUMP_ON=Cb;exports.VACUUM_STATE_VENT=Nb;exports.VACUUM_VENT_CLOSED=wa;exports.VACUUM_VENT_OPEN=rc;exports.VACUUM_VENT_SET_CLOSED=Mb;exports.VACUUM_VENT_SET_OPEN=Db;exports.ZERO_OFFSET=Et;exports._getNextTip=Sy;exports._wellContentsForLabware=Mw;exports.absorbanceReaderCloseInitialize=mS;exports.absorbanceReaderCloseLid=bc;exports.absorbanceReaderCloseRead=hS;exports.absorbanceReaderCollision=va;exports.absorbanceReaderInitialize=e_;exports.absorbanceReaderOpenLid=cg;exports.absorbanceReaderRead=t_;exports.absorbanceReaderStateGetter=Fn;exports.airGapLocationHelper=qg;exports.aspirate=pg;exports.assignContainsAmongSiblings=xc;exports.blowOutInWell=r_;exports.captureImage=dg;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=w_;exports.commandCreatorsTimeline=mw;exports.comment=fg;exports.consolidate=SS;exports.constructInvariantContextFromAnalysis=gw;exports.createEmptyLiquidState=y_;exports.createStagingAreaForInvariantContext=Bu;exports.createTipLiquidState=b_;exports.curryCommandCreator=M;exports.curryWithoutPython=O;exports.deactivateTemperature=hg;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=Bg;exports.delay=he;exports.delayLocationHelper=Ug;exports.disengageMagnet=_g;exports.dispense=n_;exports.dispenseLocationHelper=Mg;exports.distribute=OS;exports.dropTip=An;exports.dropTipInPlace=Tc;exports.dropTipInTrash=Ry;exports.dropTipInWasteChute=ky;exports.engageMagnet=yg;exports.enrichRobotStateForStackGraphTraversals=IE;exports.flexStackerEmpty=bg;exports.flexStackerFillItems=Tg;exports.flexStackerRetrieve=gg;exports.flexStackerStateGetter=ft;exports.flexStackerStore=Ig;exports.formatChangeTipArg=Rs;exports.formatPyDict=Fr;exports.formatPyList=gc;exports.formatPyStr=C;exports.formatPyTuple=o_;exports.formatPyValue=pt;exports.formatPyWellLocation=Ln;exports.getAddressableAreaFromModule=$c;exports.getAddressableAreaNameFromLabwareLocation=hE;exports.getAllLargestStacks=H_;exports.getAllProvidedAddressableAreasFromDeckConfig=z_;exports.getAllWellsForLabware=ny;exports.getChunkForIndentingLists=Ts;exports.getCustomLiquidClassProperties=Ls;exports.getCutoutFromSlot=Ty;exports.getCutoutIdByAddressableArea=d_;exports.getDefaultPrimaryNozzle=ns;exports.getDefineLiquids=dy;exports.getDispenseAirGapLocation=T_;exports.getFlexStackerCutoutBaseDeckSlotId=Ac;exports.getFlexStackerShuttleAddressableArea=gs;exports.getFullStackFromLabwares=Lc;exports.getFullStackFromNodeTopDownRecursive=As;exports.getHasNoWellsFromCCArgs=_w;exports.getInitialRobotStateStandard=Uy;exports.getInitialRobotStateWithOffDeckLabwareStandard=cA;exports.getIsHeaterShakerEastWestMultiChannelPipette=Dn;exports.getIsHeaterShakerEastWestWithLatchOpen=Nn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ma;exports.getIsLabwareCompatibleWithStack=A_;exports.getIsRetractSafeForAirGap=qr;exports.getIsSafePickupWithinTiprack=jc;exports.getIsSlotAHopper=L_;exports.getIsSlotAVacuumDock=la;exports.getIsSpaceInHopper=vc;exports.getIsTallLabwareEastWestOfHeaterShaker=ty;exports.getLabwareHasLiquid=I_;exports.getLabwareIdOnHopper=Hg;exports.getLabwareIdOnShuttle=Rc;exports.getLabwareSlot=vn;exports.getLargestStackContainingLabware=x_;exports.getLargestStackInSlot=pn;exports.getLiquidClassName=Ua;exports.getLiquidIdsOnLabware=Uw;exports.getLiquidIdsOnLabwareStack=qw;exports.getLoadAdapters=ly;exports.getLoadLabware=cy;exports.getLoadLidStacks=uy;exports.getLoadLiquidClasses=my;exports.getLoadLiquids=fy;exports.getLoadModules=iy;exports.getLoadPipettes=py;exports.getLoadTrashBins=hy;exports.getLoadWasteChute=_y;exports.getLocationTotalVolume=dr;exports.getModuleHasLiveTask=Pn;exports.getModuleIdFromRobotStateStack=ka;exports.getModuleState=St;exports.getNearestParentInStack=E_;exports.getNextRobotStateAndWarnings=Hc;exports.getNextRobotStateAndWarningsSingleCommand=ey;exports.getNextTiprack=Va;exports.getNodeParentModuleId=fE;exports.getNozzleConfig=zc;exports.getPipetteIdFromCCArgs=hw;exports.getPipetteMovementSafetyStatus=dt;exports.getPipetteWithTipMaxVol=ks;exports.getProvidedAddressableAreasExposed=_E;exports.getPythonAssignTipRacksString=Os;exports.getResultingTimelineFrameFromRunCommands=Ew;exports.getRobotInitialStateNoTipsRemain=mA;exports.getRobotStateAndWarningsStandard=pA;exports.getRobotStatePickedUpTipStandard=fA;exports.getRobotStateWithTipStandard=dA;exports.getSetStoredLabware=by;exports.getSlotInLocationStack=G;exports.getStackForLabwareLocation=Uu;exports.getStackedOnNodeFromPdStack=j_;exports.getStateAndContextTempTCModules=hA;exports.getTargetTipsFromWellSets=Ba;exports.getThermocyclerProfileRepetitionsForPython=Ey;exports.getTipColumn=uA;exports.getTipColumnIndex=Wu;exports.getTipColumnName=Gc;exports.getTipRowName=fn;exports.getTiprackHasTips=g_;exports.getTiprackTipstate=My;exports.getTopLocationInStack=Sc;exports.getTopmostLabwareOnModuleFromStackRobotState=$g;exports.getTransferPlanAndReferenceVolumes=Oc;exports.getTrashBinAddressableAreaName=Ic;exports.getTrashLocationFromAddressableAreaName=m_;exports.getTrashOrLabware=Rn;exports.getVolumesPerLiquid=Fw;exports.getWasteChuteAddressableAreaNamePip=f_;exports.getWellsForTips=Ec;exports.heaterShaker=CS;exports.indentPyLines=Z;exports.labwareMatchesLabwareInHopper=kc;exports.makeContext=Fy;exports.makeInitialRobotState=wc;exports.makeState=jr;exports.makeStateArgsLabwareOffDeck=qy;exports.makeStateArgsStandard=qn;exports.mergeLiquid=fr;exports.mix=wS;exports.mixBlowoutLocationHelper=__;exports.modulePipetteCollision=Cn;exports.moveHelper=Fg;exports.moveLabware=Og;exports.moveToAddressableArea=Ue;exports.moveToAddressableAreaForDropTip=a_;exports.pipetteAdjacentHeaterShakerWhileShaking=Mn;exports.pipetteIntoHeaterShakerLatchOpen=Fa;exports.pipetteIntoHeaterShakerWhileShaking=qa;exports.pythonCustomLabwareDict=Jw;exports.pythonDefRun=Qw;exports.pythonImports=Gw;exports.pythonMetadata=Ww;exports.pythonRequirements=Yw;exports.reduceCommandCreators=ne;exports.repeatArray=h_;exports.replaceTip=$a;exports.resolveDeckSlotKeyForLabwareStackInSlot=S_;exports.robotWithStatusAndTemp=_A;exports.setTemperature=s_;exports.sortLabwareBySlot=wy;exports.splitLiquid=Xt;exports.stepCommands=yy;exports.swatchColors=sy;exports.thermocyclerPipetteCollision=Na;exports.thermocyclerProfileStep=NS;exports.thermocyclerStateGetter=vs;exports.thermocyclerStateStep=HS;exports.tiprackWellNamesFlat=Ny;exports.touchTip=Mt;exports.transfer=XS;exports.unrollThermocyclerProfile=Wc;exports.uuid=F;exports.vacuumCloseVent=ys;exports.vacuumCloseVentSetPumpPower=ZS;exports.vacuumCloseVentSetPumpPressure=QS;exports.vacuumCloseVentStartProfile=JS;exports.vacuumModuleStateGetter=st;exports.vacuumOpenVent=kg;exports.vacuumSetPumpPower=l_;exports.vacuumSetPumpPressure=u_;exports.vacuumStartRunProfile=c_;exports.vacuumStopPump=Dg;exports.waitForModuleTask=eA;exports.waitForTemperature=p_;exports.wellFillFromWellContents=Vw;