@opentrons/step-generation 0.3.1-alpha.0 → 0.3.3-alpha.0

package/lib/index.cjs

@@ -1,81 +1,81 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Cy(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Dy(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function My(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Ut(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 Fy(){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 qy(){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."}),dn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),ts=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Hc=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Dr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Vy=()=>({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."}),ah=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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tg(){if(wf)return ol;wf=1;function e(t,r,n,a,s){return s(t,function(o,i,l){n=a?(a=!1,o):r(n,o,i,l)}),n}return ol=e,ol}var il,Af;function rg(){if(Af)return il;Af=1;var e=eg(),t=pc(),r=En(),n=tg(),a=Ke();function s(o,i,l){var u=a(o)?e:n,p=arguments.length<3;return u(o,r(i,4),l,p,t)}return il=s,il}var ng=rg();const lt=xe(ng),mc=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a}=t,s=Dn(r,e.moduleId),o=Object.keys(n).length>0,i=[];if((e.moduleId==null||s==null)&&i.push(X()),o||i.push(ah()),i.length>0)return{errors:i};const l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:D(),params:{moduleId:e.moduleId}}],python:`${l}.close_lid()`}},Kh=(e,t,r)=>{const{moduleId:n,sampleWavelengths:a,measureMode:s,referenceWavelength:o}=e,i=t.moduleEntities[n].pythonName,l=o!=null?`, 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s.length>0?{errors:s}:{commands:[{commandType:"absorbanceReader/read",key:D(),params:{moduleId:n,...a!=null?{fileName:a}:{}}}],python:`${i}.read(${l})`}},Zt=(e,t,r)=>{const{flowRate:n,pipetteId:a,volume:s,correctionVolume:o}=e,i=[];t.pipetteEntities[a]?.spec||i.push(ut({pipette:a}));const u=t.pipetteEntities[a].pythonName;return{commands:[{commandType:"airGapInPlace",key:D(),params:{flowRate:n,pipetteId:a,volume:s,...o!=null?{correctionVolume:o}:{}}}],python:`${u}.air_gap(${[`volume=${s}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},sg=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:s,wellName:o,flowRate:i,isAirGap:l,tipRack:u,wellLocation:p,primaryNozzle:d,nozzles:f}=e,_="aspirate",m=r.labware,h=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Rn(s,r.labware);if(b||h.push(ut({pipette:n})),!s||!r.labware[s]?h.push(ct({actionName:_,labware:s})):z(r.labware[s].stack)==="offDeck"&&h.push(mn()),De.includes(y))h.push(Ft({typeOfStep:_}));else if(m[y]!=null){const E=z(m[y].stack);De.includes(E)&&h.push(Ft({typeOfStep:_}))}if(vn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&h.push(pa()),r.tipState.pipettes[n]?.hasTip||h.push(Ut({actionName:_,pipette:n,labware:s,well:o})),t.pipetteEntities[n]?.spec.channels!==1&&b&&!wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:p?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f})&&h.push($r()),Pa(r.modules,r.labware,s)&&h.push(dn()),Ra(r.modules,r.labware,s)&&h.push(Dr()),Da(r.modules,r.labware,s)&&h.push(ts()),Ma(r.modules,r.labware,s)&&h.push(fn()),Cn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(fa()),T||(Pn(r.modules,y)&&h.push(da()),Nn(r.modules,y,b)&&h.push(ma()),Ca(r.modules,y,b,t.labwareEntities[s])&&h.push(rs())),h.length===0&&b&&b.liquids.default.maxVolume<a&&h.push(Xa({actionName:_,volume:a,maxVolume:b.liquids.default.maxVolume})),h.length===0&&b){const E=Os(n,t,u);E<a&&h.push(Uy({actionName:_,volume:a,maxVolume:E}))}if(h.length>0)return{errors:h};const w=[{commandType:"aspirate",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],g=t.pipetteEntities[n].pythonName,I=t.labwareEntities[s].pythonName,L=[`volume=${a}`,`location=${I}[${N(o)}]${An(p)}`,`flow_rate=${i}`],A=`${g}.aspirate(
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+"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 ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function X(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function zy(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. 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Move the step outside the profile."}),mn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),as=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Kc=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Mr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Yy=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),uh=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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+)`}},hg=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[X()]};const a=t.moduleEntities[n],s=a?.type,o=a?.pythonName,i={moduleId:n};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:F(),params:i}],python:`${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=`${I}.dispense(
+${Z(w.join(`,
 `))},
-)`;return{commands:w,python:A}},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(Ut({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:D(),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(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:_}},wn=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:s,isReturnTip:o}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const i=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:_})=>_===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[jc()]};let d=null;if(o&&p){const _=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;d=`${_}.drop_tip(location=${h})`}let f=[];if(o){if(i==null||l==null)return{errors:[jc()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[yn()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},hc=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:D(),params:{pipetteId:n}}]}:{commands:[]}},pg=(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 ${s[n]?.type}`);const i=s[n].pythonName;return{commands:[{commandType:o,key:D(),params:{moduleId:n,height:a}}],python:`${i}.engage(height_from_base=${a})`}},dg=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=dt(r,a);if(a==null||n[a]==null)return{errors:[X()]};const u=[];if(l==null&&u.push(X()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:D(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${N(e.message)}`:""})`}},fg=(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=dt(r,n),u=Lc(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=_s(d,4).map(T=>La+T.join(", ")).join(`,
+)`;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(`,
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 ${_}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[zy()]};if(u){if(s.length>0&&!s.every(y=>Sc(y,t,l)))return{errors:[sh()]}}else return{errors:[oh()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${m}],
-`:[],...a!=null?[`message=${N(a)},
-`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:D(),params:{moduleId:n,labware:s,message:a??void 0}}],python:`${p}.fill_items(
-${Z(b)})`}},mg=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[X()]};const s=a[n].pythonName,o=dt(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&Ac(o)?{errors:[Hy()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:D(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[xy()]}},hg=(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=dt(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=Lc(i,a);return i!==null&&!Ac(i)?{errors:[jy()]}:l!==null&&!Sc(l,t,i)?{errors:[sh()]}:u?{commands:[{commandType:"flexStacker/store",key:D(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[oh()]}};function ll(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function ul(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function _g(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function yg(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function bg(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Tg(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const gg="opentrons_flex_tiprack_lid",Ig=(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?d_(r.tipState,n):!1,h=r.liquidState!=null?f_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",y=[],S=[],w=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(ct({actionName:T,labware:n})):z(r.labware[n].stack)==="offDeck"&&o?y.push(mn()):r.labware[n].stack.includes(He)&&y.push(ib());const g=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&g&&y.push(Ky()),(w&&f&&!o||!f&&o)&&y.push(Yy()),b&&o&&y.push(Fy());const I=r.labware[n]!=null?z(r.labware[n].stack):null;(_&&I==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(I)||I==="fixedTrash")&&y.push(ha());const L=I!=null&&r.labware[I]!=null?z(r.labware[I].stack):null,A=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,k=Object.entries(r.labware).filter(([P,v])=>v.stack.includes("offDeck")).map(([P])=>P),R=Object.values(s);k.some(P=>R.includes(P))&&o&&y.push(By());const B=E(A);B!=null&&(B.type===c.THERMOCYCLER_MODULE_TYPE&&B.lidOpen!==!0?y.push(dn()):B.type===c.HEATERSHAKER_MODULE_TYPE?B.latchOpen!==!0?y.push(Hc()):B.targetSpeed!==null&&y.push(fn()):B.type===c.ABSORBANCE_READER_TYPE&&B.lidOpen!==!0&&y.push(Dr()));const F=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,te=c.locationIsOnLabware(s)?s.labwareId:null,de=te!=null?r.labware[te].stack[1]:null,_e=de??F;s==="offDeck"&&o&&y.push(mn()),m&&w&&_?S.push(yg()):h&&w&&_&&S.push(_g());const oe=E(_e);oe!=null&&(oe.type===c.THERMOCYCLER_MODULE_TYPE&&oe.lidOpen!==!0?y.push(dn()):oe.type===c.HEATERSHAKER_MODULE_TYPE?(oe.latchOpen!==!0&&y.push(Hc()),oe.targetSpeed!==null&&y.push(fn())):oe.type===c.ABSORBANCE_READER_TYPE&&oe.lidOpen!==!0&&y.push(Dr())),p[n]?.def.parameters.loadName===gg&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(rb());const ve={labwareId:n,strategy:a,newLocation:s},ze=[{commandType:"moveLabware",key:D(),params:ve}],Ue=p[n]?.pythonName;let J="",Le=null;if(s==="offDeck")J=oa;else if(s==="systemLocation")J="system_location";else if(s==="wasteChuteLocation")J=oa;else if("labwareId"in s){J=p[s.labwareId].pythonName;const P=r.labware[s.labwareId].stack;Le=P[P.length-1]}else if("moduleId"in s)Le=r.modules[s.moduleId].slot,J=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:P}=s;if(P in p){const v=z(r.labware[P].stack);J=c.getIsLid(p[P].def)?N(v):p[P].pythonName;const C=r.labware[P].stack;Le=C[C.length-1]}else J=N(P),Le=P}else if("addressableAreaName"in s){const P=De.includes(s.addressableAreaName),v=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),$=s.addressableAreaName==="fixedTrash",ae=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||$?Object.values(l)?.map(M=>M.location):[],q=!v&&!P?a_(s.addressableAreaName,$?"fixedTrashSlot":"trashBinAdapter",$?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,x=ae.find(M=>M===q),H=x!=null?Object.values(l).find(M=>M.location===x)?.id:null;P?J=N(s.addressableAreaName):H!=null&&!v?J=l[H]?.pythonName??"":H==null&&v?J=Object.values(u)[0]?.pythonName??"":J=""}if(Le!=null){const P=ys(r.labware,Le),v=z(P),{isCompatible:$,isAboveStackLimit:C}=y_(n,P,p,d);$||y.push(Wy()),C&&y.push(ab({slot:v}))}if(y.length>0)return{errors:y};J===""&&console.error("expected to find a python new location but could not");const Ge=o?", use_gripper=True":"",Be=c.getIsLid(p[n].def),re=r.labware[n].stack;let W="";if(Be){const P=m_(re);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const v=p[P]!=null,$=v&&c.getIsLid(p[P].def);re.length===2||v&&$?W=N(z(re)):(v||!c.getIsLid(p[P].def))&&(W=p[P].pythonName)}}Be&&W===""&&console.error("expected to find a valid lid move location but could not");const Y=Be?`${ge}.move_lid(${W}, ${J}${Ge})`:`${ge}.move_labware(${Ue}, ${J}${Ge})`;return{commands:ze,...S.length>0?{warnings:S}:{},python:Y}},qe=(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=s_(p);return i[a]!=null&&(m=yc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:D(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},Jh=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:D(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},V=(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??es({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,S=Rn(a,r.labware);if(h||d.push(ut({pipette:n})),!a||!r.labware[a]?d.push(ct({actionName:p,labware:a})):z(r.labware[a].stack)==="offDeck"&&d.push(mn()),De.includes(S))d.push(Ft({typeOfStep:"move to well"}));else if(f[S]!=null){const k=z(f[S].stack);De.includes(k)&&d.push(Ft({typeOfStep:p}))}vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(pa()),Pa(r.modules,r.labware,a)&&d.push(dn()),Da(r.modules,r.labware,a)&&d.push(ts()),Ra(r.modules,r.labware,a)&&d.push(Dr()),Ma(r.modules,r.labware,a)&&d.push(fn()),Cn(r.modules,S,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(fa()),y||(Pn(r.modules,S)&&d.push(da()),Nn(r.modules,S,h)&&d.push(ma()),Ca(r.modules,S,h,m[a])&&d.push(rs()));const w=t.pipetteEntities[n]?.spec.channels!==1,g=t.pipetteEntities[n]?.spec;if(w&&g&&!wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T})&&d.push($r()),d.length>0)return{errors:d};const I=_[n].pythonName,L=m[a].pythonName,A=[{commandType:"moveToWell",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],E=[`${L}[${N(s)}]${An(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:A,python:`${I}.move_to(${E.join(", ")})`}},cl=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=Qu,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=wt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=fy({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d||u.push($r()),f.isSafe||u.push(sb()),f.isComplete!==!0&&u.push(ob());const _=z(r.labware[a].stack);if(De.includes(_))u.push(Ft({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=z(r.labware[_].stack);De.includes(T)&&u.push(Ft({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===Et?`[${N(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},Eg=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=hy(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${N("temperature")}: ${m.celsius}, ${N("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Qy()]};if(u){if(s.length>0&&!s.every(y=>kc(y,t,l)))return{errors:[ch()]}}else return{errors:[ph()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${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")}: ${m.holdSeconds}},`).join(`
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${s}`),h?.forEach(function(b){l.tipracks[a][b]=se})}else if(o.channels===1)l.tipracks[a][s]=se;else if(o.channels===96)i.ordering.reduce((b,T)=>b.concat(T),[]).forEach(function(b){l.tipracks[a][b]=se});else{const h=f(i.ordering,s);h==null&&console.error(`Invalid primary well for tip pickup: ${s}`),h?.forEach(function(b){l.tipracks[a][b]=se})}r.robotState.pipettes[n].tiprackId=a,r.robotState.pipettes[n].tipWell=s}const wE={clean:ga,empty:se,used:Wt};function AE(e,t,r){const{labwareId:n,wellNames:a,tipWellState:s="clean"}=e,o=wE[s],i=r.robotState.tipState.tipracks[n];i!=null&&a.forEach(l=>{i[l]=o})}const jr=(e,t)=>{const r=At(e,t);return r.type===c.THERMOCYCLER_MODULE_TYPE?r:(console.error(`Thermocycler state updater expected ${t} moduleState to be thermocycler, but it was ${r.type}`),{})},SE=(e,t,r)=>{const{moduleId:n,celsius:a}=e,{robotState:s}=r,o=jr(s,n);o.currentBlockActivity={type:"blockTargetTemp",blockTargetTemp:a}},LE=(e,t,r)=>{const{moduleId:n,celsius:a}=e,{robotState:s}=r,o=jr(s,n);o.lidTargetTemp=a},OE=(e,t,r)=>{},RE=(e,t,r)=>{},kE=(e,t,r)=>{},vE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=jr(a,n);s.currentBlockActivity={type:"blockDeactivated"}},PE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=jr(a,n);s.lidTargetTemp=null},NE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=jr(a,n);s.lidOpen=!1},CE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=jr(a,n);s.lidOpen=!0},DE=(e,t,r)=>{const{profile:n,...a}=e;U_({profileElements:n,...a},t,r)},U_=(e,t,r)=>{const n=NaN+D();B_({...e,taskId:n},t,r),$_(n,r,c.THERMOCYCLER_MODULE_TYPE)},B_=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s}=e,{robotState:o}=r,i=jr(o,n);i.currentBlockActivity={type:"profile",profileElements:s,taskId:a??null},i.numProfilesStarted++},ME=e=>{if(e.currentBlockActivity.type==="profile"){const t=FE(e.currentBlockActivity.profileElements);return e.currentBlockActivity=t!=null?{type:"blockTargetTemp",blockTargetTemp:t}:{type:"blockDeactivated"},!0}else return!1};function FE(e){const t=Oc(Vc(e));return t!=null?t.celsius:null}const qE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.ventStatus=ns)},UE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.ventStatus=Ia)},BE=(e,t,r)=>{const{moduleId:n,gaugePressure:a,duration:s,ventAfter:o=!0,taskId:i}=e,{robotState:l}=r,u=st(l,n);u!=null&&(s==null||i==null?u.currentPumpActivity={type:"indefiniteHold",mode:Mu,targetPressure:a}:(u.currentPumpActivity={type:"timedHold",mode:Mu,targetPressure:a,durationSeconds:s,taskId:i,ventAfter:o},u.numPumpActivitiesStarted++),u.ventStatus=Ia)},$E=(e,t,r)=>{const{moduleId:n,percentPower:a,duration:s,ventAfter:o=!0,taskId:i}=e,{robotState:l}=r,u=st(l,n);u!=null&&(s==null||i==null?u.currentPumpActivity={type:"indefiniteHold",mode:Du,targetPower:a}:(u.currentPumpActivity={type:"timedHold",mode:Du,targetPower:a,durationSeconds:s,taskId:i,ventAfter:o},u.numPumpActivitiesStarted++),u.ventStatus=Ia)},VE=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.currentPumpActivity={type:"pumpDeactivated"},s.ventStatus=ns)},xE=(e,t,r)=>{const{moduleId:n,profile:a,taskId:s,ventAfter:o=!0}=e,{robotState:i}=r,l=st(i,n);l==null||s==null||(l.currentPumpActivity={type:"profile",profileElements:a,taskId:s,ventAfter:o},l.numPumpActivitiesStarted++)},HE=e=>{if(e.currentPumpActivity.type==="timedHold"||e.currentPumpActivity.type==="profile"){const t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?ns:Ia,!0}return!1};function jE(e,t,r){for(const n of e.task_ids)$_(n,r)||r.warnings.push(Tg())}const $_=(e,t,r)=>{const{robotState:n}=t,a=Object.values(n.modules).find(s=>{if(r&&s.moduleState.type!==r)return!1;const o=s.moduleState.type==="thermocyclerModuleType"&&s.moduleState.currentBlockActivity.type==="profile"&&s.moduleState.currentBlockActivity.taskId===e,i=s.moduleState.type==="vacuumModuleType"&&(s.moduleState.currentPumpActivity.type==="timedHold"||s.moduleState.currentPumpActivity.type==="profile")&&s.moduleState.currentPumpActivity.taskId===e;return o||i});return a==null?!1:a.moduleState.type==="thermocyclerModuleType"?ME(a.moduleState):a.moduleState.type==="vacuumModuleType"?HE(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},On=(e,t)=>{const r=At(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker 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V_(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function JE(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=At(a,n);V_(s,!0)}function ew(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=At(a,n);V_(s,!1)}const hu=(e,t)=>{if(t==null)return console.error("expected to find defURI but could not in getLabwareByDefURI"),null;const r=e.findIndex(a=>a.labwareDefURI===t);if(r===-1)return null;const[n]=e.splice(r,1);return n.id},x_=(e,t,r,n)=>{const a=e.labwareInHopper??[];t.forEach(s=>{const{primaryLabwareId:o,adapterLabwareId:i,lidLabwareId:l}=s;r.labware[o]={stack:[o,...l!=null?[l]:[],...n]},i!=null&&(r.labware[i]={stack:[i,o,...l!=null?[l]:[],...n]}),l!=null&&(r.labware[l]={stack:[l,...n]}),a.push({primaryLabwareId:o,adapterLabwareId:i??null,lidLabwareId:l??null})}),e.labwareInHopper=a},H_=(e,t,r,n,a,s,o,i)=>{const u=Object.entries(e.labware).filter(([d,f])=>f[s]===t[s]).map(([d])=>d).map(d=>r[d]),p=[];for(let d=0;d<n;d++){const f=hu(u,t.storedLabwareDetails?.primaryLabwareURI),_=o!=null?hu(u,t.storedLabwareDetails?.adapterLabwareURI):null,m=i!=null?hu(u,t.storedLabwareDetails?.lidLabwareURI):null;f!=null&&(e.labware[f]={stack:[f,...m!=null?[m]:[],...a]},_!=null&&(e.labware[_]={stack:[_,f,...m!=null?[m]:[],...a]}),m!=null&&(e.labware[m]={stack:[m,...a]}),p.push({primaryLabwareId:f,adapterLabwareId:_,lidLabwareId:m})),t.labwareInHopper=p}},tw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=Object.entries(n.labware).filter(([,i])=>i.stack.includes(He)&&i.stack.includes(a)),o=dt(n,a);o!=null&&o.labwareInHopper!=null&&(e.count!=null?o.labwareInHopper=o.labwareInHopper.slice(0,e.count):o.labwareInHopper=[]),s.forEach(([i])=>{n.labware[i]={...n.labware[i],stack:[i,c.SYSTEM_LOCATION]}})},rw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,labware:o}=e,i=n.modules[s].slot,l=dt(n,s);if(l==null||l.storedLabwareDetails==null)return;const{primaryLabwareURI:u,adapterLabwareURI:p,lidLabwareURI:d}=l.storedLabwareDetails,f=[];for(const 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 _=[He,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(S=>S!=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 S of T)a[S]!=null&&(y==null?n.labware[S].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[S].stackedOnNode={labwareId:y},y=S)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},nw=(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=dt(n,s),_=[He,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?H_(n,f,a,i,_,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&x_(f,p,n,_),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},aw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:s}=e,{labwareEntities:o}=t,i=n.modules[a].slot,l=dt(n,a);if(l==null)return;const u=s.map(g=>g.split(":")[1]),p=new Set(u),d=Array.from(p),f=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&!I.def.allowedRoles?.includes("lid")&&!I.def.allowedRoles?.includes("adapter"))),_=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&I.def.allowedRoles?.includes("adapter"))),m=d.find(g=>Object.values(o).find(I=>I.labwareDefURI===g&&I.def.allowedRoles?.includes("lid")));if(f==null)throw new Error(`expected to find primaryLabwareURI for storedLabwareDetails but could not with labware ${s}`);l.storedLabwareDetails={primaryLabwareURI:f,adapterLabwareURI:_??null,lidLabwareURI:m??null};const h=[];for(const g of s){const I=o[g].labwareDefURI;if(I===f)h.push({primary:g,adapter:null,lid:null});else if(I===_){const L=h[h.length-1];L&&(L.adapter=g)}else if(I===m){const L=h[h.length-1];L&&(L.lid=g)}}const b=[He,a,i];for(const g of h){const 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})),S=new Map(T.map(g=>[g.primaryLabwareId,g])),w=[];for(const g of y)w.push(g),S.delete(g.primaryLabwareId);for(const g of T)S.has(g.primaryLabwareId)&&w.push(g);l.labwareInHopper=w},sw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:s,labwareToStore:o}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=dt(n,a),p=[He,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?H_(n,u,i,s,p,"fillCount",d,f):o!=null&&x_(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},ow=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=dt(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 Yt){const _=u[f];if(_!=null){if(p.unshift(_),n.labware[_].stack=[...p],d==null){const m=bs(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=_}}}}},iw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=dt(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 Yt){const p=i[u];p!=null&&(n.labware[p].stack=[p,He,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 j_(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function lw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=At(n,a);j_(o,s,Zu)}function uw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=At(n,a);o.type===c.TEMPERATURE_MODULE_TYPE&&s===o.targetTemperature&&(o.status=Xu)}function cw(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=At(n,a);j_(s,null,Ta)}function z_(e,t,r){if(!e)throw new Error("undefined command passed to 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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},vn=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?z(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(dh.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},ce=(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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yw(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]>=hw&&l[1]>=_w,p=t.protocolType==="json"&&r>=mw,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,S)=>{const{id:w,description:g,displayName:I,displayColor:L}=S;return{...y,[w]:{description:g,displayName:I??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:w}}},{}),_=a.reduce((y,S)=>{const{id:w,model:g}=S;return{...y,[w]:{id:w,type:c.getModuleType(g),model:g,pythonName:"n/a"}}},{}),m=n.reduce((y,S)=>{const{id:w,definitionUri:g}=S,I=d[g];return I==null||I.schemaVersion===3?y:{...y,[w]:{id:w,labwareDefURI:g,def:I,pythonName:"n/a"}}},{}),h=o.reduce((y,S)=>{if(S.commandType==="loadLidStack"&&S.result!=null){const{stackLabwareId:w,lidStackDefinition:g}=S.result;if(w!=null&&g!=null&&y[w]==null&&g.schemaVersion!==3)return{...y,[w]:{id:w,labwareDefURI:c.getLabwareDefURI(g),def:g,pythonName:"n/a"}}}return y},m),b=s.reduce((y,S)=>{const{id:w,pipetteName:g}=S,I=c.getPipetteSpecsV2(g),A=o.filter(R=>R.commandType==="pickUpTip"&&R.params.pipetteId===w).map(R=>h[R.params.labwareId]),E=Array.from(new Set(A.map(R=>R.labwareDefURI))),k=Array.from(new Set(A.map(R=>R.def)));return I==null||(y[w]={name:g,id:w,tiprackLabwareDef:k,tiprackDefURI:E,spec:I,pythonName:"n/a"}),y},{}),T=o.reduce((y,S)=>{if(S.commandType==="loadLidStack"&&S.result!=null){const{params:w}=S,g=qu(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if((S.commandType==="loadLabware"||S.commandType==="loadLid")&&S.result!=null){const{params:w}=S,g=qu(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if(S.commandType==="moveToAddressableArea"||S.commandType==="moveToAddressableAreaForDropTip"){const w=S.params.addressableAreaName,g=`${D()}:${w}`;let I=Eh;w==="fixedTrash"?I="cutout12":w.includes("WasteChute")?I="cutoutD3":w.includes("movableTrash")&&(I=`cutout${w.split("movableTrash")[1]}`);let L=y.trashBinEntities;!Object.values(y.trashBinEntities).some(E=>E.location===I)&&w.includes("movableTrash")&&(L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}});let A=y.wasteChuteEntities;return w.includes("WasteChute")&&(A={[g]:{pythonName:"waste_chute",id:g,location:I}}),{...y,trashBinEntities:L,wasteChuteEntities:A}}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 bw={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function Tw(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?bw[i.params.location.slotName]:i.params.location.slotName,moduleState:Ih[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 S=y.find(w=>w.kind==="onLabware");return S!=null&&(T[S.labwareId]=y),T},{}),h=p.reduce((T,y,S)=>{const w=m[y]??u[S];if(w!=null){const g=Fu(w);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 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i.params.location){const u=i.params.location.labwareId;o[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),o[u]={stack:[u,"offDeck"]});const p=o[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...o,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return Mm(i).forEach(u=>{Dm(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return Mm(i).forEach(u=>{Dm(o,u,"fillCount")}),o}return o},{}),s=Tc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...Bc(e,t,s),command:e[e.length-1]},invariantContext:t}}const Dm=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},Mm=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],$c=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var _u,Fm;function gw(){if(Fm)return 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o=ww(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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0}}},dispense:{...i,correction_by_volume:a?.singleDispense.correctionByVolume??[[0,0]],push_out_by_volume:[[0,t.pushOut??0]],mix:{enabled:"mixInDestination"in t?t.mixInDestination!=null:!1,repetitions:"mixInDestination"in t?t.mixInDestination?.times??void 0:void 0,volume:"mixInDestination"in t?t.mixInDestination?.volume??void 0:void 0}},...t.commandCreatorFnName==="distribute"?{multi_dispense:{...i,correction_by_volume:a?.multiDispense?.correctionByVolume??[[0,0]],..."conditioningVolume"in t?{conditioning_by_volume:[[0,t.conditioningVolume??0]]}:{},..."disposalVolume"in t?{disposal_by_volume:[[0,t.disposalVolume??0]]}:{}}}:{}}}},u=JSON.parse(JSON.stringify(l));return Mr(u)},Fa=(e,t)=>`${c.getAllLiquidClassDefs()[e].liquidClassName}${t?"_base_class":""}`,Y_=e=>{if(e!=null)return e===Hr?"source":e===Sn?"destination":"trash"},ww=e=>{const 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t===-1?null:Me[t]},Bg=e=>{const t=w_(e);return t!=null?Ac(t):null},S_=(e,t,r)=>{if(e==null)return null;if(Me.includes(e)){const n=Ac(e);return Object.entries(t).some(([s,o])=>r[s]?.type===c.FLEX_STACKER_MODULE_TYPE&&o.slot===n)?n:e}return e},gs=e=>{const t=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),r=`${e[0]}3`,n=c.FLEX_CUTOUT_BY_SLOT_ID[r],a=t.cutoutFixtures.find(({id:s})=>s===c.FLEX_STACKER_V1_FIXTURE)?.providesAddressableAreas[n];return c.FLEX_STACKER_ADDRESSABLE_AREAS.find(s=>a?.includes(s))??null},A_=(e,t,r,n)=>{if(t.length===0)return{isCompatible:!0,isAboveStackLimit:!1};let a=!1;const s=t.find(u=>u in n);s!=null&&(a=n[s].type===c.FLEX_STACKER_MODULE_TYPE&&t.includes(je));const o=Sc(t);let i=!0,l=!1;if(o in r){const u=r[e],p=r[o],d=t.filter(I=>r[I]!=null),f=d.filter(I=>r[I]?.def?.allowedRoles?.includes("lid"))[0],_=d.filter(I=>r[I]?.def?.allowedRoles?.includes("adapter"))[0],m=p.def.parameters.loadName,h=d.filter(I=>!r[I]?.def?.allowedRoles?.includes("adapter")&&!r[I]?.def?.allowedRoles?.includes("lid"))[0];if(a){const I=c.getMaxPoolCount({labwareDefinitions:{primary:r[h]?.def??null,adapter:r[_]?.def??null,lid:r[f]?.def??null},model:c.FLEX_STACKER_MODULE_V1});l=t.length>I}else{const I=p.def.stackLimit??1,L=m===u.def.parameters.loadName,w=t.filter(E=>r[E]?.def.parameters.loadName===m)?.length;l=L&&w>=I}const b=u.def.parameters.loadName==="opentrons_tough_universal_lid",T=p.def.metadata.displayCategory==="tubeRack",y=p.def.metadata.displayCategory==="aluminumBlock",A=p.def.parameters.isTiprack,g=(p.def.allowedRoles??[]).includes("lid");i=u.def.compatibleParentLabware?.some(I=>I===m)||Object.keys(u.def.stackingOffsetWithLabware??{}).some(I=>I===m)||b&&!T&&!y&&!A&&(p.def.parameters.loadName==="opentrons_tough_universal_lid"||!g)}else if(o in n){const u=n[o],{model:p}=u;i=Object.keys(r[e].def.stackingOffsetWithModule??{}).some(d=>p===d)}return{isCompatible:i,isAboveStackLimit:l}},ka=(e,t)=>t?.find(r=>e[r]!=null)??null,Vg=(e,t,r)=>t?e:r?vh[e]:e,Lc=(e,t,r)=>{if(t==="offDeck"&&r==null)return console.error("offDeck slot is not allowed to be used without an offDeckOverrideId"),[];const n=la(t),a=L_(t),s=Vg(t,n,a),o=Object.values(e).filter(i=>i.stack.includes(s)&&(r==null||i.stack.includes(r))&&i.stack.includes(je)===a&&i.stack.includes(tc)===n);return 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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 ${o}`)}else n.labware[_].stackedOnNode={labwareId:d};d=_}}}}},cw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=ft(n,a),o=n.modules[a].slot;if(s!=null){const{labwareOnShuttle:i}=s;if(i!=null){s.labwareInHopper=[i,...s.labwareInHopper??[]],s.labwareOnShuttle=null;let l=null;for(const u of Kt){const 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y},m),b=s.reduce((y,A)=>{const{id:S,pipetteName:g}=A,I=c.getPipetteSpecsV2(g),w=o.filter(k=>k.commandType==="pickUpTip"&&k.params.pipetteId===S).map(k=>h[k.params.labwareId]),E=Array.from(new Set(w.map(k=>k.labwareDefURI))),R=Array.from(new Set(w.map(k=>k.def)));return I==null||(y[S]={name:g,id:S,tiprackLabwareDef:R,tiprackDefURI:E,spec:I,pythonName:"n/a"}),y},{}),T=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const S=A.params.addressableAreaName,g=`${F()}:${S}`;let 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r=e.reduce((o,i)=>i.commandType==="loadPipette"&&i.result!=null?{...o,[i.result.pipetteId]:{mount:i.params.mount}}:o,{}),n=e.reduce((o,i)=>{if(i.commandType==="loadModule"&&i.result!=null){const l=c.getModuleDef(i.params.model).moduleType;return{...o,[i.result.moduleId]:{slot:l===c.FLEX_STACKER_MODULE_TYPE?Iw[i.params.location.slotName]:i.params.location.slotName,moduleState:Lh[l]}}}return o},{}),a=e.reduce((o,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,_=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const h=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,h]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(S=>S.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),h=p.reduce((T,y,A)=>{const S=m[y]??u[A];if(S!=null){const 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n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},Vm=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],zc=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var bu,$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 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0}}},dispense:{...i,correction_by_volume:a?.singleDispense.correctionByVolume??[[0,0]],push_out_by_volume:[[0,t.pushOut??0]],mix:{enabled:"mixInDestination"in t?t.mixInDestination!=null:!1,repetitions:"mixInDestination"in t?t.mixInDestination?.times??void 0:void 0,volume:"mixInDestination"in t?t.mixInDestination?.volume??void 0:void 0}},...t.commandCreatorFnName==="distribute"?{multi_dispense:{...i,correction_by_volume:a?.multiDispense?.correctionByVolume??[[0,0]],..."conditioningVolume"in t?{conditioning_by_volume:[[0,t.conditioningVolume??0]]}:{},..."disposalVolume"in t?{disposal_by_volume:[[0,t.disposalVolume??0]]}:{}}}:{}}}},u=JSON.parse(JSON.stringify(l));return Fr(u)},Ua=(e,t)=>`${c.getAllLiquidClassDefs()[e].liquidClassName}${t?"_base_class":""}`,ry=e=>{if(e!=null)return e===Hr?"source":e===On?"destination":"trash"},Lw=e=>{const 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+${a}`:""},Xw=e=>{const{parameters:t,namespace:r,version:n}=e;return[`lid=${C(t.loadName)}`,`lid_namespace=${C(r)}`,`lid_version=${n}`]};function cy(e,t,r,n,a){const s=Object.values(r).filter(l=>!l.def.allowedRoles?.includes("adapter")&&!l.def.allowedRoles?.includes("lid")),o=Object.values(r).filter(l=>l.def.allowedRoles?.includes("lid")),i=Object.values(s).reduce((l,u)=>{const{id:p,def:d,pythonName:f}=u,{metadata:_,parameters:m,namespace:h,version:b}=d,T=Object.values(o).find(q=>n[q.id].stack[1]===p),y=a[p]!=null&&a[p]!==_.displayName,A=n[p].stack.includes(je),S=n[p].stack[1],g=G(n[p].stack),I=Object.entries(e).find(([q,ee])=>ee.slot===g&&ee.moduleState.type===c.FLEX_STACKER_MODULE_TYPE),L=t[S]!=null||g===I?.[1].slot&&!A,w=r[S]!=null;let E,R;if(w&&!A)E=r[S].pythonName;else if(L){const q=I!=null?I?.[0]:S;E=t[q].pythonName}else E=Ie,R=`location=${S==="offDeck"||A?ia:C(S)}`;const k=y?`label=${C(a[p])}`:void 0;if(c.getLabwareDefIsStandard(d)){const q=[`${C(m.loadName)}`,...R?[R]:[],...k?[k]:[],`namespace=${C(h)}`,`version=${b}`,...T!=null?Xw(T.def):[]].join(`,
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-${Z(F)},
-)`]}else{const F=[`${hs}[${N(c.getLabwareDefURI(d))}]`,...k?[k]:[],...R?[R]:[]].join(`,
+${Z(q)},
+)`]}else{const q=[`${bs}[${C(c.getLabwareDefURI(d))}]`,...R?[R]:[],...k?[k]:[]].join(`,
 `);return[...l,`${f} = ${E}.load_labware_from_definition(
-${Z(F)},
+${Z(q)},
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 `);return i?`# Load Labware:
-${i}`:""}function ny(e,t){const r=Object.values(e).map(n=>{const{name:a,id:s,spec:o,pythonName:i}=n,l=o.channels===96?"":N(t[s].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(o):a;return`${i} = ${ge}.load_instrument(${[N(u),...l?[l]:[]].join(", ")})`}).join(`
+${i}`:""}function py(e,t){const r=Object.values(e).map(n=>{const{name:a,id:s,spec:o,pythonName:i}=n,l=o.channels===96?"":C(t[s].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(o):a;return`${i} = ${Ie}.load_instrument(${[C(u),...l?[l]:[]].join(", ")})`}).join(`
 `);return r?`# Load Pipettes:
-${r}`:""}function ay(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:s,description:o}=r,i=[`${N(s)}`,...o?[`description=${N(o)}`]:[],`display_color=${N(a)}`].join(`,
-`);return`${n} = ${ge}.define_liquid(
+${r}`:""}function dy(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:s,description:o}=r,i=[`${C(s)}`,...o?[`description=${C(o)}`]:[],`display_color=${C(a)}`].join(`,
+`);return`${n} = ${Ie}.define_liquid(
 ${Z(i)},
 )`}).join(`
 `);return t?`# Define Liquids:
-${t}`:""}function sy(e,t,r){const n=Object.entries(e).reduce((s,[o,i])=>{const l=r[o].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const _=t[d].pythonName,m=`${l}__${_}__${f.volume}`;s[m]||(s[m]={labwarePythonName:l,liquidPythonName:_,volume:f.volume,wells:[]}),s[m].wells.push(u)})}),s},{}),a=Object.values(n).map(({labwarePythonName:s,liquidPythonName:o,volume:i,wells:l})=>{const u=l.map(m=>N(m)),d=_s(u,8).map(m=>La+m.join(", ")).join(`,
+${t}`:""}function fy(e,t,r){const n=Object.entries(e).reduce((s,[o,i])=>{const l=r[o].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const _=t[d].pythonName,m=`${l}__${_}__${f.volume}`;s[m]||(s[m]={labwarePythonName:l,liquidPythonName:_,volume:f.volume,wells:[]}),s[m].wells.push(u)})}),s},{}),a=Object.values(n).map(({labwarePythonName:s,liquidPythonName:o,volume:i,wells:l})=>{const u=l.map(m=>C(m)),d=Ts(u,8).map(m=>Ra+m.join(", ")).join(`,
 `),_=[`wells=[${u.length<8?u.join(", "):`
 ${d}
 `}],
@@ -84,59 +84,59 @@ volume=${i},
 `].join();return`${s}.load_liquid(
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-${a}`:""}function oy(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${Fa(n,!0)} = ${ge}.get_liquid_class(${N(t[n].liquidClassName)})`).join(`
+${a}`:""}function my(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${Ua(n,!0)} = ${Ie}.get_liquid_class(${C(t[n].liquidClassName)})`).join(`
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-${r}`:""}function iy(e){const t=Object.values(e)?.map(r=>{const n=N(c.getCutoutDisplayName(r.location));return`${r.pythonName} = ${ge}.load_trash_bin(${n})`}).join(`
+${r}`:""}function hy(e){const t=Object.values(e)?.map(r=>{const n=C(c.getCutoutDisplayName(r.location));return`${r.pythonName} = ${Ie}.load_trash_bin(${n})`}).join(`
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-${t}`:""}function ly(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${ge}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
-${t}`:""}const Yw=e=>e?`
+${t}`:""}function _y(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${Ie}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
+${t}`:""}const Zw=e=>e?`
 `+e.split(/\r\n|\r|\n/).map(t=>`# ${t}`).join(`
-`):"";function uy(e){return`# PROTOCOL STEPS
+`):"";function yy(e){return`# PROTOCOL STEPS
 
-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${Yw(n)}
+`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${Zw(n)}
 ${t.python||"pass"}`}).join(`
 
-`)}function Kw(e,t,r,n,a,s,o){const{moduleEntities:i,labwareEntities:l,pipetteEntities:u,liquidEntities:p,wasteChuteEntities:d,trashBinEntities:f}=e,{modules:_,labware:m,pipettes:h}=t,T=[J_(i,_),ey(i,l,m),ty(l,m),ry(_,i,l,m,a),ny(u,h),...s===c.FLEX_ROBOT_TYPE?[iy(f),ly(d)]:[],ay(p),sy(n,p,l),oy(o),cy(i,l,m,_,r),uy(r)].filter(y=>y).join(`
+`)}function Qw(e,t,r,n,a,s,o){const{moduleEntities:i,labwareEntities:l,pipetteEntities:u,liquidEntities:p,wasteChuteEntities:d,trashBinEntities:f}=e,{modules:_,labware:m,pipettes:h}=t,T=[iy(i,_),ly(i,l,m),uy(l,m),cy(_,i,l,m,a),py(u,h),...s===c.FLEX_ROBOT_TYPE?[hy(f),_y(d)]:[],dy(p),fy(n,p,l),my(o),by(i,l,m,_,r),yy(r)].filter(y=>y).join(`
 
-`)||"pass";return`def run(${ge}: protocol_api.ProtocolContext) -> None:
-${Z(T)}`}function Xw(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`${hs} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Ls=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},cy=(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(He)),m=[...Object.entries(r),...f.flatMap(h=>Object.entries(h))].filter(([h,b])=>z(b.stack)===d&&!b.stack.includes(He));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=${N(t[b[0]].def.parameters.loadName)}`,`namespace=${N(t[b[0]].def.namespace)}`,`version=${t[b[0]].def.version}`,"count=0",...h!=null?[`lid=${N(t[h[0]].def.parameters.loadName)}`]:[]].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(
 ${Z(T)}
-)`}else{const h=Object.values(_).filter(w=>!t[w[0]]?.def.allowedRoles?.includes("lid")).map(w=>t[w[0]].pythonName),T=_s(h,4).map(w=>La+w.join(", ")).join(`,
-`),S=`labware=[${h.length<4?h.join(", "):`
+)`}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(`,
+`),A=`labware=[${h.length<4?h.join(", "):`
 ${T}
 `}],
 `;return`${p}.set_stored_labware_items(
-${Z(S)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
+${Z(A)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
 ${o.join(`
-`).trimStart()}`:""},Zw=(e,t,r,n)=>{const{spec:a}=t,s=e===c.ROW,o=e===c.COLUMN||e===c.ALL&&a.channels===8,i=n.ordering[0].length===1;if((o||s)&&i){const u=o?`H${r.slice(1)}`:`${r.charAt(0)}12`,p=a.nozzleMap[u],d=a.nozzleMap[r],f=p.map((h,b)=>h-d[b]),_=[f[0]/2,f[1]/2,0],m=d.map((h,b)=>h+_[b]);return{x:m[0],y:m[1],z:m[2]}}const l=a.nozzleMap[r];return{x:l[0],y:l[1],z:l[2]}},pn={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},zm={x:pn.back_left.x,y:pn.back_left.y,z:pn.back_left.z},Qw={x:pn.front_right.x,y:pn.front_right.y,z:pn.front_right.z},py=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutout${e.addressableArea?.id}`;if(t)return t}return null},Jw=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=Zw(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}]},dy=(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)},Gm=(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},eA=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},tA=(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 d=Ec(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===py(r))&&(u+=eA(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=Gm(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=Gm(o[f].model,n))}return u},rA=(e,t,r,n,a)=>{for(const s of t){const o=s.addressableArea?.boundingBox,i=s.position;if(i==null||o==null)continue;const l={x:i[0],y:o.yDimension+i[1],z:i[2]},u={x:i[0]+o.xDimension,y:i[1],z:i[2]};if(dy([e[0],e[1]],[l,u])&&e[0].z!=null&&tA(r,n,s,a)>=e[0]?.z)return!0}return!1},nA=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?dy([zm,Qw],[e[0],e[1]])&&e[0].x<=zm.z:!1,aA=(e,t,r,n,a)=>{const{wells:s}=e.def,o=s[t];return{x:o.x+r.x+(n?.[0]??0),y:o.y+r.y+(n?.[1]??0),z:a?o.z+(r.z??0)+(n?.[2]??0):e.def.dimensions.zDimension}},wt=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],{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!0;const L=u?!0:h.pipettes[n]?.hasTip??!1,A=u??h.pipettes[n]?.tiprackURI,E=A!=null?d[A]:null,k=E!=null?E.def.parameters.tipLength:0,R=Object.values(f).map(re=>re.location),B=L?k??0:0,F=z(m[a].stack),te=m[a].stack.some(re=>_[re]?.type===c.THERMOCYCLER_MODULE_TYPE),de=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),_e=(te?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,de):c.getPositionFromSlotId(F,I))??[0,0,0],oe=te?de.locations.addressableAreas.find(re=>re.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],Se=[oe[0]+_e[0],oe[1]+_e[1],oe[2]+_e[2]],ve=aA(d[a],o,s,Se,L),ze=E!=null?sA({pipetteSpecs:T,tiprackUri:E.labwareDefURI,nozzles:l}):0,Ue=d[a].def,J=Jw(b,B,ve,Ue,i,l,ze);if(!iA({channels:y,boundingBox:J,robotType:g}))return!1;const Be=(g===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(F):c.getFlexSurroundingSlots(F,R)).map(re=>{const W=c.getAddressableAreaFromSlotId(re,I),Y=c.getPositionFromSlotId(re,I);return{addressableArea:W,position:Y}});return!nA(J,_)&&!rA(J,Be,t,r,g)},fy=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]!==se};if(n===8){const u=r!==c.A1_NOZZLE,p=zu(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]===se||i.includes(m)),isComplete:t[s]!==se}}if(a===c.PARTIAL_COLUMN){const _=f.indexOf(s),m=c.PARTIAL_NOZZLE_MAP[r];return{isSafe:f.slice(_+m,f.length).every(h=>t[h]===se||i.includes(h)),isComplete:t[s]!==se}}return{isSafe:!0,isComplete:f.every(_=>t[_]!==se)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(o.wells).every(u=>t[u]!==se)};if(a===c.COLUMN){const 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a=z(e[r].stack),s=z(e[n].stack),o=parseInt(a),i=parseInt(s);return De.includes(a)&&De.includes(s)?r.localeCompare(n):De.includes(a)?1:De.includes(s)?-1:o-i})}function yy(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]===ga,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(k=>k.every(p))??null,b=E=>[...E].reverse().find(k=>k.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,S=T&&o===c.A1_NOZZLE,w=i===96&&s===c.SINGLE,g=w&&o===c.H12_NOZZLE,I=w&&o===c.A12_NOZZLE,L=w&&o===c.H1_NOZZLE,A=w&&o===c.A1_NOZZLE;if(i===1||y||g)return _(d);if(S)return _(f);if(s===c.PARTIAL_COLUMN){const E=_(d);if(!E)return null;const k=d.indexOf(E);return d[k]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(A)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,k=E[0].map((B,F)=>E.map(te=>te[F]));return(o===c.A1_NOZZLE?b(k):h(k))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Ua(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=_y(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const h=z(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=yy({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a});if(h){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 Os(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 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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 d=Lc(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===Ty(r))&&(u+=nS(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=Zm(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=Zm(o[f].model,n))}return u},sS=(e,t,r,n,a)=>{for(const s of t){const o=s.addressableArea?.boundingBox,i=s.position;if(i==null||o==null)continue;const l={x:i[0],y:o.yDimension+i[1],z:i[2]},u={x:i[0]+o.xDimension,y:i[1],z:i[2]};if(gy([e[0],e[1]],[l,u])&&e[0].z!=null&&aS(r,n,s,a)>=e[0]?.z&&s.addressableArea!=null)return{addressableAreaCausingCollision:s.addressableArea}}return 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 b=d?[...h].reverse():h,T=b.findIndex(y=>fn(y)===fn(s));return b.slice(T).every(y=>t[y]===ie||i.includes(y)||y===s)}),isComplete:t[s]!==ie}}return{isSafe:!1}},fn=e=>e.slice(0,1),Gc=e=>e.slice(1),Wu=e=>parseInt(e.slice(1))-1,ns=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===c.SINGLE)return"H1";if(r===96){if(t===c.COLUMN)return"A12";if(t===c.SINGLE)return"H12"}return"A1"},Ba=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;if(r===c.ROW){const s=t[0].length;return Array.from({length:s},(i,l)=>t.map(u=>u[l])).map(i=>i[0])}return t.map(s=>n===96&&r===c.ALL?a:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?fn(a)==="H"?s[s.length-1]:s[0]:(console.assert(s.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),s[0]))},lS=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,s=uS(a,n),o=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[s]?.default.tipOverlaps;if(o==null)return console.error(`No tip overlaps found for ${n} 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u=Gc(t)==="12"?1:-1,p=Iy(n);return i?(l-1)*p/2*u:0},fS=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:s}=e,{channels:o}=a,{ordering:i}=s,l=i.findIndex(m=>m.includes(t));if(!(i[l].length===1))return 0;let d;n===c.COLUMN||n===c.ALL&&o===96||o===8?d=8:n===c.PARTIAL_COLUMN?d=c.PARTIAL_NOZZLE_MAP[r]:n===c.QUADRANT?d=4:d=1;const f=Iy(a),_=fn(r)==="H"?-1:1;return(d-1)*f/2*_};function Ey(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:Wc(e)}}function Wc(e){return e.flatMap(t=>"steps"in t?h_(t.steps,t.repetitions):t)}const F=$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',
+      ${a}, ${i}`),NaN):Eb([i,a])??NaN}function St(e,t){return t in e.modules||console.warn(`getModuleState expected module id "${t}" to be in robot state`),e.modules[t]?.moduleState}const vs=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.THERMOCYCLER_MODULE_TYPE?r:null},Fn=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.ABSORBANCE_READER_TYPE?r:null},ft=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.FLEX_STACKER_MODULE_TYPE?r:null},st=(e,t)=>{const r=e.modules[t]?.moduleState;return r&&r.type===c.VACUUM_MODULE_TYPE?r:null},mS=(e,t,r)=>{const{moduleId:n,measureMode:a,sampleWavelengths:s,referenceWavelength:o}=e,i=Fn(r,n),l=[];if(i==null&&l.push(X()),l.length>0)return{errors:l};const u=[M(bc,{moduleId:n}),M(e_,{moduleId:n,measureMode:a,sampleWavelengths:s,referenceWavelength:o??void 0})];return ne(u,t,r)},hS=(e,t,r)=>{const n=[],a=Fn(r,e.moduleId);if((a==null||e.moduleId==null)&&n.push(X()),a?.initialization==null&&n.push(Yy()),n.length>0)return{errors:n};const{moduleId:s,fileName:o}=e,i=[M(bc,{moduleId:s}),M(t_,{moduleId:s,fileName:o})];return ne(i,t,r)},_S=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s,volume:o}=e,i=[M(Ue,{pipetteId:n,fixtureId:a,offset:Et}),O(Ut,{pipetteId:n}),M(Qt,{pipetteId:n,volume:o,flowRate:s})];return ne(i,t,r)},yS=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,wasteChuteId:o}=e,i=[M(Ue,{pipetteId:n,fixtureId:o,offset:Et}),O(Ut,{pipetteId:n}),M(Qt,{pipetteId:n,flowRate:s,volume:a})];return ne(i,t,r)},bS=(e,t,r)=>{const{labwareId:n,wellName:a,flowRate:s,pipetteId:o,volume:i,type:l}=e,u=t.pipetteEntities[o].pythonName,p=l==="aspirate"?[]:[O(Ut,{pipetteId:o})],d=()=>({commands:[],python:`${u}.air_gap(${[`volume=${i}`,`height=${Du}`,`flow_rate=${s}`].join(", ")})`}),f=[O($,{pipetteId:o,labwareId:n,wellName:a,wellLocation:{origin:"top",offset:{z:Du,x:0,y:0}}}),...p,O(Qt,{pipetteId:o,volume:i,flowRate:s}),d];return ne(f,t,r)},Ay=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s}=e,{pipetteEntities:o,trashBinEntities:i}=t,l=o[n].pythonName,u=i[a].pythonName,p=()=>({commands:[],python:`${l}.flow_rate.blow_out = ${s}
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-)`}},Cr=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=_A({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,S=f!=null?[O(V,{...f,wellLocation:{...f.wellLocation}})]:[];for(let w=0;w<n;w++)S.push(O(ms,{pipetteId:t,volume:r,flowRate:a,...b>0?{correctionVolume:b}:{}}),...Km(o),O(nt,{pipetteId:t,volume:r,flowRate:s,...w<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...Km(i));return[...S,..._?[m]:[]]},yA=(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:S,finalPushOut:w,nozzles:g,primaryNozzle:I,tipsSelected:L,tiprackSelected:A,tipTracking:E}=e,k=e.aspirateDelaySeconds??0,R=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 F=z(r.labware[s]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&F===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ha()]};const de=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],_e=de.length>0?de[0]:null,oe=Object.values(t.labwareEntities).find(({labwareDefURI:Y})=>Y===m),Se=oe!=null&&c.getIsTiprack(oe.def),ve=t.wasteChuteEntities[m]!=null,ze=t.trashBinEntities[m]!=null,Ue=r.pipettes[a]?.tipWell!=null;if(m==null||Se&&_e==null&&u!=="never"&&Ue||!Se&&!ve&&!ze)return{errors:[yn()]};if(B){const Y=wt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g}),P=wt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g});if(!Y&&!P)return{errors:[$r()]}}const J=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Le=J?[U(sa,{pipetteId:a,volume:i})]:[],Ge=t.pipetteEntities[a].spec,re=E===Et&&A!=null&&L!=null&&L.length>0?qa({wellSets:L,nozzles:g,channels:Ge.channels,primaryNozzle:I}):null,W=hn(o,(Y,P)=>{let v=[];if(u==="always"||u==="once"&&P===0){const ye=re?.shift();v=[U(Ba,{pipette:a,primaryNozzle:I,dropTipLocation:Se&&_e!=null?_e:m,tipRack:h,nozzles:g,...E===Et&&ye!=null&&A!=null?{tipSelectionArgs:{tipRackId:A,tipWell:ye}}:{},isFromMixCommand:!0})]}const $=J||e.blowoutLocation!=null&&P>0?[U(qt,{pipetteId:a})]:[],C=e.touchTip?[U(Mt,{pipetteId:a,labwareId:s,wellName:Y,zOffsetFromTop:e.touchTipMmFromTop})]:[],ae=l_({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:Y,destLabwareId:e.labware,destWell:Y,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:_,invariantContext:t}),H=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(ye=>ye===e.blowoutLocation)?[...C,...ae]:[...ae,...C],M=Se&&(P===o.length-1||u==="always")?[U(wn,{pipette:a,dropTipLocation:h,isReturnTip:Se})]:[],G=Cr({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:w,aspirateDelaySeconds:k,dispenseDelaySeconds:R,moveToWellParams:{pipetteId:a,labwareId:s,wellName:Y,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[b],offset:{x:T,y,z:S}}},generatePython:!0});return[...v,...Le,...$,...G,...H,...M]});return ce(W,t,r)},bA=(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:S,aspirateZOffset:w,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:A,destWell:E,dispenseDelay:k,dispenseFlowRateUlSec:R,dispensePositionReference:B,dispenseRetractPositionReference:F,dispenseRetractXOffset:te,dispenseRetractYOffset:de,dispenseRetractZOffset:_e,dispenseSubmergeDelay:oe,dispenseSubmergePositionReference:Se,dispenseSubmergeSpeed:ve,dispenseSubmergeXOffset:ze,dispenseSubmergeYOffset:Ue,dispenseSubmergeZOffset:J,dispenseXOffset:Le,dispenseYOffset:Ge,dispenseZOffset:Be,dropTipLocation:re,liquidClass:W,mixInDestination:Y,nozzles:P,pipette:v,primaryNozzle:$,pushOut:C,sourceLabware:ae,sourceWells:q,tipRack:x,tipTracking:H,tiprackSelected:M,tipsSelected:G,touchTipAfterAspirate:ye,touchTipAfterAspirateMmFromEdge:$e,touchTipAfterAspirateOffsetMmFromTop:Xe,touchTipAfterAspirateSpeed:Ve,touchTipAfterDispense:pe,touchTipAfterDispenseMmFromEdge:Ze,touchTipAfterDispenseOffsetMmFromTop:ft,touchTipAfterDispenseSpeed:St,stepNumber:mt,volume:Oe}=e,{pipetteEntities:Qe,labwareEntities:Re,trashBinEntities:ke,wasteChuteEntities:Pe}=t,ie="consolidate",ne=[],Lt=r.pipettes[v],We=Qe[v]?.spec.channels!==1,K=e.aspirateAirGapVolume??0,Ie=e.dispenseAirGapVolume??0;Lt==null&&ne.push(ut({pipette:v})),(A==null||Re[A]==null&&ke[A]==null&&Pe[A]==null)&&ne.push(ih());const fr=z(r.labware[A]?.stack),Je=z(r.labware[ae]?.stack);Object.keys(Pe).length>0&&(fr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Je===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&ne.push(ha());const me=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],et=me.length>0?me[0]:null,Gr=Object.values(t.labwareEntities).find(({labwareDefURI:be})=>be===re),Ot=Gr!=null&&c.getIsTiprack(Gr.def),$a=t.wasteChuteEntities[re]!=null,Wr=t.trashBinEntities[re]!=null,er=r.tipState.pipettes[v]?.hasTip;(re==null||Ot&&et==null&&L!=="never"&&er||!Ot&&!$a&&!Wr)&&ne.push(yn());let ot,Q;if(L==="never"){const be=r.tipState.pipettes[v]?.tiprackURI;ot=t.labwareEntities[be??""],Q=ot?.labwareDefURI}else ot=Object.values(Re).find(({labwareDefURI:be})=>be===x),Q=x;ot==null&&(L==="never"?ne.push(Ut({actionName:ie,pipette:v})):ne.push(ct({actionName:ie,labware:Q})));const{def:Rt=null}=ot??{},{spec:Te,name:kt,pythonName:ee}=Qe[v],j=c.getAllLiquidClassDefs()[W===c.NONE_LIQUID_CLASS_NAME||W==null?c.WATER_LIQUID_CLASS_NAME:W].byPipette?.find(({pipetteModel:be})=>be===c.getFlexNameConversion(Te))?.byTipType.find(({tiprack:be})=>be===Q)??null,{aspirate:it}=j??{},{multiWellHandling:fe}=wc({pipetteSpecs:Te,tiprackDefinition:Rt,volume:Oe,path:"multiAspirate",numAspirateWells:q.length,numDispenseWells:1,aspirateAirGapByVolume:it?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:tt}=fe;if((!fe.isSupported||tt==null||tt===1)&&ne.push(Jy()),We&&P!==c.ALL){const be=wt({robotState:r,invariantContext:t,pipetteId:v,labwareId:ae,wellLocationOffset:{x:y,y:S},primaryNozzle:$,nozzleConfiguration:P}),le=wt({robotState:r,invariantContext:t,pipetteId:v,labwareId:A,wellLocationOffset:{x:Le,y:Ge},primaryNozzle:$,nozzleConfiguration:P});!be&&!le&&ne.push($r())}const $t=E!=null?Re[ae]?.def.wells[E]?.depth:null,vt=c.getMmFromBottom(Be,B,$t),Yr=c.getMmFromBottom(J,Se,$t),tr=c.getMmFromBottom(_e,F,$t);if(vt!=null&&Yr!=null&&vt>Yr&&ne.push(Zy()),vt!=null&&tr!=null&&vt>tr&&ne.push(Qy()),ne.length>0)return{errors:ne};const{tipracks:mr}=Ua(v,Q,t,r,$,P),rr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Oe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ee=ke[A]?.pythonName??Pe[A]?.pythonName,Pt=ke[re]?.pythonName??Pe[re]?.pythonName,hr=I==null?null:ke[I]?.pythonName??Pe[I]?.pythonName,_r=Re[ae].pythonName,Kr=Re[A]?.pythonName,yr=q.map(be=>`${_r}[${N(be)}]`).join(", 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0}),h=u.pipetteEntities[t].spec,b=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=c.getByVolumeValue({liquidClass:p,pipetteSpecs:h,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,A=f!=null?[O($,{...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(
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+)`,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:`${J}.consolidate_with_liquid_class(
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-)`}),Tr=gy(q,tt),Va=c.LOW_VOLUME_PIPETTES.includes(kt)?[O(sa,{pipetteId:v,volume:Oe})]:[],ar={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Se],offset:{x:ze,y:Ue,z:J}},$n={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[F],offset:{x:te,y:de,z:_e}},Vt=n!=null?[O(he,{seconds:n.seconds})]:[],gr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ir=k!=null?[O(he,{seconds:k.seconds})]:[],Vn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Jr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,xn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,en=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,sr=Fr({retractZOffset:_e,retractPositionReference:F,labwareId:A,labwareEntities:Re,well:E}),Er=!sr&&E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],xa=[...hn(Tr,(be,le)=>{const ht=(Ae,jt=!0)=>Ie>0&&!(L==="never"&&Ne&&Ae)?[...jt?Er:[],O(qt,{pipetteId:v}),O(Zt,{pipetteId:v,volume:Ie,flowRate:xn,...gr>0?{correctionVolume:gr}:{}}),...Vt]:[],_t=Ae=>E!=null&&pe?[O(Mt,{pipetteId:v,labwareId:A,wellName:E,...Ze!=null?{mmFromEdge:Ze}:{},zOffsetFromTop:ft,...St!=null?{speed:St}:{}}),...ht(Ae).length>0&&sr?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:$n})]:[]]:[],we=le===0,Ne=le===Tr.length-1,jn=be.length,ue=Oe*jn,rt=L==="always"||L==="once"&&we;let or=[];if(rt){const Ae=br?.shift();or=[U(Ba,{pipette:v,primaryNozzle:$,nozzles:P,dropTipLocation:Ot&&et!=null?et:re,tipRack:Q,...H===Et&&Ae!=null&&M!=null?{tipSelectionArgs:{tipRackId:M,tipWell:Ae}}:{}})]}const wr=hn(be,(Ae,jt)=>{const Or=jt===0;let bt=0,zt=R;Or&&!rt&&!we?(bt=Ie,zt=en):Or||(bt=K,zt=Jr);const Yn={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=Fr({retractZOffset:d,retractPositionReference:i,labwareId:ae,labwareEntities:Re,well:Ae}),Kn=!an&&Ae!=null?[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],sn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:bt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Rr=Or?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[v].name)?[O(sa,{pipetteId:v,volume:ue})]:[],O(qt,{pipetteId:v})]:[],Xn=bt>0?[O(nt,{pipetteId:v,volume:bt,flowRate:zt,...sn>0?{correctionVolume:sn}:{},isAirGap:!0,pushOut:0}),...Ir]:[],kr=[...[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...Xn,...Rr],on=[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:Yn}),O(V,{pipetteId:v,labwareId:ae,...m!=null?{speed:m}:{},wellName:Ae,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:S,z:w}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],ur=ye?[O(Mt,{pipetteId:v,labwareId:ae,wellName:Ae,...$e!=null?{mmFromEdge:$e}:{},zOffsetFromTop:Xe,...Ve!=null?{speed:Ve}:{}}),...K>0&&an?[O(V,{pipetteId:v,labwareId:ae,wellName:Ae,wellLocation:nn})]:[]]:[],vr=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=K>0?[...Kn,O(Zt,{pipetteId:v,volume:K,flowRate:Vn,...vr>0?{correctionVolume:vr}:{}}),...Vt]:[],cr=[O(ms,{pipetteId:v,volume:Oe,flowRate:a,correctionVolume:rr}),...Vt],Zn=[O(V,{pipetteId:v,labwareId:ae,...l!=null?{speed:l}:{},wellName:Ae,wellLocation:nn}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]];return[...kr,...on,...cr,...Zn,...ur,...Gt]}),Ar=E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:ar,...ve!=null?{speed:ve}:{}})]:[O(qe,{pipetteId:v,fixtureId:A,offset:{x:0,y:0,z:0}})],zn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:K,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gn=K>0?[O(nt,{pipetteId:v,volume:K,flowRate:Jr,pushOut:0,correctionVolume:zn,isAirGap:!0}),...Ir]:[],yt=E!=null?[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:ar}),O(V,{pipetteId:v,labwareId:A,...ve!=null?{speed:ve}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Le,y:Ge,z:Be}}}),...oe!=null&&oe.seconds>0?[O(he,{seconds:oe.seconds})]:[]]:[],Wn=c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:ue,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ir=Y!=null?0:C,Sr=[O(nt,{pipetteId:v,volume:ue,flowRate:R,...ir!=null?{pushOut:ir}:{},correctionVolume:Wn}),...Ir],xt=(Y!=null?c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Y.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Ht=(Y!=null?c.getByVolumeValue({liquidClass:W,pipetteSpecs:Te,tiprackDefUri:Q,targetVolume:Y.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):R)??R,tn=Y!=null?Cr({pipette:v,volume:Y.volume,times:Y.times,aspirateFlowRateUlSec:xt,dispenseFlowRateUlSec:Ht,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:C,invariantContext:t,liquidClass:W,tiprack:Q,generatePython:!1}):[],Lr=[O(Sa,{pipetteId:v,flowRate:g})];let lr=[];I==null||I===Hr?lr=[..._t(!0),...ht(!0)]:I===Sn&&E!=null?lr=[O(V,{pipetteId:v,labwareId:A,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Lr,..._t(!0),...ht(!0)]:lr=[..._t(!1),...ht(!1),O(qe,{pipetteId:v,fixtureId:Object.values(ke).length>0?Object.values(ke)[0].id:Object.values(Pe)[0].id,offset:{x:0,y:0,z:0}}),...Lr,...ht(!0,!1)];const rn=Ot&&(le===Tr.length-1||L==="always")?[O(wn,{pipette:v,dropTipLocation:Q,isReturnTip:Ot})]:[];return[...or,...Va,...wr,...Ar,...Gn,...yt,...Sr,...tn,...lr,...rn]}),Bn];return ce(xa,t,r)},TA=(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(
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_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(
 ${Z(f.join(`,
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-)`}),m=[O(qe,{pipetteId:n,fixtureId:a,offset:It}),O(nt,{pipetteId:n,volume:o,flowRate:s}),_];return ce(m,t,r)},gA=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:s,wasteChuteId:o}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[o].pythonName,p=i[n].pythonName,d=[`volume=${s}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
+)`}),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(
 ${Z(d.join(`,
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-)`}),_=[O(qe,{pipetteId:n,fixtureId:o,offset:It}),O(nt,{pipetteId:n,flowRate:a,volume:s}),f];return ce(_,t,r)},IA=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:S,aspirateZOffset:w,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:A,destWells:E,dispenseDelay:k,dispenseFlowRateUlSec:R,dispensePositionReference:B,dispenseRetractDelay:F,dispenseRetractPositionReference:te,dispenseRetractSpeed:de,dispenseRetractXOffset:_e,dispenseRetractYOffset:oe,dispenseRetractZOffset:Se,dispenseSubmergeDelay:ve,dispenseSubmergePositionReference:ze,dispenseSubmergeSpeed:Ue,dispenseSubmergeXOffset:J,dispenseSubmergeYOffset:Le,dispenseSubmergeZOffset:Ge,dispenseXOffset:Be,dispenseYOffset:re,dispenseZOffset:W,dropTipLocation:Y,liquidClass:P,mixBeforeAspirate:v,nozzles:$,pipette:C,preWetTip:ae,primaryNozzle:q,pushOut:x,sourceLabware:H,sourceWell:M,tipRack:G,tipTracking:ye,tiprackSelected:$e,tipsSelected:Xe,touchTipAfterAspirate:Ve,touchTipAfterAspirateMmFromEdge:pe,touchTipAfterAspirateOffsetMmFromTop:Ze,touchTipAfterAspirateSpeed:ft,touchTipAfterDispense:St,touchTipAfterDispenseMmFromEdge:mt,touchTipAfterDispenseOffsetMmFromTop:Oe,touchTipAfterDispenseSpeed:Qe,stepNumber:Re,volume:ke}=e,{pipetteEntities:Pe,labwareEntities:ie,trashBinEntities:ne,wasteChuteEntities:Lt}=t,We="distribute",K=[],Ie=Pe[C]?.spec.channels!==1,fr=ie[H]?.def.parameters.quirks?.includes("touchTipDisabled"),Je=e.aspirateAirGapVolume??0,Me=e.dispenseAirGapVolume??0,me=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,et=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[C]==null||Pe[C]==null)&&K.push(ut({pipette:C})),(!H||!r.labware[H])&&K.push(ct({actionName:We,labware:H}));const Gr=z(r.labware[A]?.stack),Ot=z(r.labware[H]?.stack);Object.keys(Lt).length>0&&(Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Ot===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&K.push(ha());const Wr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],er=Wr.length>0?Wr[0]:null,ot=Object.values(t.labwareEntities).find(({labwareDefURI:ue})=>ue===Y),Q=ot!=null&&c.getIsTiprack(ot.def),Rt=t.wasteChuteEntities[Y]!=null,Te=t.trashBinEntities[Y]!=null,kt=r.tipState.pipettes[C]?.hasTip;(Y==null||Q&&er==null&&L!=="never"&&kt||!Q&&!Rt&&!Te)&&K.push(yn());let ee,j;if(L==="never"){const ue=r.tipState.pipettes[C]?.tiprackURI;ee=t.labwareEntities[ue??""],j=ee?.labwareDefURI}else ee=Object.values(ie).find(({labwareDefURI:ue})=>ue===G),j=G;ee==null&&(L==="never"?K.push(Ut({actionName:We,pipette:C})):K.push(ct({actionName:We,labware:j})));const{def:it=null}=ee??{},{spec:fe,name:tt,pythonName:$t}=Pe[C],vt=c.getAllLiquidClassDefs()[P===c.NONE_LIQUID_CLASS_NAME||P==null?c.WATER_LIQUID_CLASS_NAME:P].byPipette?.find(({pipetteModel:ue})=>ue===c.getFlexNameConversion(fe))?.byTipType.find(({tiprack:ue})=>ue===j)??null,{aspirate:Yr,multiDispense:tr}=vt??{},{multiWellHandling:mr}=wc({pipetteSpecs:fe,tiprackDefinition:it,volume:ke,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:tr?.conditioningByVolume??[],disposalByVolume:tr?.disposalByVolume??[],aspirateAirGapByVolume:Yr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:rr}=mr;if((!mr.isSupported||rr==null||rr===1)&&K.push(eb()),Ie&&$!==c.ALL){const ue=wt({robotState:r,invariantContext:t,pipetteId:C,labwareId:H,wellLocationOffset:{x:y,y:S},wellTargetName:M,primaryNozzle:q,nozzleConfiguration:$}),rt=wt({robotState:r,invariantContext:t,pipetteId:C,labwareId:A,wellLocationOffset:{x:Be,y:re},wellTargetName:E[0],primaryNozzle:q,nozzleConfiguration:$});!ue&&!rt&&K.push($r())}const Ee=t.labwareEntities[H]?.def.wells[M]?.depth??null,Pt=c.getMmFromBottom(w,s,Ee),hr=c.getMmFromBottom(T,_,Ee),_r=c.getMmFromBottom(d,i,Ee);Pt!=null&&hr!=null&&Pt>hr&&K.push(lh()),Pt!=null&&_r!=null&&Pt>_r&&K.push(uh());const Kr=[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],yr=Os(C,t,j)-Je;if(Math.floor((yr-me)/ke)===0&&K.push(Xa({actionName:We,volume:ke,maxVolume:yr,disposalVolume:me})),K.length>0)return{errors:K};const{tipracks:Zr}=Ua(C,j,t,r,q,$),Fn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,qn=ne[A]?.pythonName??Lt[A]?.pythonName,br=ne[Y]?.pythonName??Lt[Y]?.pythonName,nr=I==null?null:ne[I]?.pythonName??Lt[I]?.pythonName,Un=ie[H].pythonName,Qr=ie[A]?.pythonName,Bn=`${Un}[${N(e.sourceWell)}]`,Tr=e.destWells.map(ue=>`${Qr}[${N(ue)}]`).join(", "),Va=[`name=${N(`${e.commandCreatorFnName}_step_${Re}`)}`,...P!=null?[`base_liquid_class=${Fa(P,!0)}`]:[],`properties=${As({args:e,pipetteName:c.isFlexPipette(tt)?c.getFlexNameConversion(fe):tt,tiprackUri:j,liquidClassValuesForTip:vt})}`],ar=`${ge}.define_liquid_class(
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+)`}),_=[O(Ue,{pipetteId:n,fixtureId:o,offset:Et}),O(nt,{pipetteId:n,flowRate:a,volume:s}),f];return ne(_,t,r)},OS=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:w,destWells:E,dispenseDelay:R,dispenseFlowRateUlSec:k,dispensePositionReference:B,dispenseRetractDelay:q,dispenseRetractPositionReference:ee,dispenseRetractSpeed:pe,dispenseRetractXOffset:_e,dispenseRetractYOffset:le,dispenseRetractZOffset:be,dispenseSubmergeDelay:ve,dispenseSubmergePositionReference:He,dispenseSubmergeSpeed:Be,dispenseSubmergeXOffset:te,dispenseSubmergeYOffset:Ee,dispenseSubmergeZOffset:ze,dispenseXOffset:Pe,dispenseYOffset:Te,dispenseZOffset:K,dropTipLocation:W,liquidClass:P,mixBeforeAspirate:v,nozzles:V,pipette:N,preWetTip:ae,primaryNozzle:U,pushOut:H,sourceLabware:z,sourceWell:D,tipRack:x,tipTracking:ye,tiprackSelected:Ve,tipsSelected:Ze,touchTipAfterAspirate:$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=`${Ie}.define_liquid_class(
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-)`,Vt=ye===Et&&$e!=null&&Xe!=null&&Xe.length>0?qa({wellSets:Xe,nozzles:$,channels:fe.channels,primaryNozzle:q}):null,gr=$e!=null?ie[$e]?.pythonName:null,Ir=Vt?.map(ue=>`${gr}[${N(ue)}]`).join(", "),Vn=[`volume=${ke}`,`source=[${Bn}]`,`dest=[${Tr??qn}]`,`new_tip=${N(Ls(L))}`,...Q?["return_tip=True",...nr!=null?[`trash_location=${nr}`]:[]]:[`trash_location=${br}`,"keep_last_tip=True"],...fe.channels>1?["group_wells=False"]:[],...Zr.filteredSortedTiprackIds.length>0?[Ss({labwareEntities:ie,tiprackIds:Zr.filteredSortedTiprackIds})]:[],`liquid_class=${ar}`,...Vt!=null&&gr!=null?[`tips=[${Ir}]`]:[]],Jr=()=>({commands:[],python:`${$t}.distribute_with_liquid_class(
-${Z(Vn.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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-)`}),xn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},en={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},sr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ze],offset:{x:J,y:Le,z:Ge}},Er={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[te],offset:{x:_e,y:oe,z:Se}},Hn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Je,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,xa=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Je,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,be=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,le=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??R,ht=gy(E,rr),_t=Fr({retractZOffset:d,retractPositionReference:i,labwareId:H,labwareEntities:ie,well:M}),we=!_t&&M!=null?[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],jn=[...hn(ht,(ue,rt)=>{const or=ue.length,wr=ke*or,Ar=wr+me+et,zn=rt===0,Gn=rt===ht.length-1,yt=L==="always"||L==="once"&&zn,Wn=c.LOW_VOLUME_PIPETTES.includes(tt)?[O(sa,{pipetteId:C,volume:Ar})]:[];let ir=[];if(yt){const Ce=Vt?.shift();ir=[U(Ba,{pipette:C,nozzles:$,primaryNozzle:q,dropTipLocation:Q&&er!=null?er:Y,tipRack:j,...ye===Et&&Ce!=null&&$e!=null?{tipSelectionArgs:{tipRackId:$e,tipWell:Ce}}:{}})]}const Sr=[O(qt,{pipetteId:C})],xt=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ht=k!=null?[O(he,{seconds:k.seconds})]:[],tn=Me>0&&!yt&&!zn&&me===0&&I==null?[O(nt,{isAirGap:!0,pipetteId:C,volume:Me,flowRate:le,...xt>0?{correctionVolume:xt}:{},pushOut:0}),...Ht]:[],Lr=[...Kr,...tn,...Wn,...Sr],lr=[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:xn}),O(V,{pipetteId:C,labwareId:H,...m!=null?{speed:m}:{},wellName:M,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:S,z:w}}}),...f!=null&&f.seconds>0?[O(he,{seconds:f.seconds})]:[]],rn=ae?Cr({pipette:C,volume:wr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:k?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],Ae=v!=null?Cr({pipette:C,volume:v.volume,times:v.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:R,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:0,invariantContext:t,liquidClass:P,tiprack:j,generatePython:!1}):[],jt=n!=null?[O(he,{seconds:n.seconds})]:[],Or=Ve?[O(Mt,{pipetteId:C,labwareId:H,wellName:M,...pe!=null?{mmFromEdge:pe}:{},zOffsetFromTop:Ze,...ft!=null?{speed:ft}:{}}),...Je>0&&_t?[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:en})]:[]]:[],bt=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Je,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,zt=Je>0?[...we,O(Zt,{pipetteId:C,volume:Je,flowRate:Hn,...bt>0?{correctionVolume:bt}:{}}),...jt]:[],Yn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ar,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,nn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:et,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,an=et!=null&&et>0?[O(nt,{pipetteId:C,volume:et,flowRate:R,correctionVolume:nn,pushOut:0}),...Ht]:[],Kn=[O(ms,{pipetteId:C,volume:Ar,flowRate:a,correctionVolume:Yn}),...jt,...an],sn=[O(V,{pipetteId:C,labwareId:H,...l!=null?{speed:l}:{},wellName:M,wellLocation:en}),...o!=null&&o?.seconds>0?[O(he,{seconds:o.seconds})]:[]],Rr=hn(ue,(Ce,kr)=>{const on=kr===0,ur=kr===ue.length-1,vr=Gn&&ur;let Gt=0,cr=R;on&&Je>0?(Gt=Je,cr=xa):!on&&Me>0&&et===0&&(Gt=Me,cr=le);const Zn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Gt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ha=Fr({retractZOffset:Se,retractPositionReference:te,labwareId:A,labwareEntities:ie,well:Ce}),ks=Ha?[]:[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],ja=Ce!=null?[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:sr}),...Gt>0?[O(nt,{isAirGap:!0,pipetteId:C,volume:Gt,flowRate:cr,pushOut:0,correctionVolume:Zn}),...Ht]:[],O(V,{pipetteId:C,labwareId:A,...Ue!=null?{speed:Ue}:{},wellName:Ce,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[B],offset:{x:Be,y:re,z:W}}}),...ve!=null&&ve.seconds>0?[O(he,{seconds:ve.seconds})]:[]]:[O(qe,{fixtureId:A,pipetteId:C,offset:{x:0,y:0,z:0}})],Qn=me===0&&ur?x:0,Tt=[O(nt,{pipetteId:C,volume:ke,flowRate:R,...Qn!=null?{pushOut:Qn}:{},correctionVolume:Fn}),...Ht],ln=Ce!=null?[O(V,{pipetteId:C,labwareId:A,...de!=null?{speed:de}:{},wellName:Ce,wellLocation:Er}),...F!=null&&F?.seconds>0?[O(he,{seconds:F.seconds})]:[]]:[],Nt=ur?[O(Sa,{pipetteId:C,flowRate:g})]:[],za=c.getByVolumeValue({liquidClass:P,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Me,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ct=(Jn,Ny=!0)=>Me>0&&!(kr<ue.length-1&&et>0)&&!(L==="never"&&vr&&Jn)?[...Ny?ks:[],O(qt,{pipetteId:C}),O(Zt,{pipetteId:C,volume:Me,flowRate:be,...za>0?{correctionVolume:za}:{}}),...jt]:[],gt=Jn=>Ce!=null&&St?[O(Mt,{pipetteId:C,labwareId:A,wellName:Ce,...mt!=null?{mmFromEdge:mt}:{},zOffsetFromTop:Oe,...Qe!=null?{speed:Qe}:{}}),...Ct(Jn).length>0&&Ha?[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:Er})]:[]]:[];let Pr=[];if(I==null||!ur)Pr=[...gt(!0),...Ct(!0)];else if(I===Sn)Pr=[O(V,{pipetteId:C,labwareId:A,wellName:Ce,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Nt,...gt(!0),...Ct(!0)];else if(I===Hr){const Jn=Ct(!0);Pr=[...gt(!1),...Ct(!1),O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Nt,...St&&!fr?[O(Mt,{pipetteId:C,labwareId:H,wellName:M,...mt!=null?{mmFromEdge:mt}:{},zOffsetFromTop:Oe,...Qe!=null?{speed:Qe}:{}})]:[],...Jn.length>0?[O(V,{pipetteId:C,labwareId:H,wellName:M,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Ct(!0,!1)]}else Pr=[...gt(!1),...Ct(!1),O(qe,{pipetteId:C,fixtureId:Object.values(ne).length>0?Object.values(ne)[0].id:Object.values(Lt)[0].id,offset:{x:0,y:0,z:0}}),...Nt,...Ct(!0,!1)];return[...ja,...Tt,...ln,...Pr]}),Xn=Q&&(rt===ht.length-1||L==="always")?[O(wn,{pipette:C,dropTipLocation:j,isReturnTip:Q})]:[];return[...ir,...Lr,...lr,...Ae,...rn,...Kn,...sn,...Or,...zt,...Rr,...Xn]}),Jr];return ce(jn,t,r)},EA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},Xm=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},wA=["1","4","7","10"],AA=(e,t,r)=>{const{pipetteEntities:n,labwareEntities:a,moduleEntities:s}=t,o=r.modules[e.moduleId].slot,i=Object.keys(n)[0],l=n[i]?.spec;if(!((l?.displayCategory==="FLEX"||l?.channels===96)??!1)&&W_(r.labware,a,o)){const d=wA.includes(o)?"right":"left";return{errors:[Gy(d)]}}const p=s[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${p}.open_labware_latch()`}},SA=(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 ${n[a]?.type}`);const o=n[a].pythonName;return{commands:[{commandType:"heaterShaker/setAndWaitForShakeSpeed",key:D(),params:{moduleId:a,rpm:s}}],python:`${o}.set_and_wait_for_shake_speed(${s})`}},Zm=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},LA=(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=At(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[X()]};const d=[];if(o||d.push(U(EA,{moduleId:p})),i===null?d.push(U(Xm,{moduleId:p})):d.push(U(e_,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(U(Zm,{moduleId:p})):l!==null&&d.push(U(SA,{moduleId:p,rpm:l})),[n,a,s].some(_=>_!=null&&_!==0)){i!==null&&d.push(U(n_,{moduleId:p,celsius:i}));const _=(n??0)*3600+(a??0)*60+(s??0);d.push(U(he,{seconds:_})),d.push(U(Zm,{moduleId:p})),d.push(U(Xm,{moduleId:p}))}return o&&d.push(U(AA,{moduleId:p})),ce(d,t,r)},wy=(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?gc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(tb({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:D(),params:{moduleId:n}}],python:`${i}.close_lid()`}},Ay=(e,t,r)=>{const{moduleId:n,celsius:a}=e,s=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:D(),params:{moduleId:n,celsius:a}}],python:`${s}.set_lid_temperature(${a})`}},OA=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:s,profileVolume:o}=e,i=Rs(r,n);if(i===null)return{errors:[X()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(U(wy,{moduleId:n})),s!==i.lidTargetTemp&&u.push(U(Ay,{moduleId:n,celsius:s}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(U(Eg,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ce(u,t,r)},RA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),kA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},vA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},PA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,NA=(e,t)=>{const r={...kA(e,t)},n={...vA(e,t)},a=!PA(e,t.blockTargetTemp),s=a&&t.blockTargetTemp===null,o=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...RA(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},CA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},DA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},MA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},FA=(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:D(),params:{moduleId:e.moduleId,celsius:e.celsius}}],python:`${n}.set_block_temperature(${e.celsius})`}},qA=(e,t,r)=>{const n=Rs(r,e.moduleId);if(n===null)return{errors:[X()]};if(n.currentBlockActivity.type==="profile")return{errors:[$y()]};const{lidOpen:a,lidClosed:s,setBlockTemperature:o,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=NA(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(U(MA,{moduleId:e.moduleId})),s&&f.push(U(wy,{moduleId:e.moduleId})),i&&f.push(U(CA,{moduleId:e.moduleId})),p!==null&&o&&f.push(U(FA,{moduleId:e.moduleId,celsius:p})),u&&f.push(U(DA,{moduleId:e.moduleId})),d!==null&&l&&f.push(U(Ay,{moduleId:e.moduleId,celsius:d})),ce(f,t,r)};var Ou,Qm;function UA(){if(Qm)return Ou;Qm=1;var e=ba(),t=P_(),r=N_();function n(a,s){return r(t(a,s,e),a+"")}return Ou=n,Ou}var Ru,Jm;function BA(){if(Jm)return Ru;Jm=1;var e=xr(),t=Qt();function r(n){return t(n)&&e(n)}return Ru=r,Ru}var ku,eh;function $A(){if(eh)return ku;eh=1;var e=Mh(),t=Ea(),r=zh(),n=qh(),a=BA(),s=Math.max;function o(i){if(!(i&&i.length))return[];var l=0;return i=e(i,function(u){if(a(u))return l=s(u.length,l),!0}),n(l,function(u){return t(i,r(u))})}return ku=o,ku}var vu,th;function VA(){if(th)return vu;th=1;var e=UA(),t=$A(),r=e(t);return vu=r,vu}var xA=VA();const HA=xe(xA),jA=(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:S,aspirateYOffset:w,aspirateZOffset:g,blowoutFlowRateUlSec:I,blowoutLocation:L,changeTip:A,destLabware:E,destWells:k,dispenseAirGapVolume:R,dispenseDelay:B,dispenseFlowRateUlSec:F,dispensePositionReference:te,dispenseRetractDelay:de,dispenseRetractPositionReference:_e,dispenseRetractSpeed:oe,dispenseRetractXOffset:Se,dispenseRetractYOffset:ve,dispenseRetractZOffset:ze,dispenseSubmergeDelay:Ue,dispenseSubmergePositionReference:J,dispenseSubmergeSpeed:Le,dispenseSubmergeXOffset:Ge,dispenseSubmergeYOffset:Be,dispenseSubmergeZOffset:re,dispenseXOffset:W,dispenseYOffset:Y,dispenseZOffset:P,dropTipLocation:v,liquidClass:$,mixBeforeAspirate:C,mixInDestination:ae,pipette:q,preWetTip:x,primaryNozzle:H,pushOut:M,sourceLabware:G,nozzles:ye,sourceWells:$e,tipRack:Xe,tipTracking:Ve,tiprackSelected:pe,tipsSelected:Ze,touchTipAfterAspirate:ft,touchTipAfterAspirateMmFromEdge:St,touchTipAfterAspirateOffsetMmFromTop:mt,touchTipAfterAspirateSpeed:Oe,touchTipAfterDispense:Qe,touchTipAfterDispenseMmFromEdge:Re,touchTipAfterDispenseOffsetMmFromTop:ke,touchTipAfterDispenseSpeed:Pe,volume:ie,stepNumber:ne}=e,{pipetteEntities:Lt,trashBinEntities:We,wasteChuteEntities:K,labwareEntities:Ie}=t,fr=Ln(Ie,K,We,E),Je=Ie[G]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(fr==="labware"&&k!=null&&$e.length===k.length||(fr==="wasteChute"||fr==="trashBin")&&k==null&&$e.length>=1))throw new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${$e.length}:${k?.length} in labware`);const Me="transfer",me=[];(!r.pipettes[q]||!Lt[q])&&me.push(ut({pipette:q})),(!G||!r.labware[G])&&me.push(ct({actionName:Me,labware:G}));const et=r.labware[E]!=null?z(r.labware[E].stack):"",Gr=z(r.labware[G]?.stack),Ot=Object.keys(K).length>0,$a=K[v]!=null,Wr=We[v]!=null;Ot&&(et===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Gr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&me.push(ha());const er=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],ot=er.length>0?er[0]:null,Q=Object.values(t.labwareEntities).find(({labwareDefURI:le})=>le===v),Rt=Q!=null&&c.getIsTiprack(Q.def),Te=r.tipState.pipettes[q]?.hasTip;if(v==null||Rt&&ot==null&&A!=="never"&&Te||!Rt&&!$a&&!Wr)return{errors:[yn()]};(!E||!Ie[E]&&!K[E]&&!We[E])&&me.push(ih());let kt,ee;if(A==="never"){const le=r.tipState.pipettes[q]?.tiprackURI;kt=t.labwareEntities[le??""],ee=kt?.labwareDefURI}else kt=Object.values(Ie).find(({labwareDefURI:le})=>le===Xe),ee=Xe;if(kt==null&&(A==="never"?me.push(Ut({actionName:Me,pipette:q})):me.push(ct({actionName:Me,labware:ee}))),me.length>0)return{errors:me};const j=n||0,it=R||0,fe=Os(q,t,ee)-j;if(fe<=0||!isFinite(fe))return me.push(Xa({volume:ie,maxVolume:fe,actionName:Me})),{errors:me};const tt=Math.ceil(ie/fe);if(!isFinite(tt)||tt<=0)return me.push(Xa({volume:ie,maxVolume:tt,actionName:Me})),{errors:me};const $t=ie/tt,vt=Array(tt).fill($t),Yr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:b,y:T,z:y}},tr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},mr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[J],offset:{x:Ge,y:Be,z:re}},rr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_e],offset:{x:Se,y:ve,z:ze}},{spec:Ee,name:Pt,pythonName:hr}=Lt[q],{tipracks:_r}=Ua(q,ee,t,r,H,ye),Kr=c.getAllLiquidClassDefs()[$===c.NONE_LIQUID_CLASS_NAME||$==null?c.WATER_LIQUID_CLASS_NAME:$].byPipette?.find(({pipetteModel:le})=>le===c.getFlexNameConversion(Ee))?.byTipType.find(({tiprack:le})=>le===ee)??null,yr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:$t,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:$t,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zr=We[E]?.pythonName??K[E]?.pythonName,Fn=We[v]?.pythonName??K[v]?.pythonName,qn=L==null?null:We[L]?.pythonName??K[L]?.pythonName,br=Ie[G].pythonName,nr=Ie[E]?.pythonName,Un=$e.map(le=>`${br}[${N(le)}]`).join(", "),Qr=k!=null&&nr!=null?k.map(le=>`${nr}[${N(le)}]`).join(", "):null,Bn=[`name=${N(`${e.commandCreatorFnName}_step_${ne}`)}`,...$!=null?[`base_liquid_class=${Fa($,!0)}`]:[],`properties=${As({args:e,pipetteName:c.isFlexPipette(Pt)?c.getFlexNameConversion(Ee):Pt,tiprackUri:ee,liquidClassValuesForTip:Kr})}`],Tr=`${ge}.define_liquid_class(
-${Z(Bn.join(`,
+)`}),zn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},en={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},or={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[He],offset:{x:te,y:Ee,z:ze}},wr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ee],offset:{x:_e,y:le,z:be}},jn=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:et,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,za=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:et,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,me=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Fe,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,se=c.getByVolumeValue({liquidClass:P,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Fe,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,_t=Oy(E,nr),yt=qr({retractZOffset:d,retractPositionReference:i,labwareId:z,labwareEntities:ue,well:D}),Ae=!yt&&D!=null?[O($,{pipetteId:N,labwareId:z,wellName:D,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],Gn=[...yn(_t,(oe,Ye)=>{const 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($n.join(`,
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-)`,ar=Ve===Et&&pe!=null&&Ze!=null&&Ze.length>0?qa({wellSets:Ze,nozzles:ye,channels:Ee.channels,primaryNozzle:H}):null,$n=pe!=null?Ie[pe]?.pythonName:null,Vt=ar?.map(le=>`${$n}[${N(le)}]`).join(", "),gr=[`volume=${ie}`,`source=[${Un}]`,`dest=${Qr!=null?`[${Qr}]`:Zr}`,`new_tip=${N(Ls(A))}`,...Rt?["return_tip=True",...qn!=null?[`trash_location=${qn}`]:[]]:[`trash_location=${Fn}`,"keep_last_tip=True"],...Ee.channels>1?["group_wells=False"]:[],..._r.filteredSortedTiprackIds.length>0?[Ss({labwareEntities:Ie,tiprackIds:_r.filteredSortedTiprackIds})]:[],`liquid_class=${Tr}`,...ar!=null&&$n!=null?[`tips=[${Vt}]`]:[]],Ir=()=>({commands:[],python:`${hr}.transfer_with_liquid_class(
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+)`,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(`,
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-)`}),Vn=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,Jr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??F,xn=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,en=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:it,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??F,sr=HA($e,k);let Er=null,Hn=null;const be=[...sr.reduce((le,ht,_t)=>{const[we,Ne]=ht,jn=vt.reduce((ue,rt,or)=>{const wr=_t===0&&or===0,Ar=_t+1===sr.length,Gn=or+1===vt.length&&Ar;let yt=!1;A==="always"?yt=!0:A==="once"?yt=wr:A==="perSource"?yt=we!==Er:A==="perDest"&&(yt=wr||Ne!==Hn);const Wn=c.LOW_VOLUME_PIPETTES.includes(Pt)?[O(sa,{pipetteId:q,volume:rt})]:[];let ir=[];if(yt){const gt=ar?.shift();ir=[U(Ba,{pipette:q,primaryNozzle:H,nozzles:ye,dropTipLocation:Rt&&ot!=null?ot:v,tipRack:ee,...ye!=null?{nozzles:ye}:{},...Ve===Et&&gt!=null&&pe!=null?{tipSelectionArgs:{tipRackId:pe,tipWell:gt}}:{}})]}const Sr=Ie[G]?.def.wells[we]?.depth??null,xt=c.getMmFromBottom(g,o,Sr),Ht=c.getMmFromBottom(y,m,Sr),tn=c.getMmFromBottom(f,l,Sr);xt!=null&&Ht!=null&&xt>Ht&&me.push(lh());const Lr=Fr({retractZOffset:f,retractPositionReference:l,labwareId:G,labwareEntities:Ie,well:we}),lr=!Lr&&we!=null?[O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],rn=Fr({retractZOffset:ze,retractPositionReference:_e,labwareId:E,labwareEntities:Ie,well:Ne}),Ae=!rn&&Ne!=null?[O(V,{pipetteId:q,labwareId:E,wellName:Ne,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];xt!=null&&tn!=null&&xt>tn&&me.push(uh());const jt=[O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Or=[O(qt,{pipetteId:q})],bt=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:it,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,zt=B!=null?[O(he,{seconds:B.seconds})]:[],Yn=it>0&&!yt&&(or>0||_t>0)?[O(nt,{isAirGap:!0,pipetteId:q,volume:it,flowRate:en,...bt>0?{correctionVolume:bt}:{},pushOut:0}),...zt]:[],nn=[...jt,...Yn,...Wn,...Or],an=[O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:Yr}),O(V,{pipetteId:q,labwareId:G,...h!=null?{speed:h}:{},wellName:we,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:S,y:w,z:g}}}),..._!=null&&_.seconds>0?[O(he,{seconds:_.seconds})]:[]],Kn=x?Cr({pipette:q,volume:rt,times:1,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:F,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:B?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],sn=C!=null?Cr({pipette:q,volume:C.volume,times:C.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:F,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:B?.seconds,finalPushOut:0,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],Rr=a!=null?[O(he,{seconds:a.seconds})]:[],Xn=ft?[O(Mt,{pipetteId:q,labwareId:G,wellName:we,...St!=null?{mmFromEdge:St}:{},zOffsetFromTop:mt,...Oe!=null?{speed:Oe}:{}}),...j>0&&Lr?[O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:tr})]:[]]:[],Ce=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kr=j>0?[...lr,O(Zt,{pipetteId:q,volume:j,flowRate:Vn,...Ce>0?{correctionVolume:Ce}:{}}),...Rr]:[],on=[O(ms,{pipetteId:q,volume:rt,flowRate:s,...Xr>0?{correctionVolume:Xr}:{}}),...Rr],ur=[O(V,{pipetteId:q,labwareId:G,...u!=null?{speed:u}:{},wellName:we,wellLocation:tr}),...i!=null&&i?.seconds>0?[O(he,{seconds:i.seconds})]:[]],vr=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=Ne!=null?[O(V,{pipetteId:q,labwareId:E,wellName:Ne,wellLocation:mr}),...j>0?[O(nt,{isAirGap:!0,pipetteId:q,volume:j,flowRate:Jr,pushOut:0,...vr>0?{correctionVolume:vr}:{}}),...zt]:[],O(V,{pipetteId:q,labwareId:E,...Le!=null?{speed:Le}:{},wellName:Ne,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[te],offset:{x:W,y:Y,z:P}}}),...Ue!=null&&Ue.seconds>0?[O(he,{seconds:Ue.seconds})]:[]]:[O(qe,{fixtureId:E,pipetteId:q,offset:{x:0,y:0,z:0}})],cr=ae!=null&&Ne!=null?0:M,Zn=[O(nt,{pipetteId:q,volume:rt,flowRate:F,...cr!=null?{pushOut:cr}:{},...yr>0?{correctionVolume:yr}:{}}),...zt],Ha=ae!=null&&Ne!=null?Cr({pipette:q,volume:ae.volume,times:ae.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:F,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:B?.seconds,finalPushOut:M,invariantContext:t,liquidClass:$,tiprack:ee,generatePython:!1}):[],ks=Ne!=null?[O(V,{pipetteId:q,labwareId:E,...oe!=null?{speed:oe}:{},wellName:Ne,wellLocation:rr}),...de!=null&&de?.seconds>0?[O(he,{seconds:de.seconds})]:[]]:[],ja=O(Sa,{pipetteId:q,flowRate:I}),Qn=c.getByVolumeValue({liquidClass:$,pipetteSpecs:Ee,tiprackDefUri:ee,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Tt=(gt,Pr=!0)=>it>0&&!(A==="never"&&Gn&&gt)?[...Pr?Ae:[],O(qt,{pipetteId:q}),O(Zt,{pipetteId:q,volume:it,flowRate:xn,...Qn>0?{correctionVolume:Qn}:{}}),...Rr]:[],ln=gt=>Ne!=null&&Qe?[O(Mt,{pipetteId:q,labwareId:E,wellName:Ne,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ke,...Pe!=null?{speed:Pe}:{}}),...Tt(gt).length>0&&rn?[O(V,{pipetteId:q,labwareId:E,wellName:Ne,wellLocation:rr})]:[]]:[];let Nt=[];switch(L){case null:case void 0:Nt=[...ln(!0),...Tt(!0)];break;case Sn:Nt=[ja,...ln(!0),...Tt(!0)];break;case Hr:Nt=[...ln(!0),...Tt(!1),O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),ja,...Qe&&!Je?[O(Mt,{pipetteId:q,labwareId:G,wellName:we,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ke,...Pe!=null?{speed:Pe}:{}})]:[],...Tt(!0).length>0?[O(V,{pipetteId:q,labwareId:G,wellName:we,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Tt(!0,!1)];break;default:L in We?Nt=[...ln(!1),...Tt(!1),O(by,{pipetteId:q,flowRate:I,trashId:L}),...Tt(!0,!1)]:L in K&&(Nt=[O(Ty,{pipetteId:q,flowRate:I,wasteChuteId:L}),...Tt(!0,!1)]);break}const za=Rt&&(_t===sr.length-1||A==="always")?[O(wn,{pipette:q,dropTipLocation:ee,isReturnTip:Rt})]:[],Ct=[...ir,...nn,...an,...sn,...Kn,...on,...ur,...Xn,...kr,...Gt,...Zn,...Ha,...ks,...Nt,...za];return Er=we,Hn=Ne,[...ue,...Ct]},[]);return[...le,...jn]},[]),Ir];return ce(be,t,r)},Sy=(e,t,r)=>{const n=`[${e.task_ids.join(", ")}]`,a=`${ge}.wait_for_tasks(${n})`;return{commands:[{key:D(),commandType:"waitForTasks",params:e}],python:a}},zA=(e,t,r)=>{const{waitCondition:n}=e;return n==="thermocyclerProfileComplete"?GA(e,t,r):n==="vacuumProfileComplete"||n==="vacuumStateComplete"?WA(e,t,r):{errors:[ub(n)]}},GA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=Rs(r,n);if(s==null)return{errors:[X()]};if(s.currentBlockActivity.type!=="profile")return{errors:[xc()]};const{taskId:o}=s.currentBlockActivity;return o==null?{errors:[xc()]}:(a.push(U(Sy,{task_ids:[o]})),ce(a,t,r))},WA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=st(r,n);if(s==null)return{errors:[X()]};if(s.currentPumpActivity.type!=="timedHold"&&s.currentPumpActivity.type!=="profile")return{errors:[lb()]};const o=s.currentPumpActivity.taskId;return a.push(U(Sy,{task_ids:[o]})),ce(a,t,r)};var Pu,rh;function YA(){if(rh)return Pu;rh=1;var e=k_(),t=1,r=4;function n(a){return e(a,t|r)}return Pu=n,Pu}var KA=YA();const XA=xe(KA),Ly=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Br="p300SingleId",ca="p300MultiId",Gu="p100096Id",Wu="sourcePlateId",Yu="destPlateId",Ku="troughId",ZA="A1",QA="tiprack1Id",JA={isAirGap:!0},Wa=c.fixture96Plate,nh=c.fixture12Trough,Ya=c.fixtureTiprack10ul,Dt=c.fixtureTiprack300ul,un=c.fixtureTiprack1000ul,Ka=c.fixtureTiprackAdapter,Oy={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function Ry(e){return Ly.reduce((t,r)=>({...t,[r]:e?ga:se}),{})}function eS(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function ky(){const e={[Wu]:{id:Wu,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(Wa),def:Wa},[Yu]:{id:Yu,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(Wa),def:Wa},[Ku]:{id:Ku,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(nh),def:nh},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(Ka),def:Ka},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(Ka),def:Ka},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={[Cu]:{id:Cu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(Ya)],tiprackLabwareDef:[Ya],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Br]:{name:"p300_single",id:Br,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ca]:{name:"p300_multi",id:ca,tiprackDefURI:[c.getLabwareDefURI(Dt)],tiprackLabwareDef:[Dt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Gu]:{name:"p1000_96",id:Gu,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:Oy}}const zr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=Tc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=Xt(s,i=>Ry(i)),o},Mn=()=>({pipetteLocations:{[Br]:{mount:"left",tiprackId:"tiprack1Id"},[ca]:{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:{}}),vy=()=>({pipetteLocations:{[Br]:{mount:"left"},[ca]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),Py=e=>zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),tS=e=>zr({...vy(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),rS=e=>({robotState:Py(e),warnings:[]}),nS=e=>{const t=zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t},aS=e=>{const t=zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=se,t},sS=e=>zr({...Mn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),oS=({temperatureModuleId:e,thermocyclerId:t})=>{const r=ky();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=zr({...Mn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ta,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}},iS=(e,t,r,n)=>{const a=XA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=yh;exports.AIR=je;exports.AIR_GAP_META=JA;exports.AIR_GAP_OFFSET_FROM_TOP=Nu;exports.AUTOMATIC=Qu;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Yt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=Tb;exports.CLEAN=ga;exports.COLUMN_4_SLOTS=De;exports.CUSTOM_LABWARE_DICT_NAME=hs;exports.DEFAULT_BLOWOUT_WELL=ZA;exports.DEFAULT_CONFIG=Oy;exports.DEFAULT_PIPETTE=Br;exports.DEST_LABWARE=Yu;exports.DEST_WELL_BLOWOUT_DESTINATION=Sn;exports.DIRTY=Wt;exports.EMPTY=se;exports.FAKE_HOPPER_LOCATION_MAP=Sh;exports.FIXED_TRASH_ID=Cu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Th;exports.FLEX_TRASH_DEF_URI=yb;exports.GRIPPER_LOCATION=Eh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=_h;exports.HOPPER_FAKE_LOCATIONS=Ah;exports.HOPPER_STACKER_LOCATION=He;exports.INDENT=La;exports.MAGNETIC_BLOCK_INITIAL_STATE=bh;exports.MAGNETIC_MODULE_INITIAL_STATE=fh;exports.MANUAL=Et;exports.MIXED_WELL_COLOR=X_;exports.MODULES_WITH_COLLISION_ISSUES=dh;exports.MODULE_INITIAL_STATE_BY_TYPE=Ih;exports.MULTI_PIPETTE=ca;exports.OFF_DECK=oa;exports.OT2_TC_SLOTS=bb;exports.OT_2_TRASH_DEF_URI=_b;exports.PAPI_VERSION=Q_;exports.PD_APPLICATION_VERSION=xw;exports.PIPETTE_96=Gu;exports.PROTOCOL_CONTEXT_NAME=ge;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=gb;exports.SOURCE_LABWARE=Wu;exports.SOURCE_WELL_BLOWOUT_DESTINATION=Hr;exports.STAGING_AREA_SLOTS=wh;exports.TEMPERATURE_APPROACHING_TARGET=Zu;exports.TEMPERATURE_AT_TARGET=Xu;exports.TEMPERATURE_DEACTIVATED=Ta;exports.TEMPERATURE_MODULE_INITIAL_STATE=mh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=hh;exports.TIPRACK_1=QA;exports.TOUCHED_PIPETTABLE_LABWARE=ju;exports.TROUGH_LABWARE=Ku;exports.VACUUM_AT_TARGET=Pb;exports.VACUUM_DEACTIVATED=vb;exports.VACUUM_MAX_PRESSURE_MBAR=kb;exports.VACUUM_MIN_PRESSURE_MBAR=Rb;exports.VACUUM_MODE_POWER=Du;exports.VACUUM_MODE_PRESSURE=Mu;exports.VACUUM_MODULE_INITIAL_STATE=gh;exports.VACUUM_PROGRAM_PROFILE=Eb;exports.VACUUM_PROGRAM_STATE=Ib;exports.VACUUM_STATE_PUMP_OFF=wb;exports.VACUUM_STATE_PUMP_ON=Ab;exports.VACUUM_STATE_VENT=Sb;exports.VACUUM_VENT_CLOSED=Ia;exports.VACUUM_VENT_OPEN=ns;exports.VACUUM_VENT_SET_CLOSED=Ob;exports.VACUUM_VENT_SET_OPEN=Lb;exports.ZERO_OFFSET=It;exports._getNextTip=yy;exports._wellContentsForLabware=Nw;exports.absorbanceReaderCloseInitialize=lA;exports.absorbanceReaderCloseLid=mc;exports.absorbanceReaderCloseRead=uA;exports.absorbanceReaderCollision=Ra;exports.absorbanceReaderInitialize=Kh;exports.absorbanceReaderOpenLid=ag;exports.absorbanceReaderRead=Xh;exports.absorbanceReaderStateGetter=Dn;exports.airGapLocationHelper=Mg;exports.aspirate=sg;exports.assignContainsAmongSiblings=Uc;exports.blowOutInWell=Zh;exports.captureImage=og;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=h_;exports.commandCreatorsTimeline=pw;exports.comment=ig;exports.consolidate=bA;exports.constructInvariantContextFromAnalysis=yw;exports.createEmptyLiquidState=u_;exports.createStagingAreaForInvariantContext=qu;exports.createTipLiquidState=c_;exports.curryCommandCreator=U;exports.curryWithoutPython=O;exports.deactivateTemperature=ug;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=qg;exports.delay=he;exports.delayLocationHelper=Fg;exports.disengageMagnet=cg;exports.dispense=Qh;exports.dispenseLocationHelper=Cg;exports.distribute=IA;exports.dropTip=wn;exports.dropTipInPlace=hc;exports.dropTipInTrash=Iy;exports.dropTipInWasteChute=Ey;exports.engageMagnet=pg;exports.enrichRobotStateForStackGraphTraversals=bE;exports.flexStackerEmpty=dg;exports.flexStackerFillItems=fg;exports.flexStackerRetrieve=mg;exports.flexStackerStateGetter=dt;exports.flexStackerStore=hg;exports.formatChangeTipArg=Ls;exports.formatPyDict=Mr;exports.formatPyList=_c;exports.formatPyStr=N;exports.formatPyTuple=t_;exports.formatPyValue=pt;exports.formatPyWellLocation=An;exports.getAddressableAreaFromModule=qc;exports.getAddressableAreaNameFromLabwareLocation=dE;exports.getAllLargestStacks=M_;exports.getAllProvidedAddressableAreasFromDeckConfig=F_;exports.getAllWellsForLabware=K_;exports.getChunkForIndentingLists=_s;exports.getCustomLiquidClassProperties=As;exports.getCutoutFromSlot=py;exports.getCutoutIdByAddressableArea=a_;exports.getDefaultPrimaryNozzle=es;exports.getDefineLiquids=ay;exports.getDispenseAirGapLocation=p_;exports.getFlexStackerCutoutBaseDeckSlotId=Ic;exports.getFlexStackerShuttleAddressableArea=bs;exports.getFullStackFromLabwares=Ec;exports.getFullStackFromNodeTopDownRecursive=ws;exports.getHasNoWellsFromCCArgs=fw;exports.getInitialRobotStateStandard=Py;exports.getInitialRobotStateWithOffDeckLabwareStandard=tS;exports.getIsHeaterShakerEastWestMultiChannelPipette=Nn;exports.getIsHeaterShakerEastWestWithLatchOpen=Pn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=Ca;exports.getIsLabwareCompatibleWithStack=y_;exports.getIsRetractSafeForAirGap=Fr;exports.getIsSafePickupWithinTiprack=fy;exports.getIsSafePipetteMovement=wt;exports.getIsSlotAHopper=b_;exports.getIsSpaceInHopper=Lc;exports.getIsTallLabwareEastWestOfHeaterShaker=W_;exports.getLabwareHasLiquid=f_;exports.getLabwareIdOnHopper=$g;exports.getLabwareIdOnShuttle=Ac;exports.getLabwareSlot=Rn;exports.getLargestStackContainingLabware=D_;exports.getLargestStackInSlot=ys;exports.getLiquidClassName=Fa;exports.getLiquidIdsOnLabware=Mw;exports.getLiquidIdsOnLabwareStack=Dw;exports.getLoadAdapters=ey;exports.getLoadLabware=ry;exports.getLoadLidStacks=ty;exports.getLoadLiquidClasses=oy;exports.getLoadLiquids=sy;exports.getLoadModules=J_;exports.getLoadPipettes=ny;exports.getLoadTrashBins=iy;exports.getLoadWasteChute=ly;exports.getLocationTotalVolume=pr;exports.getModuleHasLiveTask=kn;exports.getModuleIdFromRobotStateStack=Oa;exports.getModuleState=At;exports.getNearestParentInStack=m_;exports.getNextRobotStateAndWarnings=Bc;exports.getNextRobotStateAndWarningsSingleCommand=G_;exports.getNextTiprack=Ua;exports.getNodeParentModuleId=cE;exports.getNozzleConfig=$c;exports.getPipetteIdFromCCArgs=dw;exports.getPipetteWithTipMaxVol=Os;exports.getProvidedAddressableAreasExposed=fE;exports.getPythonAssignTipRacksString=Ss;exports.getResultingTimelineFrameFromRunCommands=Tw;exports.getRobotInitialStateNoTipsRemain=sS;exports.getRobotStateAndWarningsStandard=rS;exports.getRobotStatePickedUpTipStandard=aS;exports.getRobotStateWithTipStandard=nS;exports.getSetStoredLabware=cy;exports.getSlotInLocationStack=z;exports.getStackForLabwareLocation=Fu;exports.getStackedOnNodeFromPdStack=q_;exports.getStateAndContextTempTCModules=oS;exports.getTargetTipsFromWellSets=qa;exports.getThermocyclerProfileRepetitionsForPython=hy;exports.getTipColumn=eS;exports.getTipColumnIndex=zu;exports.getTipColumnName=my;exports.getTipRowName=aa;exports.getTiprackHasTips=d_;exports.getTiprackTipstate=Ry;exports.getTopLocationInStack=gc;exports.getTopmostLabwareOnModuleFromStackRobotState=Ug;exports.getTransferPlanAndReferenceVolumes=wc;exports.getTrashBinAddressableAreaName=yc;exports.getTrashLocationFromAddressableAreaName=o_;exports.getTrashOrLabware=Ln;exports.getVolumesPerLiquid=Cw;exports.getWasteChuteAddressableAreaNamePip=s_;exports.getWellsForTips=bc;exports.heaterShaker=LA;exports.indentPyLines=Z;exports.labwareMatchesLabwareInHopper=Sc;exports.makeContext=ky;exports.makeInitialRobotState=Tc;exports.makeState=zr;exports.makeStateArgsLabwareOffDeck=vy;exports.makeStateArgsStandard=Mn;exports.mergeLiquid=dr;exports.mix=yA;exports.mixBlowoutLocationHelper=l_;exports.modulePipetteCollision=vn;exports.moveHelper=Dg;exports.moveLabware=Ig;exports.moveToAddressableArea=qe;exports.moveToAddressableAreaForDropTip=Jh;exports.pipetteAdjacentHeaterShakerWhileShaking=Cn;exports.pipetteIntoHeaterShakerLatchOpen=Da;exports.pipetteIntoHeaterShakerWhileShaking=Ma;exports.pythonCustomLabwareDict=Xw;exports.pythonDefRun=Kw;exports.pythonImports=Hw;exports.pythonMetadata=jw;exports.pythonRequirements=zw;exports.reduceCommandCreators=ce;exports.repeatArray=i_;exports.replaceTip=Ba;exports.resolveDeckSlotKeyForLabwareStackInSlot=__;exports.robotWithStatusAndTemp=iS;exports.setTemperature=e_;exports.sortLabwareBySlot=_y;exports.splitLiquid=Kt;exports.stepCommands=uy;exports.swatchColors=Z_;exports.thermocyclerPipetteCollision=Pa;exports.thermocyclerProfileStep=OA;exports.thermocyclerStateGetter=Rs;exports.thermocyclerStateStep=qA;exports.tiprackWellNamesFlat=Ly;exports.touchTip=Mt;exports.transfer=jA;exports.unrollThermocyclerProfile=Vc;exports.uuid=D;exports.vacuumCloseVent=wg;exports.vacuumModuleStateGetter=st;exports.vacuumOpenVent=Ag;exports.vacuumSetPumpPower=Lg;exports.vacuumSetPumpPressure=Og;exports.vacuumStartRunProfile=Pg;exports.vacuumStopPump=Ng;exports.waitForModuleTask=zA;exports.waitForTemperature=n_;exports.wellFillFromWellContents=qw;
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sA=xe(aA),Ny=["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"],Vr="p300SingleId",da="p300MultiId",Yu="p100096Id",Ku="sourcePlateId",Xu="destPlateId",Zu="troughId",oA="A1",iA="tiprack1Id",lA={isAirGap:!0},Xa=c.fixture96Plate,lh=c.fixture12Trough,Za=c.fixtureTiprack10ul,Dt=c.fixtureTiprack300ul,un=c.fixtureTiprack1000ul,Qa=c.fixtureTiprackAdapter,Dy={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function My(e){return Ny.reduce((t,r)=>({...t,[r]:e?Ea:ie}),{})}function uA(e,t){return 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;