@opentrons/step-generation 0.3.2-alpha.0 → 0.3.4-alpha.0

package/lib/index.cjs

@@ -1,142 +1,150 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Vy(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function $y(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function xy(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function Bt(e){const{actionName:t,pipette:r,labware:n,well:a}=e;return{message:n==null||a==null?`Attempted to ${t} with no tip on pipette: ${r} in place`:`Attempted to ${t} with no tip on pipette: ${r} from ${n}'s well ${a}`,type:"NO_TIP_ON_PIPETTE"}}function Hy(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ut(e){const{pipette:t}=e;return{message:`This step tries to use the ${t}. Add the pipette to your protocol or change the step to use a different pipette.`,type:"PIPETTE_DOES_NOT_EXIST"}}function ct(e){const{actionName:t,labware:r}=e;return console.warn(`Attempted to ${t} with labware id "${r}", this labware was not found under "labware"`),{message:`This step tries to use ${r}. Add the labware to your protocol or change the step to use a different labware.`,type:"LABWARE_DOES_NOT_EXIST"}}function X(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function zy(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. In order to pause the protocol and wait for your module to reach a temperature, you must first use a Temperature step to tell the module to start changing to a new temperature",type:"MISSING_TEMPERATURE_STEP"}}function Yc(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function jy(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function Ja(e){const{actionName:t,volume:r,maxVolume:n,disposalVolume:a}=e;return{message:a!=null?`Attemped to ${t} volume + disposal volume greater than pipette max volume (${r} + ${a} > ${n})`:`This step tries to ${t} ${r}µL, but the tip can only hold ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const Gy=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),fa=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),Wy=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),mn=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),as=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),Kc=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Mr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Yy=()=>({type:"ABSORBANCE_READER_NO_INITIALIZATION",message:"This step tries to read labware without initializing the Plate Reader first. Initialize the Plate Reader module or remove this step in order to proceed."}),uh=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. Add a gripper or remove step to proceed."}),Ky=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),Xy=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),Zy=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),ch=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),Qy=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),ph=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),hn=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),Jy=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),Ft=e=>{const{unsafePipetteMovementReason:t}=e;switch(t.type){case"thermocyclerLidCollision":return{type:"POSSIBLE_PIPETTE_COLLISION_THERMOCYCLER_LID",message:"There is a possibility that the Pipette will collide with the Thermocycler lid"};case"outsidePipetteExtents":return{type:"POSSIBLE_PIPETTE_COLLISION_OUTSIDE_DECK_EXTENTS",message:"There is a possibility that the pipette will move outside the deck extents."};case"adjacentAdressableAreaCollision":return{type:"POSSIBLE_PIPETTE_COLLISION_ADJACENT_ADDRESSABLE_AREA",message:`There is a possibility that the pipette will collide with adjacent items in ${t.addressableAreaCausingCollision.displayName}`,translationParams:{addressableAreaCausingCollisionDisplayName:t.addressableAreaCausingCollision.displayName}}}},ma=()=>({type:"HEATER_SHAKER_EAST_WEST_LATCH_OPEN",message:"The Heater-Shaker labware latch is open"}),ha=()=>({type:"HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING",message:"The Heater-Shaker is shaking"}),_a=()=>({type:"HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL",message:"The Heater-Shaker is shaking"}),ss=()=>({type:"HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL",message:"8-Channel pipette cannot access labware"}),_n=()=>({type:"LABWARE_OFF_DECK",message:"Attempted to interact with labware off deck"}),eb=()=>({type:"LABWARE_ON_ANOTHER_ENTITY",message:"Attempted to move labware onto another entity with the same slotName"}),Tn=()=>({type:"DROP_TIP_LOCATION_DOES_NOT_EXIST",message:"The destination for dropping tip does not exist"}),dh=()=>({type:"EQUIPMENT_DOES_NOT_EXIST",message:"Equipment does not exist."}),tb=()=>({type:"GRIPPER_REQUIRED",message:"The gripper is required to fulfill this action"}),qt=e=>({type:"PIPETTING_INTO_COLUMN_4",message:`Cannot ${e.typeOfStep} into a column 4 slot.`}),rb=()=>({type:"CANNOT_MOVE_WITH_GRIPPER",message:"The gripper cannot move aluminum blocks"}),nb=()=>({type:"NO_TIP_SELECTED",message:"No tips were selected for this step"}),ya=()=>({type:"LABWARE_DISCARDED_IN_TRASH",message:"The labware was discarded in trash in a previous step."}),fh=()=>({type:"SUBMERGE_BELOW_ASPIRATE",message:"The submerge position must be above the aspirate position"}),mh=()=>({type:"RETRACT_BELOW_ASPIRATE",message:"The retract position must be above the aspirate position"}),ab=()=>({type:"SUBMERGE_BELOW_DISPENSE",message:"The submerge position must be above the dispense position"}),sb=()=>({type:"RETRACT_BELOW_DISPENSE",message:"The retract position must be above the dispense position"}),ob=()=>({type:"MULTI_ASPIRATE_VOLUME_TOO_HIGH",message:"Consolidate pipette path was selected but cannot fit volume for more than 1 well in the tip"}),ib=()=>({type:"MULTI_DISPENSE_VOLUME_TOO_HIGH",message:"Distribute pipette path was selected but cannot fit volume for more than 1 well in the tip"}),lb=e=>({type:"CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID",message:`Closing the Thermocycler lid with ${e.lidDisplayName} in place will cause damage`}),Xc=()=>({type:"RETURN_TIP_UNAVAILABLE",message:"Current tip does not have a known location to return to"}),ub=()=>({type:"TIPRACK_LID_NOT_ALLOWED_ON_DECK",message:"The tip rack lid is not supported directly on the deck"}),cb=()=>({type:"NEXT_TIPRACK_HAS_LID",message:"A pipette cannot pick up tips from a tip rack with a lid"}),pb=e=>({type:"STACK_TOO_HIGH",message:`The stack on slot ${e.slot} is too high`}),db=()=>({type:"TOO_MANY_TIPS",message:"Action will pick up too many tips"}),fb=()=>({type:"INCOMPLETE_PICKUP",message:"At least one of the selected tips is empty"}),mb=()=>({type:"LABWARE_ON_HOPPER",message:"Labware cannot be moved from the Flex Stacker Hopper"}),hb=()=>({type:"MISSING_PUMP_ACTIVITY",message:"This module is not currently running a pump activity."}),_b=e=>({type:"INVALID_WAIT_CONDITION",message:`Invalid wait condition: ${e}`}),ba=()=>({type:"LIVE_TASK_ERROR",message:"This module is currently running a live task. 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ig(){if(kf)return ll;kf=1;function e(t,r,n,a,s){return s(t,function(o,i,l){n=a?(a=!1,o):r(n,o,i,l)}),n}return ll=e,ll}var ul,vf;function lg(){if(vf)return ul;vf=1;var e=og(),t=hc(),r=Sn(),n=ig(),a=Xe();function s(o,i,l){var u=a(o)?e:n,p=arguments.length<3;return u(o,r(i,4),l,p,t)}return ul=s,ul}var ug=lg();const lt=xe(ug),bc=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a}=t,s=Fn(r,e.moduleId),o=Object.keys(n).length>0,i=[];if((e.moduleId==null||s==null)&&i.push(X()),o||i.push(uh()),i.length>0)return{errors:i};const l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:F(),params:{moduleId:e.moduleId}}],python:`${l}.close_lid()`}},e_=(e,t,r)=>{const{moduleId:n,sampleWavelengths:a,measureMode:s,referenceWavelength:o}=e,i=t.moduleEntities[n].pythonName,l=o!=null?`, reference_wavelength=${o}`:"";return{commands:[{commandType:"absorbanceReader/initialize",key:F(),params:{moduleId:n,measureMode:s,sampleWavelengths:a,...o!=null?{referenceWavelength:o}:{}}}],python:`${i}.initialize(${C(s)}, ${gc(a)}${l})`}},cg=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a}=t,s=Fn(r,e.moduleId),o=Object.keys(n).length>0,i=[];if((e.moduleId==null||s==null)&&i.push(X()),o||i.push(uh()),i.length>0)return{errors:i};const l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/openLid",key:F(),params:{moduleId:e.moduleId}}],python:`${l}.open_lid()`}},t_=(e,t,r)=>{const{moduleId:n,fileName:a}=e,s=[],o=Fn(r,n);if(o==null)return{errors:[X()]};o.initialization===null&&s.push(Mr());const i=t.moduleEntities[n].pythonName,l=a!=null?`export_filename=${C(a)}`:"";return s.length>0?{errors:s}:{commands:[{commandType:"absorbanceReader/read",key:F(),params:{moduleId:n,...a!=null?{fileName:a}:{}}}],python:`${i}.read(${l})`}},Qt=(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:F(),params:{flowRate:n,pipetteId:a,volume:s,...o!=null?{correctionVolume:o}:{}}}],python:`${u}.air_gap(${[`volume=${s}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},pg=(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=vn(s,r.labware);if(b||h.push(ut({pipette:n})),!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:_}))}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}));const A=t.pipetteEntities[n]?.spec.channels!==1,S=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:s,wellLocationOffset:p?.offset??{x:0,y:0,z:0},wellTargetName:o,primaryNozzle:d,nozzleConfiguration:f});if(A&&b&&!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&&b&&b.liquids.default.maxVolume<a&&h.push(Ja({actionName:_,volume:a,maxVolume:b.liquids.default.maxVolume})),h.length===0&&b){const R=ks(n,t,u);R<a&&h.push(jy({actionName:_,volume:a,maxVolume:R}))}if(h.length>0)return{errors:h};const g=[{commandType:"aspirate",key:F(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],I=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,w=[`volume=${a}`,`location=${L}[${C(o)}]${Ln(p)}`,`flow_rate=${i}`],E=`${I}.aspirate(
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+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function fb(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function mb(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function hb(){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 _b(){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 Z(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function yb(){return{message:"This module is not changing temperature because it has either been deactivated or is already holding a temperature. In order to pause the protocol and wait for your module to reach a temperature, you must first use a Temperature step to tell the module to start changing to a new temperature",type:"MISSING_TEMPERATURE_STEP"}}function np(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function bb(e){const{volume:t,maxVolume:r,actionName:n}=e;return{message:`This step tries to ${n} ${t}µL, but the tip can only hold ${r}µL.`,type:"TIP_VOLUME_EXCEEDED"}}function rs(e){const{actionName:t,volume:r,maxVolume:n,disposalVolume:a}=e;return{message:a!=null?`Attemped to ${t} volume + disposal volume greater than pipette max volume (${r} + ${a} > ${n})`:`This step tries to ${t} ${r}µL, but the tip can only hold ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const Tb=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),ma=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),gb=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. 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-)`}},hg=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[X()]};const a=t.moduleEntities[n],s=a?.type,o=a?.pythonName,i={moduleId:n};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:F(),params:i}],python:`${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(`,
+)`}},h_=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[Z()]};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:D(),params:i}],python:`${o}.deactivate()`}:s===c.THERMOCYCLER_MODULE_TYPE?{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:i},{commandType:"thermocycler/deactivateBlock",key:D(),params:i}],python:`${o}.deactivate_lid()
+${o}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:i}],python:`${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 ${s}`),{errors:[Z()]})},fe=(e,t,r)=>{const{message:n}=e;let a,s;if("seconds"in e){a={commandType:"waitForDuration",key:D(),params:{seconds:e.seconds,message:n}};const o=[`seconds=${e.seconds}`,...n?[`msg=${N(n)}`]:[]];s=`${be}.delay(${o.join(", ")})`}else a={commandType:"waitForResume",key:D(),params:{message:n}},s=`${be}.pause(${n?N(n):""})`;return{commands:[a],python:s}},__=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,s="magneticModule/disengage";if(n===null)return{errors:[Z()]};if(a[n]?.type!==c.MAGNETIC_MODULE_TYPE)throw new Error(`expected module ${n} to be magdeck, got ${a[n]?.type}`);const o=a[n].pythonName;return{commands:[{commandType:s,key:D(),params:{moduleId:n}}],python:`${o}.disengage()`}},Ec=(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=Cn(s,r.labware);if(b||h.push(ut({pipette:n})),Dn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&h.push(ma()),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(bn()),Me.includes(y))h.push($t({typeOfStep:_}));else if(m[y]!=null){const v=G(m[y].stack);Me.includes(v)&&h.push($t({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(Ut({unsafePipetteMovementReason:S.reason})),Ma(r.modules,r.labware,s)&&h.push(_n()),Ca(r.modules,r.labware,s)&&h.push(Fr()),Ua(r.modules,r.labware,s)&&h.push(is()),$a(r.modules,r.labware,s)&&h.push(yn()),qn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(_a()),T||(Mn(r.modules,y)&&h.push(ha()),Fn(r.modules,y,b)&&h.push(ya()),qa(r.modules,y,b,t.labwareEntities[s])&&h.push(ls())),h.length>0)return{errors:h};const g=[{commandType:"dispense",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],I=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,w=[`volume=${a}`,`location=${L}[${N(o)}]${Vt(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],E=`${I}.dispense(
+${K(w.join(`,
 `))},
-)`;return{commands:g,python:E}},nt=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,pushOut:o,correctionVolume:i,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Bt({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:F(),params:{pipetteId:n,volume:a,flowRate:s,...o!=null?{pushOut:o}:{},...i!=null?{correctionVolume:i}:{}},...l?{meta:{isAirGap:l}}:{}}],d=t.pipetteEntities[n].pythonName,f=[`volume=${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(`,
+)`;return{commands:g,python:E}},Xe=(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: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(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:_}},zr=(e,t,r)=>{const{pipette:n,dropTipLocation:a,wellName:s,isReturnTip:o}=e;if(!r.tipState.pipettes[n]?.hasTip)return{commands:[]};const i=r.pipettes[n].tiprackId,l=r.pipettes[n].tipWell,u=Object.values(t.labwareEntities).find(({id:_})=>_===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[sp()]};let d=null;if(o&&p){const _=t.pipetteEntities[n].pythonName,h=`${u.pythonName}["${l}"]`;d=`${_}.drop_tip(location=${h})`}let f=[];if(o){if(i==null||l==null)return{errors:[sp()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[En()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},gs=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:D(),params:{pipetteId:n}}]}:{commands:[]}},y_=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:s}=t,o="magneticModule/engage";if(n===null)return{errors:[Z()]};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=${a})`}},b_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=ft(r,a);if(a==null||n[a]==null)return{errors:[Z()]};const u=[];if(l==null&&u.push(Z()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:D(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${N(e.message)}`:""})`}},T_=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:s}=e,{labwareEntities:o,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[Z()]};const l=ft(r,n),u=$c(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=ws(d,4).map(T=>ka+T.join(", ")).join(`,
 `),m=d.length<4?d.join(", "):`
 ${_}
-`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Qy()]};if(u){if(s.length>0&&!s.every(y=>kc(y,t,l)))return{errors:[ch()]}}else return{errors:[ph()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${m}],
-`:[],...a!=null?[`message=${C(a)},
-`]:[]].join("");return{commands:[{commandType:"flexStacker/fillItems",key:F(),params:{moduleId:n,labware:s,message:a??void 0}}],python:`${p}.fill_items(
-${Z(b)})`}},gg=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[X()]};const s=a[n].pythonName,o=ft(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&Rc(o)?{errors:[Xy()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:F(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[Ky()]}},Ig=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[X()]};const o=s[n].pythonName,i=ft(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=vc(i,a);return i!==null&&!Rc(i)?{errors:[Zy()]}:l!==null&&!kc(l,t,i)?{errors:[ch()]}:u?{commands:[{commandType:"flexStacker/store",key:F(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[ph()]}};function cl(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function pl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function Eg(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function wg(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function Sg(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Ag(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const Lg="opentrons_flex_tiprack_lid",Og=(e,t,r)=>{const{labwareId:n,strategy:a,newLocation:s}=e,o=a==="usingGripper",{gripperEntities:i,trashBinEntities:l,wasteChuteEntities:u,labwareEntities:p,moduleEntities:d}=t,f=Object.keys(i).length>0,_=Object.values(u).length>0,m=r.tipState!=null?g_(r.tipState,n):!1,h=r.liquidState!=null?I_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:P})=>P),T="moveToLabware",y=[],A=[],S=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(ct({actionName:T,labware:n})):G(r.labware[n].stack)==="offDeck"&&o?y.push(_n()):r.labware[n].stack.includes(je)&&y.push(mb());const g=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&g&&y.push(rb()),(S&&f&&!o||!f&&o)&&y.push(tb()),b&&o&&y.push(Hy());const I=r.labware[n]!=null?G(r.labware[n].stack):null;(_&&I==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(I)||I==="fixedTrash")&&y.push(ya());const L=I!=null&&r.labware[I]!=null?G(r.labware[I].stack):null,w=L??I,E=P=>P==null?null:P in r.modules?r.modules[P].moduleState:Object.values(r.modules).find(({slot:v})=>v===P)?.moduleState??null,R=Object.entries(r.labware).filter(([P,v])=>v.stack.includes("offDeck")).map(([P])=>P),k=Object.values(s);R.some(P=>k.includes(P))&&o&&y.push(Gy());const B=E(w);B!=null&&(B.type===c.THERMOCYCLER_MODULE_TYPE&&B.lidOpen!==!0?y.push(mn()):B.type===c.HEATERSHAKER_MODULE_TYPE?B.latchOpen!==!0?y.push(Kc()):B.targetSpeed!==null&&y.push(hn()):B.type===c.ABSORBANCE_READER_TYPE&&B.lidOpen!==!0&&y.push(Mr()));const q=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,ee=c.locationIsOnLabware(s)?s.labwareId:null,pe=ee!=null?r.labware[ee].stack[1]:null,_e=pe??q;s==="offDeck"&&o&&y.push(_n()),m&&S&&_?A.push(wg()):h&&S&&_&&A.push(Eg());const le=E(_e);le!=null&&(le.type===c.THERMOCYCLER_MODULE_TYPE&&le.lidOpen!==!0?y.push(mn()):le.type===c.HEATERSHAKER_MODULE_TYPE?(le.latchOpen!==!0&&y.push(Kc()),le.targetSpeed!==null&&y.push(hn())):le.type===c.ABSORBANCE_READER_TYPE&&le.lidOpen!==!0&&y.push(Mr())),p[n]?.def.parameters.loadName===Lg&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(ub());const ve={labwareId:n,strategy:a,newLocation:s},He=[{commandType:"moveLabware",key:F(),params:ve}],Be=p[n]?.pythonName;let te="",Ee=null;if(s==="offDeck")te=ia;else if(s==="systemLocation")te="system_location";else if(s==="wasteChuteLocation")te=ia;else if("labwareId"in s){te=p[s.labwareId].pythonName;const P=r.labware[s.labwareId].stack;Ee=P[P.length-1]}else if("moduleId"in s)Ee=r.modules[s.moduleId].slot,te=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:P}=s;if(P in p){const v=G(r.labware[P].stack);te=c.getIsLid(p[P].def)?C(v):p[P].pythonName;const N=r.labware[P].stack;Ee=N[N.length-1]}else te=C(P),Ee=P}else if("addressableAreaName"in s){const P=Me.includes(s.addressableAreaName),v=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),V=s.addressableAreaName==="fixedTrash",ae=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||V?Object.values(l)?.map(D=>D.location):[],U=!v&&!P&&!la(s.addressableAreaName)?d_(s.addressableAreaName,V?"fixedTrashSlot":"trashBinAdapter",V?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,H=ae.find(D=>D===U),z=H!=null?Object.values(l).find(D=>D.location===H)?.id:null;if(P)te=C(s.addressableAreaName);else if(z!=null&&!v)te=l[z]?.pythonName??"";else if(z==null&&v)te=Object.values(u)[0]?.pythonName??"";else if(la(s.addressableAreaName)){const[D]=Object.entries(r.modules).find(([,x])=>x.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(D!=null&&d[D]!=null){const{pythonName:x}=d[D];te=`${x}.manifold_dock`}}else te=""}if(Ee!=null){const P=pn(r.labware,Ee),v=G(P),{isCompatible:V,isAboveStackLimit:N}=A_(n,P,p,d);V||y.push(eb()),N&&y.push(pb({slot:v}))}if(y.length>0)return{errors:y};te===""&&console.error("expected to find a python new location but could not");const ze=o?", use_gripper=True":"",Pe=c.getIsLid(p[n].def),Te=r.labware[n].stack;let K="";if(Pe){const P=E_(Te);if(P==null)console.error("expected to find a parent for labware to move but could not");else{const v=p[P]!=null,V=v&&c.getIsLid(p[P].def);Te.length===2||v&&V?K=C(G(Te)):(v||!c.getIsLid(p[P].def))&&(K=p[P].pythonName)}}Pe&&K===""&&console.error("expected to find a valid lid move location but could not");const W=Pe?`${Ie}.move_lid(${K}, ${te}${ze})`:`${Ie}.move_labware(${Be}, ${te}${ze})`;return{commands:He,...A.length>0?{warnings:A}:{},python:W}},Ue=(e,t,r)=>{const{pipetteId:n,fixtureId:a,offset:s}=e,{pipetteEntities:o,trashBinEntities:i,wasteChuteEntities:l}=t,u=o[n],p=u.spec.channels,d=u.pythonName,f=i[a]??l[a],_=f.pythonName;let m=f_(p);return i[a]!=null&&(m=Ic(f.location)),{commands:[{commandType:"moveToAddressableArea",key:F(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},a_=(e,t,r)=>{const{pipetteId:n,addressableAreaName:a}=e;return{commands:[{commandType:"moveToAddressableAreaForDropTip",key:F(),params:{pipetteId:n,addressableAreaName:a,offset:{x:0,y:0,z:0},alternateDropLocation:!0}}]}},$=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,minimumZHeight:i,forceDirect:l,speed:u}=e,p="moveToWell",d=[],f=r.labware,{pipetteEntities:_,labwareEntities:m}=t,h=_[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??ns({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,A=vn(a,r.labware);if(h||d.push(ut({pipette:n})),!a||!r.labware[a]?d.push(ct({actionName:p,labware:a})):G(r.labware[a].stack)==="offDeck"&&d.push(_n()),Me.includes(A))d.push(qt({typeOfStep:"move to well"}));else if(f[A]!=null){const k=G(f[A].stack);Me.includes(k)&&d.push(qt({typeOfStep:p}))}Cn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(fa()),Na(r.modules,r.labware,a)&&d.push(mn()),Fa(r.modules,r.labware,a)&&d.push(as()),va(r.modules,r.labware,a)&&d.push(Mr()),qa(r.modules,r.labware,a)&&d.push(hn()),Mn(r.modules,A,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(ha()),y||(Nn(r.modules,A)&&d.push(ma()),Dn(r.modules,A,h)&&d.push(_a()),Ma(r.modules,A,h,m[a])&&d.push(ss()));const S=t.pipetteEntities[n]?.spec.channels!==1,g=t.pipetteEntities[n]?.spec,I=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T});if(S&&g&&!I.isSafe&&d.push(Ft({unsafePipetteMovementReason:I.reason})),d.length>0)return{errors:d};const L=_[n].pythonName,w=m[a].pythonName,E=[{commandType:"moveToWell",key:F(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],R=[`${w}[${C(s)}]${Ln(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:E,python:`${L}.move_to(${R.join(", ")})`}},dl=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=ec,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=jc({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d.isSafe||u.push(Ft({unsafePipetteMovementReason:d.reason})),f.isSafe||u.push(db()),f.isComplete!==!0&&u.push(fb());const _=G(r.labware[a].stack);if(Me.includes(_))u.push(qt({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=G(r.labware[_].stack);Me.includes(T)&&u.push(qt({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===wt?`[${C(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:F(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},Rg=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=Ey(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${C("temperature")}: ${m.celsius}, ${C("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Ab()]};if(u){if(s.length>0&&!s.every(y=>Uc(y,t,l)))return{errors:[Th()]}}else return{errors:[gh()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${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(
+${K(b)})`}},g_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[Z()]};const s=a[n].pythonName,o=ft(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&qc(o)?{errors:[wb()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:D(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[Eb()]}},I_=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[Z()]};const o=s[n].pythonName,i=ft(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=$c(i,a);return i!==null&&!qc(i)?{errors:[Sb()]}:l!==null&&!Uc(l,t,i)?{errors:[Th()]}:u?{commands:[{commandType:"flexStacker/store",key:D(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[gh()]}};function ml(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function hl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function Ug(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function $g(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function Vg(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function Bg(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const xg="opentrons_flex_tiprack_lid",E_=(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?M_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:C})=>C),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(bn()):r.labware[n].stack.includes(je)&&y.push(Bb());const g=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&g&&y.push(vb()),(S&&f&&!o||!f&&o)&&y.push(Rb()),b&&o&&y.push(_b());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(ba());const L=I!=null&&r.labware[I]!=null?G(r.labware[I].stack):null,w=L??I,E=C=>C==null?null:C in r.modules?r.modules[C].moduleState:Object.values(r.modules).find(({slot:P})=>P===C)?.moduleState??null,v=Object.entries(r.labware).filter(([C,P])=>P.stack.includes("offDeck")).map(([C])=>C),k=Object.values(s);v.some(C=>k.includes(C))&&o&&y.push(Tb());const $=E(w);$!=null&&($.type===c.THERMOCYCLER_MODULE_TYPE&&$.lidOpen!==!0?y.push(_n()):$.type===c.HEATERSHAKER_MODULE_TYPE?$.latchOpen!==!0?y.push(ap()):$.targetSpeed!==null&&y.push(yn()):$.type===c.ABSORBANCE_READER_TYPE&&$.lidOpen!==!0&&y.push(Fr()));const q=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,ee=c.locationIsOnLabware(s)?s.labwareId:null,pe=ee!=null?r.labware[ee].stack[1]:null,_e=pe??q;s==="offDeck"&&o&&y.push(bn()),m&&S&&_?A.push($g()):h&&S&&_&&A.push(Ug());const le=E(_e);le!=null&&(le.type===c.THERMOCYCLER_MODULE_TYPE&&le.lidOpen!==!0?y.push(_n()):le.type===c.HEATERSHAKER_MODULE_TYPE?(le.latchOpen!==!0&&y.push(ap()),le.targetSpeed!==null&&y.push(yn())):le.type===c.ABSORBANCE_READER_TYPE&&le.lidOpen!==!0&&y.push(Fr())),p[n]?.def.parameters.loadName===xg&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(Fb());const ke={labwareId:n,strategy:a,newLocation:s},He=[{commandType:"moveLabware",key:D(),params:ke}],$e=p[n]?.pythonName;let te="",Ee=null;if(s==="offDeck")te=la;else if(s==="systemLocation")te="system_location";else if(s==="wasteChuteLocation")te=la;else if("labwareId"in s){te=p[s.labwareId].pythonName;const C=r.labware[s.labwareId].stack;Ee=C[C.length-1]}else if("moduleId"in s)Ee=r.modules[s.moduleId].slot,te=d[s.moduleId].pythonName;else if("slotName"in s){const{slotName:C}=s;if(C in p){const P=G(r.labware[C].stack);te=c.getIsLid(p[C].def)?N(P):p[C].pythonName;const M=r.labware[C].stack;Ee=M[M.length-1]}else te=N(C),Ee=C}else if("addressableAreaName"in s){const C=Me.includes(s.addressableAreaName),P=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),V=s.addressableAreaName==="fixedTrash",ae=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||V?Object.values(l)?.map(F=>F.location):[],U=!P&&!C&&!ua(s.addressableAreaName)?L_(s.addressableAreaName,V?"fixedTrashSlot":"trashBinAdapter",V?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,H=ae.find(F=>F===U),z=H!=null?Object.values(l).find(F=>F.location===H)?.id:null;if(C)te=N(s.addressableAreaName);else if(z!=null&&!P)te=l[z]?.pythonName??"";else if(z==null&&P)te=Object.values(u)[0]?.pythonName??"";else if(ua(s.addressableAreaName)){const[F]=Object.entries(r.modules).find(([,x])=>x.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(F!=null&&d[F]!=null){const{pythonName:x}=d[F];te=`${x}.manifold_dock`}}else te=""}if(Ee!=null){const C=fn(r.labware,Ee),P=G(C),{isCompatible:V,isAboveStackLimit:M}=$_(n,C,p,d);V||y.push(Ob()),M&&y.push(Ub({slot:P}))}if(y.length>0)return{errors:y};te===""&&console.error("expected to find a python new location but could not");const ze=o?", use_gripper=True":"",Pe=c.getIsLid(p[n].def),ge=r.labware[n].stack;let X="";if(Pe){const C=F_(ge);if(C==null)console.error("expected to find a parent for labware to move but could not");else{const P=p[C]!=null,V=P&&c.getIsLid(p[C].def);ge.length===2||P&&V?X=N(G(ge)):(P||!c.getIsLid(p[C].def))&&(X=p[C].pythonName)}}Pe&&X===""&&console.error("expected to find a valid lid move location but could not");const W=Pe?`${be}.move_lid(${X}, ${te}${ze})`:`${be}.move_labware(${$e}, ${te}${ze})`;return{commands:He,...A.length>0?{warnings:A}:{},python:W}},Fe=(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=O_(p);return i[a]!=null&&(m=kc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:D(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${_})`}},wc=(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}}]}},B=(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??os({nozzles:b,channels:h?.channels}),y=(h?.displayCategory==="FLEX"||h?.channels===96)??!1,A=Cn(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(bn()),Me.includes(A))d.push($t({typeOfStep:"move to well"}));else if(f[A]!=null){const k=G(f[A].stack);Me.includes(k)&&d.push($t({typeOfStep:p}))}Dn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(ma()),Ma(r.modules,r.labware,a)&&d.push(_n()),Ua(r.modules,r.labware,a)&&d.push(is()),Ca(r.modules,r.labware,a)&&d.push(Fr()),$a(r.modules,r.labware,a)&&d.push(yn()),qn(r.modules,A,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(_a()),y||(Mn(r.modules,A)&&d.push(ha()),Fn(r.modules,A,h)&&d.push(ya()),qa(r.modules,A,h,m[a])&&d.push(ls()));const S=t.pipetteEntities[n]?.spec.channels!==1,g=t.pipetteEntities[n]?.spec,I=dt({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T});if(S&&g&&!I.isSafe&&d.push(Ut({unsafePipetteMovementReason:I.reason})),d.length>0)return{errors:d};const L=_[n].pythonName,w=m[a].pythonName,E=[{commandType:"moveToWell",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],v=[`${w}[${N(s)}]${Vt(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:E,python:`${L}.move_to(${v.join(", ")})`}},ts=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=nc,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=ep({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d.isSafe||u.push(Ut({unsafePipetteMovementReason:d.reason})),f.isSafe||u.push($b()),f.isComplete!==!0&&u.push(Vb());const _=G(r.labware[a].stack);if(Me.includes(_))u.push($t({typeOfStep:"pick up tip"}));else if(r.labware[_]!=null){const T=G(r.labware[_].stack);Me.includes(T)&&u.push($t({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,h=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${h}${o===St?`[${N(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},Hg=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=Fy(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${N("temperature")}: ${m.celsius}, ${N("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
 `),d=`${`[
-${Z(u)}
+${K(u)}
 ],`}
 ${l.numRepetitions},
 `+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),_=(a!=null?`${a} = `:"")+`${i}.start_execute_profile(
-${Z(d)}
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a)if(i[a.moduleId].moduleState.type===c.FLEX_STACKER_MODULE_TYPE)g.push(i[a.moduleId].slot);else if(t.moduleEntities[a.moduleId]?.type===c.VACUUM_MODULE_TYPE){const w=i[a.moduleId].slot,E=pn(l,w);E.length>0?g.push(...E):g.push(a.moduleId,w)}else g.push(a.moduleId,i[a.moduleId].slot);else if("slotName"in a){const{slotName:w}=a;w in l?(m=c.getIsPipettableLabware(o[w].def),g.push(...l[w].stack)):g.push(w)}else if("labwareId"in a){const w=a.labwareId;m=c.getIsPipettableLabware(o[w].def);const E=l[w].stack;g.push(...E)}else if("addressableAreaName"in a)if(la(a.addressableAreaName)){const w=Object.entries(i).find(([E])=>t.moduleEntities[E]?.type===c.VACUUM_MODULE_TYPE)?.[0];g.push(tc),w!=null&&g.push(w),g.push(a.addressableAreaName)}else g.push(a.addressableAreaName);f.forEach((w,E)=>{if(l[w]!=null){const R=f.slice(E+1);s.labware[w]={...s.labware[w],stack:[w,...R,...g],..._&&m?{sterility:Gu}:{}}}});const I=typeof a=="object"&&"labwareId"in a&&c.getIsPipettableLabware(o[a.labwareId].def);let 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AE(e,t,r){const{pipetteId:n,labwareId:a,wellName:s}=e,o=t.pipetteEntities[n].spec,i=t.labwareEntities[a].def;if(!c.getIsTiprack(i))throw new Error(`forPickUpTip expected ${a} to be a tiprack`);const l=r.robotState.tipState,u=r.robotState.pipettes[n].nozzles,p=r.robotState.pipettes[n].primaryNozzle,d=zc(u,o),f=(h,b)=>h.find(T=>T.includes(b)),_=(h,b)=>{const T=h.findIndex(A=>A.includes(b));if(T===-1)return null;const y=h[T].indexOf(b);return h.map(A=>A[y])},m=(h,b)=>{const T=c.PARTIAL_NOZZLE_MAP[p],y=h.findIndex(L=>L.includes(b)),A=h[y].indexOf(b),S=h[y];if(S.length-A<T){const L=S.length-T;return S.slice(L,S.length)}const I=A+T;return S.slice(A,Math.min(I,S.length))};if(l.pipettes[n].hasTip=!0,l.pipettes[n].tiprackURI=a,d===c.SINGLE)l.tipracks[a][s]=ie;else if(d===c.PARTIAL_COLUMN&&p){const h=m(i.ordering,s);h==null?console.error(`Invalid primary well for tip pick up for partial config: ${s}`):h.forEach(function(b){l.tipracks[a][b]=ie})}else if(d===c.COLUMN){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]=ie})}else if(d===c.ROW){const h=_(i.ordering,s);h==null&&console.error("Invalid primary well for tip pickup: "+s),h?.forEach(function(b){l.tipracks[a][b]=ie})}else if(d===c.ALL)if(o.channels===96)i.ordering.reduce((b,T)=>b.concat(T),[]).forEach(function(b){l.tipracks[a][b]=ie});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]=ie})}else if(o.channels===1)l.tipracks[a][s]=ie;else if(o.channels===96)i.ordering.reduce((b,T)=>b.concat(T),[]).forEach(function(b){l.tipracks[a][b]=ie});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]=ie})}r.robotState.pipettes[n].tiprackId=a,r.robotState.pipettes[n].tipWell=s}const LE={clean:Ea,empty:ie,used:Yt};function 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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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command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function ey(e,t,r){return D_({warnings:[],robotState:r},a=>{J_(e,t,a)})}function Hc(e,t,r){const n=M_(e);return D_({warnings:[],robotState:r},s=>{n.forEach(o=>{J_(o,t,s)})})}const mw=(e,t,r)=>{const n=e.reduce((a,s,o)=>{const i=a.timeline.length===0?r:Pc(a.timeline).robotState;if(a.errors!=null)return a;const l=s(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=M_(l.commands).reduce((f,_)=>ey(_,t,f.robotState),{robotState:i,warnings:[]}),d={commands:l.commands,robotState:p.robotState,warnings:l.warnings,stepInfo:{stepNumber:l.stepNumber,name:l.name,description:l.description},python:l.python};return{timeline:[...a.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},vn=(e,t)=>{const r=t[e]?.stack;return r!=null?G(r):""},Pn=e=>{if(e.type===c.VACUUM_MODULE_TYPE){const t=e;return t.currentPumpActivity.type==="timedHold"||t.currentPumpActivity.type==="profile"}if(e.type===c.THERMOCYCLER_MODULE_TYPE){const t=e;return t.currentBlockActivity.type==="profile"||t.currentBlockActivity.type==="blockTargetTemp"}return!1},Cn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?G(a.labware[r]?.stack):null;if(!t||!r||!s||!o)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(yh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&o==="4"||p==="3"&&o==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(s.name)&&i},ne=(e,t,r)=>{const n=e.reduce((a,s)=>{if(a.errors.length>0)return a;const o=s(t,a.robotState);if("errors"in o)return{robotState:a.robotState,commands:a.commands,errors:o.errors,warnings:a.warnings};const i=[...a.commands,...o.commands],l=[...a.python?[a.python]:[],...o.python?[o.python]:[]].join(`
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gw(e,t,r){const{labware:n,modules:a,pipettes:s,commands:o,liquids:i}=e,l=t.protocolType==="python"?t.apiVersion:null,u=l!=null&&l[0]>=bw&&l[1]>=Tw,p=t.protocolType==="json"&&r>=yw,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,A)=>{const{id:S,description:g,displayName:I,displayColor:L}=A;return{...y,[S]:{description:g,displayName:I??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:S}}},{}),_=a.reduce((y,A)=>{const{id:S,model:g}=A;return{...y,[S]:{id:S,type:c.getModuleType(g),model:g,pythonName:"n/a"}}},{}),m=n.reduce((y,A)=>{const{id:S,definitionUri:g}=A,I=d[g];return I==null||I.schemaVersion===3?y:{...y,[S]:{id:S,labwareDefURI:g,def:I,pythonName:"n/a"}}},{}),h=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{stackLabwareId:S,lidStackDefinition:g}=A.result;if(S!=null&&g!=null&&y[S]==null&&g.schemaVersion!==3)return{...y,[S]:{id:S,labwareDefURI:c.getLabwareDefURI(g),def:g,pythonName:"n/a"}}}return y},m),b=s.reduce((y,A)=>{const{id:S,pipetteName:g}=A,I=c.getPipetteSpecsV2(g),w=o.filter(k=>k.commandType==="pickUpTip"&&k.params.pipetteId===S).map(k=>h[k.params.labwareId]),E=Array.from(new Set(w.map(k=>k.labwareDefURI))),R=Array.from(new Set(w.map(k=>k.def)));return I==null||(y[S]={name:g,id:S,tiprackLabwareDef:R,tiprackDefURI:E,spec:I,pythonName:"n/a"}),y},{}),T=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:S}=A,g=Bu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const S=A.params.addressableAreaName,g=`${F()}:${S}`;let I=Oh;S==="fixedTrash"?I="cutout12":S.includes("WasteChute")?I="cutoutD3":S.includes("movableTrash")&&(I=`cutout${S.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(E=>E.location===I)||(S.includes("movableTrash")?L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}:S==="fixedTrash"&&(L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}));let w=y.wasteChuteEntities;return S.includes("WasteChute")&&(w={[g]:{pythonName:"waste_chute",id:g,location:I}}),{...y,trashBinEntities:L,wasteChuteEntities:w}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:h,pipetteEntities:b,moduleEntities:_,liquidEntities:u||p?f:{},...T}}const Iw={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function Ew(e,t){const r=e.reduce((o,i)=>i.commandType==="loadPipette"&&i.result!=null?{...o,[i.result.pipetteId]:{mount:i.params.mount}}:o,{}),n=e.reduce((o,i)=>{if(i.commandType==="loadModule"&&i.result!=null){const l=c.getModuleDef(i.params.model).moduleType;return{...o,[i.result.moduleId]:{slot:l===c.FLEX_STACKER_MODULE_TYPE?Iw[i.params.location.slotName]:i.params.location.slotName,moduleState:Lh[l]}}}return o},{}),a=e.reduce((o,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,_=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const h=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,h]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(S=>S.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),h=p.reduce((T,y,A)=>{const S=m[y]??u[A];if(S!=null){const g=Uu(S);T[y]={stack:g[0]===y?g:[y,...g]}}else{const g=i.params.location;c.locationIsOffDeck(g)?T[y]={stack:[y,g]}:"slotName"in g?T[y]={stack:[y,g.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...Uu(f)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const m=i.params.location,h=p.reduce((T,y)=>{if(c.locationIsOffDeck(m))T[y]={stack:[y,m]};else if("slotName"in m)T[y]={stack:[y,m.slotName]};else if("moduleId"in m){const A=m.moduleId;T[y]={stack:[y,A,n[A].slot]}}else T[y]={stack:[y,"offDeck"]};return T},{}),b=d!=null?[d,..._(m)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}}else if((i.commandType==="loadLabware"||i.commandType==="loadLid")&&i.result!=null){const l=[i.result.labwareId];if(c.locationIsOffDeck(i.params.location))l.push(i.params.location);else if("slotName"in i.params.location)l.push(i.params.location.slotName);else if("moduleId"in i.params.location){const u=i.params.location.moduleId;if(n[u]==null)return console.warn(`Module ${u} not found when processing loadLabware/loadLid command. `),o;l.push(i.params.location.moduleId,n[i.params.location.moduleId].slot)}else if("labwareId"in i.params.location){const u=i.params.location.labwareId;o[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),o[u]={stack:[u,"offDeck"]});const p=o[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...o,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return Vm(i).forEach(u=>{Bm(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return Vm(i).forEach(u=>{Bm(o,u,"fillCount")}),o}return o},{}),s=wc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...Hc(e,t,s),command:e[e.length-1]},invariantContext:t}}const Bm=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},Vm=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],zc=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var bu,$m;function ww(){if($m)return bu;$m=1;var e=hc();function t(r,n){var a;return e(r,function(s,o,i){return a=n(s,o,i),!a}),!!a}return bu=t,bu}var Tu,xm;function Sw(){if(xm)return Tu;xm=1;var e=Mh(),t=Sn(),r=ww(),n=Xe(),a=yc();function s(o,i,l){var u=n(o)?e:r;return l&&a(o,i,l)&&(i=void 0),u(o,t(i,3))}return Tu=s,Tu}var Aw=Sw();const Da=xe(Aw),Nn=(e,t)=>Da(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),Dn=(e,t,r)=>r.channels!==1&&Da(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),Ma=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Da(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),ty=(e,t,r)=>Da(e,(a,s)=>c.getAreSlotsHorizontallyAdjacent(r,G(a.stack))&&c.getIsLabwareAboveHeight(t[s].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Fa=(e,t,r)=>{const n=ka(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},Mn=(e,t,r)=>Da(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&n.moduleState.targetSpeed!=null&&n.moduleState.targetSpeed>0&&(r===c.OT2_ROBOT_TYPE?c.getAreSlotsAdjacent(n.slot,t):c.getAreFlexSlotsAdjacent(n.slot,t))),qa=(e,t,r)=>{const n=ka(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.targetSpeed!==null)},Ls=e=>{const{args:t,pipetteName:r,tiprackUri:n,liquidClassValuesForTip:a}=e;let s=null;"mixBeforeAspirate"in t?s=t.mixBeforeAspirate:"mixFirstAspirate"in t&&(s=t.mixFirstAspirate);const o=Lw(t),i={dispense_position:{offset:{x:t.dispenseXOffset,y:t.dispenseYOffset,z:t.dispenseZOffset},position_reference:t.dispensePositionReference},flow_rate_by_volume:[[0,t.dispenseFlowRateUlSec??0]],delay:{enabled:!!t.dispenseDelay?.seconds,...t.dispenseDelay?.seconds?{duration:t.dispenseDelay?.seconds}:{}},submerge:{delay:{enabled:!!t.dispenseSubmergeDelay?.seconds,...t.dispenseSubmergeDelay?.seconds?{duration:t.dispenseSubmergeDelay?.seconds}:{}},speed:t.dispenseSubmergeSpeed??void 0,start_position:{offset:{x:t.dispenseSubmergeXOffset,y:t.dispenseSubmergeYOffset,z:t.dispenseSubmergeZOffset},position_reference:t.dispenseSubmergePositionReference}},retract:{air_gap_by_volume:[[0,t.dispenseAirGapVolume??0]],delay:{enabled:!!t.dispenseRetractDelay?.seconds,...t.dispenseRetractDelay?.seconds?{duration:t.dispenseRetractDelay?.seconds}:{}},end_position:{offset:{x:t.dispenseRetractXOffset,y:t.dispenseRetractYOffset,z:t.dispenseRetractZOffset},position_reference:t.dispenseRetractPositionReference},speed:t.dispenseRetractSpeed??void 0,touch_tip:{enabled:t.touchTipAfterDispense,z_offset:t.touchTipAfterDispense?t.touchTipAfterDispenseOffsetMmFromTop:void 0,mm_from_edge:t.touchTipAfterDispense&&t.touchTipAfterDispenseMmFromEdge!=null?t.touchTipAfterDispenseMmFromEdge:void 0,speed:t.touchTipAfterDispense?t.touchTipAfterDispenseSpeed:void 0},blowout:{enabled:t.blowoutLocation!=null,location:ry(t.blowoutLocation),flow_rate:t.blowoutLocation!=null?t.blowoutFlowRateUlSec:void 0,...o!=null?{blowout_position:o}:{}}}},l={[r]:{[n]:{aspirate:{aspirate_position:{offset:{x:t.aspirateXOffset,y:t.aspirateYOffset,z:t.aspirateZOffset},position_reference:t.aspiratePositionReference},flow_rate_by_volume:[[0,t.aspirateFlowRateUlSec]],pre_wet:t.preWetTip,correction_by_volume:a?.aspirate.correctionByVolume??[[0,0]],delay:{enabled:!!t.aspirateDelay?.seconds,...t.aspirateDelay?.seconds?{duration:t.aspirateDelay?.seconds}:{}},mix:{enabled:!!s?.volume,...s?.times?{repetitions:s.times}:{},...s?.volume?{volume:s.volume}:{}},submerge:{delay:{enabled:!!t.aspirateSubmergeDelay?.seconds,...t.aspirateSubmergeDelay?.seconds?{duration:t.aspirateSubmergeDelay?.seconds}:{}},speed:t.aspirateSubmergeSpeed??void 0,start_position:{offset:{x:t.aspirateSubmergeXOffset,y:t.aspirateSubmergeYOffset,z:t.aspirateSubmergeZOffset},position_reference:t.aspirateSubmergePositionReference}},retract:{air_gap_by_volume:[[0,t.aspirateAirGapVolume??0]],delay:{enabled:!!t.aspirateRetractDelay?.seconds,...t.aspirateRetractDelay?.seconds?{duration:t.aspirateRetractDelay?.seconds}:{}},end_position:{offset:{x:t.aspirateRetractXOffset,y:t.aspirateRetractYOffset,z:t.aspirateRetractZOffset},position_reference:t.aspirateRetractPositionReference},speed:t.aspirateRetractSpeed??void 0,touch_tip:{enabled:t.touchTipAfterAspirate,z_offset:t.touchTipAfterAspirate?t.touchTipAfterAspirateOffsetMmFromTop:void 0,mm_from_edge:t.touchTipAfterAspirate&&t.touchTipAfterAspirateMmFromEdge!=null?t.touchTipAfterAspirateMmFromEdge:void 0,speed:t.touchTipAfterAspirate?t.touchTipAfterAspirateSpeed:void 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 t=ry(e.blowoutLocation);return!t||t==="trash"?null:{offset:{x:e.blowoutXPosition??0,y:e.blowoutYPosition??0,z:e.blowoutOffsetFromTopMm??1},position_reference:e.blowoutPositionReference??c.POSITION_REFERENCE_TOP}},Os=e=>{const{labwareEntities:t,tiprackIds:r}=e;return`tip_racks=[${r.map(a=>t[a].pythonName).join(", ")}]`};var gu,Hm;function Ow(){if(Hm)return gu;Hm=1;var e="Expected a function";function t(r){if(typeof r!="function")throw new TypeError(e);return function(){var n=arguments;switch(n.length){case 0:return!r.call(this);case 1:return!r.call(this,n[0]);case 2:return!r.call(this,n[0],n[1]);case 3:return!r.call(this,n[0],n[1],n[2])}return!r.apply(this,n)}}return gu=t,gu}var Iu,zm;function Rw(){if(zm)return Iu;zm=1;var e=Fc(),t=En(),r=fs(),n=er(),a=wn();function s(o,i,l,u){if(!n(o))return o;i=t(i,o);for(var p=-1,d=i.length,f=d-1,_=o;_!=null&&++p<d;){var m=a(i[p]),h=l;if(m==="__proto__"||m==="constructor"||m==="prototype")return o;if(p!=f){var b=_[m];h=u?u(b,m,_):void 0,h===void 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a&&a.length?e(a,r,t):void 0}return Lu=n,Lu}var Hw=xw();const zw=xe(Hw),oy="2.28",jw="8.11.0";function Gw(){return["import json","from opentrons import protocol_api, types"].join(`
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")})`}},Jg=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,wellLocation:o}=e,{pipetteEntities:i}=t,l=i[n].pythonName,u=t.labwareEntities[a].pythonName;return{commands:[{commandType:"tryLiquidProbe",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o}}],python:`${l}.detect_liquid_presence(${u}[${N(s)}])`}};function R(e,t){return(r,n)=>e(t,r,n)}function O(e,t){return(r,n)=>{const a=e(t,r,n);if("python"in a){const{python:s,...o}=a;return o}return a}}const Ge="__air__",jr="source_well",vn="dest_well",L_=(e,t,r)=>{const s=c.getDeckDefFromRobotType(r).cutoutFixtures.find(l=>l.id.includes(t))?.providesAddressableAreas,i=(l=>{if(s!=null){for(const u in s)if(s[u].includes(l))return u}return null})(e);if(i==null)throw Error(`expected to find cutoutId from addressableAreaName ${e} but could not`);return i};function O_(e){switch(e){case 1:return c.ONE_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 8:return c.EIGHT_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA;case 96:return c.NINETY_SIX_CHANNEL_WASTE_CHUTE_ADDRESSABLE_AREA}}function kc(e){const t=c.getDeckDefFromRobotType(e==="cutout12"?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE);let r=null;return t.robot.model===c.FLEX_ROBOT_TYPE&&(r=t.cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null),t.robot.model===c.FLEX_ROBOT_TYPE&&r==null&&console.error(`expected to find a list of cutouts for the Flex but could not with trashLocation ${e}`),r!=null?r[e]?.[0]:"fixedTrash"}function R_(e){if(e==="fixedTrash")return"cutout12";const r=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE).cutoutFixtures.find(n=>n.id==="trashBinAdapter")?.providesAddressableAreas??null;if(r==null)return console.error("Could not find trashBinAdapter cutouts for Flex"),null;for(const[n,a]of Object.entries(r))if(a.includes(e))return n;return console.error(`Could not find trashLocation for addressableAreaName ${e}`),null}function kn(e,t,r,n){return e[n]!=null?"labware":t[n]!=null?"wasteChute":r[n]!=null?"trashBin":(console.error(`expected to determine if dest labware is a labware or waste chute with destLabware ${n} but could not`),null)}function v_(e,t){return Tn(dn(t),r=>e)}function fr(e){return lt(e,(t,r,n)=>n===Ge?t:t+r.volume,0)}function Qt(e,t){const r=fr(t);if(r===0)return{source:t,dest:{[Ge]:{volume:e}}};if(e>r)return{source:Jt(t,()=>({volume:0})),dest:{...t,[Ge]:{volume:e-r}}};const n=lt(t,(a,s,o)=>({...a,[o]:s.volume/r}),{});return Object.keys(t).reduce((a,s)=>{const o=n[s]*e;return{source:{...a.source,[s]:{volume:t[s].volume-o}},dest:{...a.dest,[s]:{volume:o}}}},{source:{},dest:{}})}function mr(e,t){return{...t,...lt(e,(r,n,a)=>{const o=a in t?n.volume+t[a].volume:n.volume;return{...r,[a]:{volume:o}}},{})}}function Pc(e,t,r){const n=e===1?[r]:c.getWellNamePerMultiTip(t,r,e);if(!n)return console.warn(e===1?`Invalid well: ${r}`:`For labware def (URI ${c.getLabwareDefURI(t)}), with primary well ${r}, no wells are 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D_=(e,t)=>e.tipracks[t]!=null?Object.values(e.tipracks[t]).some(r=>r!==ie):!1,M_=(e,t)=>e.labware[t]!=null?Object.values(e.labware[t]).some(r=>Object.values(r).some(n=>n.volume>0)):!1,eI=(e,t,r)=>{const{destinationId:n,pipetteId:a,volume:s,flowRate:o,offsetFromBottomMm:i,well:l,xOffset:u,yOffset:p,tipRack:d,primaryNozzle:f,nozzles:_}=e,{labwareEntities:m,trashBinEntities:h,wasteChuteEntities:b}=t,T=kn(m,b,h,n);let y=[];return T==="labware"&&i!=null&&l!=null?y=[R(Ec,{pipetteId:a,volume:s,labwareId:n,wellName:l,flowRate:o,wellLocation:{origin:"bottom",offset:{z:i,x:u,y:p}},tipRack:d,primaryNozzle:f,nozzles:_})]:T==="wasteChute"?y=[R(xS,{pipetteId:a,volume:s,flowRate:o,wasteChuteId:b[n].id})]:y=[R(BS,{pipetteId:a,volume:s,flowRate:o,trashId:h[n].id})],ne(y,t,r)},tI=(e,t,r)=>{const{destinationId:n,pipetteId:a,zOffset:s,well:o}=e,{labwareEntities:i,wasteChuteEntities:l,trashBinEntities:u}=t,p=kn(i,l,u,n);let d=[];return p==="labware"&&o!=null?d=[R(B,{pipetteId:a,labwareId:n,wellName:o,wellLocation:{origin:"bottom",offset:{x:0,y:0,z:s}}})]:p==="wasteChute"?d=[R(Fe,{pipetteId:a,fixtureId:l[n].id,offset:{x:0,y:0,z:0}})]:d=[R(Fe,{pipetteId:a,fixtureId:u[n].id,offset:wt})],ne(d,t,r)},rI=(e,t,r)=>{const{blowOutLocation:n,destinationId:a,destWell:s,flowRate:o,pipetteId:i,sourceId:l,sourceWell:u,volume:p}=e,{labwareEntities:d,trashBinEntities:f,wasteChuteEntities:_}=t,m=kn(d,_,f,a);let h=[];if(m==="labware"&&s!=null){const{dispenseAirGapLabware:b,dispenseAirGapWell:T}=N_({blowoutLocation:n,sourceLabware:l,destLabware:a,sourceWell:u,destWell:s});h=[R(FS,{flowRate:o,pipetteId:i,labwareId:b,wellName:T,volume:p,type:"dispense"})]}else m==="wasteChute"?h=[R(MS,{pipetteId:i,volume:p,flowRate:o,wasteChuteId:_[a].id})]:h=[R(DS,{pipetteId:i,volume:p,flowRate:o,trashId:f[a].id})];return ne(h,t,r)},nI=(e,t,r)=>{const{pipetteId:n,destinationId:a,well:s,zOffset:o,seconds:i}=e,{labwareEntities:l,trashBinEntities:u,wasteChuteEntities:p}=t,d=kn(l,p,u,a);let f=[];return s!=null&&d==="labware"?f=[R(B,{pipetteId:n,labwareId:a,wellName:s,wellLocation:{origin:"bottom",offset:{x:0,y:0,z:o}}}),R(fe,{seconds:i})]:d==="wasteChute"?f=[R(Fe,{pipetteId:n,fixtureId:a,offset:wt}),R(fe,{seconds:i})]:f=[R(Fe,{pipetteId:n,fixtureId:a,offset:wt}),R(fe,{seconds:i})],ne(f,t,r)},G=(e,t=!1)=>{if(e==null)return console.error("expected to find stack but could not"),"unknown slot";{const r=e[e.length-1];return t?`STACKER ${r.slice(-2,-1)}`:r}},Nc=e=>e==null?(console.error("expected to find stack but could not"),"unknown top location"):e[0],F_=e=>e.length>=2?e[1]:null,fn=(e,t)=>Object.values(e).reduce((r,{stack:n})=>(n[n.length-1]===t&&n.length>r.length&&(r=n),r),[]),Dc=e=>c.FLEX_SINGLE_SLOT_BY_CUTOUT_ID[c.FLEX_CUTOUT_BY_SLOT_ID[e]],q_=e=>{const t=c.FLEX_STACKER_ADDRESSABLE_AREAS.indexOf(e);return 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sw=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.ventStatus=sc)},ow=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.ventStatus=Sa)},iw=(e,t,r)=>{const{moduleId:n,gaugePressure:a,duration:s,ventAfter:o=!0,taskId:i}=e,{robotState:l}=r,u=st(l,n);u!=null&&(s==null||i==null?u.currentPumpActivity={type:"indefiniteHold",mode:Vu,targetPressure:a}:(u.currentPumpActivity={type:"timedHold",mode:Vu,targetPressure:a,durationSeconds:s,taskId:i,ventAfter:o},u.numPumpActivitiesStarted++),u.ventStatus=Sa)},lw=(e,t,r)=>{const{moduleId:n,percentPower:a,duration:s,ventAfter:o=!0,taskId:i}=e,{robotState:l}=r,u=st(l,n);u!=null&&(s==null||i==null?u.currentPumpActivity={type:"indefiniteHold",mode:$u,targetPower:a}:(u.currentPumpActivity={type:"timedHold",mode:$u,targetPower:a,durationSeconds:s,taskId:i,ventAfter:o},u.numPumpActivitiesStarted++),u.ventStatus=Sa)},uw=(e,t,r)=>{const{moduleId:n}=e,{robotState:a}=r,s=st(a,n);s!=null&&(s.currentPumpActivity={type:"pumpDeactivated"})},cw=(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++)},pw=e=>{if(e.currentPumpActivity.type==="timedHold"||e.currentPumpActivity.type==="profile"){const t=e.currentPumpActivity.ventAfter;return e.currentPumpActivity={type:"pumpDeactivated"},e.ventStatus=t?sc:Sa,!0}return!1};function dw(e,t,r){for(const n of e.task_ids)ly(n,r)||r.warnings.push(Bg())}const ly=(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"?nw(a.moduleState):a.moduleState.type==="vacuumModuleType"?pw(a.moduleState):(console.log(`unexpected module type with task: ${a.moduleState.type}`),!1)},Pn=(e,t)=>{const r=Ot(e,t);return r.type===c.HEATERSHAKER_MODULE_TYPE?r:(console.error(`Heater-Shaker 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uy(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function Iw(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);uy(s,!0)}function Ew(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);uy(s,!1)}const gu=(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},cy=(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},py=(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=gu(u,t.storedLabwareDetails?.primaryLabwareURI),_=o!=null?gu(u,t.storedLabwareDetails?.adapterLabwareURI):null,m=i!=null?gu(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}},ww=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=Object.entries(n.labware).filter(([,i])=>i.stack.includes(je)&&i.stack.includes(a)),o=ft(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]}})},Sw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,labware:o}=e,i=n.modules[s].slot,l=ft(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 _=[je,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(A=>A!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:T.slice(T.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:T.slice(T.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:T.slice(T.indexOf(b.lidLabwareId))});let y=null;for(const A of T)a[A]!=null&&(y==null?n.labware[A].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[A].stackedOnNode={labwareId:y},y=A)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},Aw=(e,t,r)=>{const{robotState:n}=r,{labwareEntities:a}=t,{moduleId:s,primaryLabware:o,initialCount:i,adapterLabware:l,lidLabware:u,initialStoredLabware:p}=e,d=n.modules[s].slot,f=ft(n,s),_=[je,s,d];f!=null&&(f.storedLabwareDetails={primaryLabwareURI:`${o.namespace}/${o.loadName}/${o.version}`,adapterLabwareURI:l!=null?`${l.namespace}/${l.loadName}/${l.version}`:null,lidLabwareURI:u!=null?`${u.namespace}/${u.loadName}/${u.version}`:null},i!=null?py(n,f,a,i,_,"setStoredLabwareCount",l?.loadName,u?.loadName):p!=null&&cy(f,p,n,_),f.setStoredLabwareCount=(f?.setStoredLabwareCount??0)+1)},Lw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,labware:s}=e,{labwareEntities:o}=t,i=n.modules[a].slot,l=ft(n,a);if(l==null)return;const u=s.map(g=>g.split(":")[1]),p=new 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=[je,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})),A=new Map(T.map(g=>[g.primaryLabwareId,g])),S=[];for(const g of y)S.push(g),A.delete(g.primaryLabwareId);for(const g of T)A.has(g.primaryLabwareId)&&S.push(g);l.labwareInHopper=S},Ow=(e,t,r)=>{const{robotState:n}=r,{moduleId:a,count:s,labwareToStore:o}=e,{labwareEntities:i}=t,l=n.modules[a].slot,u=ft(n,a),p=[je,a,l];if(u!=null){const d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?py(n,u,i,s,p,"fillCount",d,f):o!=null&&cy(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},Rw=(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 Zt){const _=u[f];if(_!=null){if(p.unshift(_),n.labware[_].stack=[...p],d==null){const m=Ss(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=_}}}}},vw=(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 Zt){const p=i[u];p!=null&&(n.labware[p].stack=[p,je,a,o],l==null?(n.labware[p].stackedOnNode={kind:"inStackerHopper",moduleId:a},l=p):n.labware[p].stackedOnNode={labwareId:l})}s.storedLabwareDetails==null&&(s.storedLabwareDetails={primaryLabwareURI:t.labwareEntities[i.primaryLabwareId].labwareDefURI,adapterLabwareURI:i.adapterLabwareId!=null?t.labwareEntities[i.adapterLabwareId].labwareDefURI:null,lidLabwareURI:i.lidLabwareId!=null?t.labwareEntities[i.lidLabwareId].labwareDefURI:null})}}};function dy(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function kw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=Ot(n,a);dy(o,s,rc)}function Pw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=Ot(n,a);o.type===c.TEMPERATURE_MODULE_TYPE&&s===o.targetTemperature&&(o.status=tc)}function Cw(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=Ot(n,a);dy(s,null,Ea)}function fy(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},Dn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?G(a.labware[r]?.stack):null;if(!t||!r||!s||!o)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(Lh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&o==="4"||p==="3"&&o==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(s.name)&&i},ne=(e,t,r)=>{const n=e.reduce((a,s)=>{if(a.errors.length>0)return a;const o=s(t,a.robotState);if("errors"in o)return{robotState:a.robotState,commands:a.commands,errors:o.errors,warnings:a.warnings};const i=[...a.commands,...o.commands],l=[...a.python?[a.python]:[],...o.python?[o.python]:[]].join(`
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$w(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]>=qw&&l[1]>=Uw,p=t.protocolType==="json"&&r>=Fw,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,A)=>{const{id:S,description:g,displayName:I,displayColor:L}=A;return{...y,[S]:{description:g,displayName:I??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:S}}},{}),_=a.reduce((y,A)=>{const{id:S,model:g}=A;return{...y,[S]:{id:S,type:c.getModuleType(g),model:g,pythonName:"n/a"}}},{}),m=n.reduce((y,A)=>{const{id:S,definitionUri:g}=A,I=d[g];return I==null||I.schemaVersion===3?y:{...y,[S]:{id:S,labwareDefURI:g,def:I,pythonName:"n/a"}}},{}),h=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{stackLabwareId:S,lidStackDefinition:g}=A.result;if(S!=null&&g!=null&&y[S]==null&&g.schemaVersion!==3)return{...y,[S]:{id:S,labwareDefURI:c.getLabwareDefURI(g),def:g,pythonName:"n/a"}}}return y},m),b=s.reduce((y,A)=>{const{id:S,pipetteName:g}=A,I=c.getPipetteSpecsV2(g),w=o.filter(k=>k.commandType==="pickUpTip"&&k.params.pipetteId===S).map(k=>h[k.params.labwareId]),E=Array.from(new Set(w.map(k=>k.labwareDefURI))),v=Array.from(new Set(w.map(k=>k.def)));return I==null||(y[S]={name:g,id:S,tiprackLabwareDef:v,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=xu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:S}=A,g=xu(S);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...g}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const S=A.params.addressableAreaName,g=`${D()}:${S}`;let I=Fh;S==="fixedTrash"?I="cutout12":S.includes("WasteChute")?I="cutoutD3":S.includes("movableTrash")&&(I=`cutout${S.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(E=>E.location===I)||(S.includes("movableTrash")?L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}:S==="fixedTrash"&&(L={...y.trashBinEntities,[g]:{pythonName:"trash_bin_1",id:g,location:I}}));let w=y.wasteChuteEntities;return S.includes("WasteChute")&&(w={[g]:{pythonName:"waste_chute",id:g,location:I}}),{...y,trashBinEntities:L,wasteChuteEntities:w}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:h,pipetteEntities:b,moduleEntities:_,liquidEntities:u||p?f:{},...T}}const Vw={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function Bw(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?Vw[i.params.location.slotName]:i.params.location.slotName,moduleState:Mh[l]}}}return o},{}),a=e.reduce((o,i)=>{if(i.commandType==="loadLidStack"&&i.result!=null){const{result:l}=i,u=l.locationSequences,p=l.labwareIds,d=l.stackLabwareId,f=l.stackLocationSequence,_=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const h=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,h]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(S=>S.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),h=p.reduce((T,y,A)=>{const S=m[y]??u[A];if(S!=null){const g=Bu(S);T[y]={stack:g[0]===y?g:[y,...g]}}else{const g=i.params.location;c.locationIsOffDeck(g)?T[y]={stack:[y,g]}:"slotName"in g?T[y]={stack:[y,g.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...Bu(f)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const m=i.params.location,h=p.reduce((T,y)=>{if(c.locationIsOffDeck(m))T[y]={stack:[y,m]};else if("slotName"in m)T[y]={stack:[y,m.slotName]};else if("moduleId"in m){const A=m.moduleId;T[y]={stack:[y,A,n[A].slot]}}else T[y]={stack:[y,"offDeck"]};return T},{}),b=d!=null?[d,..._(m)]:null;return{...o,...h,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}}else if((i.commandType==="loadLabware"||i.commandType==="loadLid")&&i.result!=null){const l=[i.result.labwareId];if(c.locationIsOffDeck(i.params.location))l.push(i.params.location);else if("slotName"in i.params.location)l.push(i.params.location.slotName);else if("moduleId"in i.params.location){const u=i.params.location.moduleId;if(n[u]==null)return console.warn(`Module ${u} not found when processing loadLabware/loadLid command. `),o;l.push(i.params.location.moduleId,n[i.params.location.moduleId].slot)}else if("labwareId"in i.params.location){const u=i.params.location.labwareId;o[u]==null&&(console.warn(`Parent labware ${u} not found when processing loadLabware/loadLid command. `),o[u]={stack:[u,"offDeck"]});const p=o[u].stack;l.push(u,...p)}else l.push(i.params.location.addressableAreaName);return{...o,[i.result.labwareId]:{stack:l}}}else{if(i.commandType==="flexStacker/setStoredLabware")return Km(i).forEach(u=>{Ym(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return Km(i).forEach(u=>{Ym(o,u,"fillCount")}),o}return o},{}),s=Cc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...Qc(e,t,s),command:e[e.length-1]},invariantContext:t}}const Ym=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},Km=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],Jc=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var Iu,Xm;function xw(){if(Xm)return Iu;Xm=1;var e=bc();function t(r,n){var a;return e(r,function(s,o,i){return a=n(s,o,i),!a}),!!a}return Iu=t,Iu}var Eu,Zm;function Hw(){if(Zm)return Eu;Zm=1;var e=zh(),t=On(),r=xw(),n=Ze(),a=gc();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 Eu=s,Eu}var zw=Hw();const Fa=xe(zw),Mn=(e,t)=>Fa(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),Fn=(e,t,r)=>r.channels!==1&&Fa(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),qa=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Fa(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),hy=(e,t,r)=>Fa(e,(a,s)=>c.getAreSlotsHorizontallyAdjacent(r,G(a.stack))&&c.getIsLabwareAboveHeight(t[s].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Ua=(e,t,r)=>{const n=Pa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},qn=(e,t,r)=>Fa(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&n.moduleState.targetSpeed!=null&&n.moduleState.targetSpeed>0&&(r===c.OT2_ROBOT_TYPE?c.getAreSlotsAdjacent(n.slot,t):c.getAreFlexSlotsAdjacent(n.slot,t))),$a=(e,t,r)=>{const n=Pa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.targetSpeed!==null)},ks=e=>{const{args:t,pipetteName:r,tiprackUri:n,liquidClassValuesForTip:a}=e;let s=null;"mixBeforeAspirate"in t?s=t.mixBeforeAspirate:"mixFirstAspirate"in t&&(s=t.mixFirstAspirate);const o=jw(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 0,start_position:{offset:{x:t.dispenseSubmergeXOffset,y:t.dispenseSubmergeYOffset,z:t.dispenseSubmergeZOffset},position_reference:t.dispenseSubmergePositionReference}},retract:{air_gap_by_volume:[[0,t.dispenseAirGapVolume??0]],delay:{enabled:!!t.dispenseRetractDelay?.seconds,...t.dispenseRetractDelay?.seconds?{duration:t.dispenseRetractDelay?.seconds}:{}},end_position:{offset:{x:t.dispenseRetractXOffset,y:t.dispenseRetractYOffset,z:t.dispenseRetractZOffset},position_reference:t.dispenseRetractPositionReference},speed:t.dispenseRetractSpeed??void 0,touch_tip:{enabled:t.touchTipAfterDispense,z_offset:t.touchTipAfterDispense?t.touchTipAfterDispenseOffsetMmFromTop:void 0,mm_from_edge:t.touchTipAfterDispense&&t.touchTipAfterDispenseMmFromEdge!=null?t.touchTipAfterDispenseMmFromEdge:void 0,speed:t.touchTipAfterDispense?t.touchTipAfterDispenseSpeed:void 0},blowout:{enabled:t.blowoutLocation!=null,location:_y(t.blowoutLocation),flow_rate:t.blowoutLocation!=null?t.blowoutFlowRateUlSec:void 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0,start_position:{offset:{x:t.aspirateSubmergeXOffset,y:t.aspirateSubmergeYOffset,z:t.aspirateSubmergeZOffset},position_reference:t.aspirateSubmergePositionReference}},retract:{air_gap_by_volume:[[0,t.aspirateAirGapVolume??0]],delay:{enabled:!!t.aspirateRetractDelay?.seconds,...t.aspirateRetractDelay?.seconds?{duration:t.aspirateRetractDelay?.seconds}:{}},end_position:{offset:{x:t.aspirateRetractXOffset,y:t.aspirateRetractYOffset,z:t.aspirateRetractZOffset},position_reference:t.aspirateRetractPositionReference},speed:t.aspirateRetractSpeed??void 0,touch_tip:{enabled:t.touchTipAfterAspirate,z_offset:t.touchTipAfterAspirate?t.touchTipAfterAspirateOffsetMmFromTop:void 0,mm_from_edge:t.touchTipAfterAspirate&&t.touchTipAfterAspirateMmFromEdge!=null?t.touchTipAfterAspirateMmFromEdge:void 0,speed:t.touchTipAfterAspirate?t.touchTipAfterAspirateSpeed:void 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 qr(u)},Va=(e,t)=>`${c.getAllLiquidClassDefs()[e].liquidClassName}${t?"_base_class":""}`,_y=e=>{if(e!=null)return e===jr?"source":e===vn?"destination":"trash"},jw=e=>{const 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a&&a.length?e(a,r,t):void 0}return vu=n,vu}var lS=iS();const uS=xe(lS),gy="2.28",cS="8.11.0";function pS(){return["import json","from opentrons import protocol_api, types"].join(`
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-)`}else{const T=[`${bs}[${C(c.getLabwareDefURI(i))}]`,...h?[h]:[]].join(`,
+${K(T)},
+)`}else{const T=[`${Is}[${N(c.getLabwareDefURI(i))}]`,...h?[h]:[]].join(`,
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-${Z(T)},
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 )`}}).join(`
 `);return a?`# Load Adapters:
-${a}`:""}const Kw=(e,t,r)=>e.reduce((n,{id:a,labwareDefURI:s,def:o})=>{const{stack:i}=r[a],l=i.length-1,u=i.slice(1,l),p=u.find(T=>t[T]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(T=>t[T]?.labwareDefURI===s)||p!=null,f=o.parameters.loadName;if(!d)return n;const _=p!=null?t[p]?.pythonName:G(i),m=i.length-(p!=null?2:1);if(!(_ in n))return{...n,[_]:{loadName:f,quantity:m}};const{quantity:h}=n[_],b=zw([h,m])??h;return{...n,[_]:{loadName:f,quantity:b}}},{}),uy=(e,t)=>{const r=Object.values(e).filter(s=>s.def.allowedRoles?.includes("lid")),n=Kw(r,e,t),a=Object.entries(n).map(([s,{loadName:o,quantity:i}])=>{const l=Object.values(e).some(({pythonName:m})=>m===s),u=`load_name=${C(o)}`,p=`location=${l?s:C(s)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
-`),_=Z(f);return`lid_stack_${s} = ${Ie}.load_lid_stack(
+${a}`:""}const mS=(e,t,r)=>e.reduce((n,{id:a,labwareDefURI:s,def:o})=>{const{stack:i}=r[a],l=i.length-1,u=i.slice(1,l),p=u.find(T=>t[T]?.def.parameters.loadName==="opentrons_flex_deck_riser"),d=u.every(T=>t[T]?.labwareDefURI===s)||p!=null,f=o.parameters.loadName;if(!d)return n;const _=p!=null?t[p]?.pythonName:G(i),m=i.length-(p!=null?2:1);if(!(_ in n))return{...n,[_]:{loadName:f,quantity:m}};const{quantity:h}=n[_],b=uS([h,m])??h;return{...n,[_]:{loadName:f,quantity:b}}},{}),wy=(e,t)=>{const r=Object.values(e).filter(s=>s.def.allowedRoles?.includes("lid")),n=mS(r,e,t),a=Object.entries(n).map(([s,{loadName:o,quantity:i}])=>{const l=Object.values(e).some(({pythonName:m})=>m===s),u=`load_name=${N(o)}`,p=`location=${l?s:N(s)}`,d=`quantity=${i}`,f=[u,p,d].join(`,
+`),_=K(f);return`lid_stack_${s} = ${be}.load_lid_stack(
 ${_},
 )`}).join(`
 `);return a?`# Load Lid Stacks:
-${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(`,
+${a}`:""},hS=e=>{const{parameters:t,namespace:r,version:n}=e;return[`lid=${N(t.loadName)}`,`lid_namespace=${N(r)}`,`lid_version=${n}`]};function Sy(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,v;if(w&&!A)E=r[S].pythonName;else if(L){const q=I!=null?I?.[0]:S;E=t[q].pythonName}else E=be,v=`location=${S==="offDeck"||A?la:N(S)}`;const k=y?`label=${N(a[p])}`:void 0;if(c.getLabwareDefIsStandard(d)){const q=[`${N(m.loadName)}`,...v?[v]:[],...k?[k]:[],`namespace=${N(h)}`,`version=${b}`,...T!=null?hS(T.def):[]].join(`,
 `);return[...l,`${f} = ${E}.load_labware(
-${Z(q)},
-)`]}else{const q=[`${bs}[${C(c.getLabwareDefURI(d))}]`,...R?[R]:[],...k?[k]:[]].join(`,
+${K(q)},
+)`]}else{const q=[`${Is}[${N(c.getLabwareDefURI(d))}]`,...v?[v]:[],...k?[k]:[]].join(`,
 `);return[...l,`${f} = ${E}.load_labware_from_definition(
-${Z(q)},
+${K(q)},
 )`]}},[]).join(`
 `);return i?`# Load Labware:
-${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(`
+${i}`:""}function Ay(e,t){const r=Object.values(e).map(n=>{const{name:a,id:s,spec:o,pythonName:i}=n,l=o.channels===96?"":N(t[s].mount),u=c.isFlexPipette(a)?c.getFlexNameConversion(o):a;return`${i} = ${be}.load_instrument(${[N(u),...l?[l]:[]].join(", ")})`}).join(`
 `);return r?`# Load Pipettes:
-${r}`:""}function dy(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:s,description:o}=r,i=[`${C(s)}`,...o?[`description=${C(o)}`]:[],`display_color=${C(a)}`].join(`,
-`);return`${n} = ${Ie}.define_liquid(
-${Z(i)},
+${r}`:""}function Ly(e){const t=Object.values(e).map(r=>{const{pythonName:n,displayColor:a,displayName:s,description:o}=r,i=[`${N(s)}`,...o?[`description=${N(o)}`]:[],`display_color=${N(a)}`].join(`,
+`);return`${n} = ${be}.define_liquid(
+${K(i)},
 )`}).join(`
 `);return t?`# Define Liquids:
-${t}`:""}function fy(e,t,r){const n=Object.entries(e).reduce((s,[o,i])=>{const l=r[o].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const _=t[d].pythonName,m=`${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(`,
+${t}`:""}function Oy(e,t,r){const n=Object.entries(e).reduce((s,[o,i])=>{const l=r[o].pythonName;return Object.entries(i).forEach(([u,p])=>{Object.entries(p).forEach(([d,f])=>{const _=t[d].pythonName,m=`${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=ws(u,8).map(m=>ka+m.join(", ")).join(`,
 `),_=[`wells=[${u.length<8?u.join(", "):`
 ${d}
 `}],
 liquid=${o},
 volume=${i},
 `].join();return`${s}.load_liquid(
-${Z(_)})`}).join(`
+${K(_)})`}).join(`
 `);return a?`# Load Liquids:
-${a}`:""}function my(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${Ua(n,!0)} = ${Ie}.get_liquid_class(${C(t[n].liquidClassName)})`).join(`
+${a}`:""}function Ry(e){const t=c.getAllLiquidClassDefs(),r=e.map(n=>n==null?"":`${Va(n,!0)} = ${be}.get_liquid_class(${N(t[n].liquidClassName)})`).join(`
 `);return e.length>0?`# Load Liquid Classes:
-${r}`:""}function hy(e){const t=Object.values(e)?.map(r=>{const n=C(c.getCutoutDisplayName(r.location));return`${r.pythonName} = ${Ie}.load_trash_bin(${n})`}).join(`
+${r}`:""}function vy(e){const t=Object.values(e)?.map(r=>{const n=N(c.getCutoutDisplayName(r.location));return`${r.pythonName} = ${be}.load_trash_bin(${n})`}).join(`
 `);return t?`# Load Trash Bins:
-${t}`:""}function _y(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${Ie}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
-${t}`:""}const Zw=e=>e?`
+${t}`:""}function ky(e){const t=Object.values(e)?.map(r=>`${r.pythonName} = ${be}.load_waste_chute()`);return t.length>0?`# Load Waste Chute:
+${t}`:""}const _S=e=>e?`
 `+e.split(/\r\n|\r|\n/).map(t=>`# ${t}`).join(`
-`):"";function yy(e){return`# PROTOCOL STEPS
+`):"";function Py(e){return`# PROTOCOL STEPS
 
-`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${Zw(n)}
+`+e.timeline.map(t=>{const{stepInfo:r}=t,n=r?.description;return`# Step ${r?.stepNumber}: ${r?.name}${_S(n)}
 ${t.python||"pass"}`}).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(`
+`)}function yS(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,_),Ey(i,l,m),wy(l,m),Sy(_,i,l,m,a),Ay(u,h),...s===c.FLEX_ROBOT_TYPE?[vy(f),ky(d)]:[],Ly(p),Oy(n,p,l),Ry(o),Cy(i,l,m,_,r),Py(r)].filter(y=>y).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(`,
+`)||"pass";return`def run(${be}: protocol_api.ProtocolContext) -> None:
+${K(T)}`}function bS(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`${Is} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Cs=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(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=${N(t[b[0]].def.parameters.loadName)}`,`namespace=${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(`,
 `);return`${p}.set_stored_labware(
-${Z(T)}
-)`}else{const h=Object.values(_).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=Ts(h,4).map(S=>Ra+S.join(", ")).join(`,
+${K(T)}
+)`}else{const h=Object.values(_).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=ws(h,4).map(S=>ka+S.join(", ")).join(`,
 `),A=`labware=[${h.length<4?h.join(", "):`
 ${T}
 `}],
 `;return`${p}.set_stored_labware_items(
-${Z(A)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
+${K(A)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
 ${o.join(`
-`).trimStart()}`:""},eS=(e,t,r,n)=>{const{spec:a}=t,s=e===c.ROW,o=e===c.COLUMN||e===c.ALL&&a.channels===8,i=n.ordering[0].length===1;if((o||s)&&i){const u=o?`H${r.slice(1)}`:`${r.charAt(0)}12`,p=a.nozzleMap[u],d=a.nozzleMap[r],f=p.map((h,b)=>h-d[b]),_=[f[0]/2,f[1]/2,0],m=d.map((h,b)=>h+_[b]);return{x:m[0],y:m[1],z:m[2]}}const l=a.nozzleMap[r];return{x:l[0],y:l[1],z:l[2]}},dn={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},Xm={x:dn.back_left.x,y:dn.back_left.y,z:dn.back_left.z},tS={x:dn.front_right.x,y:dn.front_right.y,z:dn.front_right.z},Ty=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutout${e.addressableArea?.id}`;if(t)return t}return 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 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Sy(e){const{pipetteId:t,tiprackId:r,invariantContext:n,robotState:a,nozzles:s,primaryNozzle:o}=e,i=n.pipetteEntities[t]?.spec?.channels,l=n.labwareEntities[r]?.def,u=a.tipState.tipracks[r];if(!i||!l||!u)return console.assert(!1,`Pipette ${t} missing channels/spec or tiprack definition`),null;const p=E=>u[E]===Ea,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),_=E=>E.find(p)??null,m=E=>[...E].reverse().find(p)??null,h=E=>E.find(R=>R.every(p))??null,b=E=>[...E].reverse().find(R=>R.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,A=T&&o===c.A1_NOZZLE,S=i===96&&s===c.SINGLE,g=S&&o===c.H12_NOZZLE,I=S&&o===c.A12_NOZZLE,L=S&&o===c.H1_NOZZLE,w=S&&o===c.A1_NOZZLE;if(i===1||y||g)return _(d);if(A)return _(f);if(s===c.PARTIAL_COLUMN){const E=_(d);if(!E)return null;const R=d.indexOf(E);return d[R]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(w)return m(d);if(I)return _(f);if(L)return m(f);if(s===c.COLUMN){const E=l.ordering;return(o===c.A1_NOZZLE?b(E):h(E))?.[0]??null}if(s===c.ROW){const E=l.ordering,R=E[0].map((B,q)=>E.map(ee=>ee[q]));return(o===c.A1_NOZZLE?b(R):h(R))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Va(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=wy(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const h=G(n.labware[m].stack)!=="offDeck",b=r.labwareEntities[m].labwareDefURI;return h&&b===t});let l=i;const u=o.spec.channels===96,p=[],d=[];u&&(l=l.filter(m=>{const h=n.labware[m].stack[1],b=r.labwareEntities[h],T=b?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(b?.def),y=s===c.ALL?T:!T;return y||p.push(m),y})),l=l.filter(m=>{const h=Object.entries(n.labware).find(([b,T])=>T.stack.includes(m)&&c.getIsLid(r.labwareEntities[b].def));return h!=null&&d.push(m),h==null});let f=null,_=null;for(const m of l){const h=Sy({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:b}=h!=null?dt({robotState:n,invariantContext:r,pipetteId:e,labwareId:m,wellTargetName:h,primaryNozzle:a,nozzleConfiguration:s}):{isSafe:!1},{isSafe:T,isComplete:y=!1}=h!=null?jc({tipState:n.tipState.tipracks[m],primaryNozzle:a,channels:o.spec.channels,nozzleConfiguration:s,wellName:h,tiprackDef:r.labwareEntities[m].def}):{isSafe:!1};if(h&&b&&T&&y){f=m,_=h;break}}return f&&_?{nextTiprack:{tiprackId:f,well:_},tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}:{nextTiprack:null,tipracks:{totalTipracks:i.length,excludedBy96Channel:p.length,excludedByLid:d.length,filteredSortedTiprackIds:l}}}function ks(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,s=n.tiprackLabwareDef;let o=null;for(const l of s)if(c.getLabwareDefURI(l)===r){o=l;break}const i=c.getTiprackVolume(o??s[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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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 Ns(e,t,r){const n=t.pipetteEntities[e],a=n.spec.liquids.default.maxVolume,s=n.tiprackLabwareDef;let o=null;for(const l of s)if(c.getLabwareDefURI(l)===r){o=l;break}const i=c.getTiprackVolume(o??s[0]);return!a||!i?(console.assert(!1,`getPipetteEffectiveMaxVol expected tiprackMaxVol and pipette maxVolume to be > 0, got',
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0}),h=u.pipetteEntities[t].spec,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(", 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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(B,{...f,wellLocation:{...f.wellLocation}})]:[];for(let S=0;S<n;S++)A.push(O(Ra,{pipetteId:t,volume:r,flowRate:a,...b>0?{correctionVolume:b}:{}}),...uh(o),O(Xe,{pipetteId:t,volume:r,flowRate:s,...S<n-1?{pushOut:0}:l==null?{}:{pushOut:l},...T>0?{correctionVolume:T}:{}}),...uh(i));return[...A,..._?[m]:[]]},Gy=(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,v=e.aspirateDelaySeconds??0,k=e.dispenseDelaySeconds??0,$=t.pipetteEntities[a]?.spec.channels!==1;if(r.pipettes[a]==null||t.pipetteEntities[a]==null)return{errors:[ut({pipette:a})]};if(r.labware[s]==null)return{errors:[ct({actionName:"mix",labware:s})]};const q=G(r.labware[s]?.stack);if(Object.keys(t.wasteChuteEntities).length>0&&q===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)return{errors:[ba()]};const pe=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],_e=pe.length>0?pe[0]:null,le=Object.values(t.labwareEntities).find(({labwareDefURI:W})=>W===m),Te=le!=null&&c.getIsTiprack(le.def),ke=t.wasteChuteEntities[m]!=null,He=t.trashBinEntities[m]!=null,$e=r.pipettes[a]?.tipWell!=null;if(m==null||Te&&_e==null&&u!=="never"&&$e||!Te&&!ke&&!He)return{errors:[En()]};if($){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:[Ut({unsafePipetteMovementReason:W.reason})]};const C=dt({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:I,nozzleConfiguration:g});if(!C.isSafe)return{errors:[Ut({unsafePipetteMovementReason:C.reason})]}}const te=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Ee=te?[R(gn,{pipetteId:a,volume:i})]:[],ze=t.pipetteEntities[a].spec,ge=E===St&&w!=null&&L!=null&&L.length>0?Ba({wellSets:L,nozzles:g,channels:ze.channels,primaryNozzle:I}):null,X=Tn(o,(W,C)=>{let P=[];if(u==="always"||u==="once"&&C===0){const ye=ge?.shift();P=[R(Ha,{pipette:a,primaryNozzle:I,dropTipLocation:Te&&_e!=null?_e:m,tipRack:h,nozzles:g,...E===St&&ye!=null&&w!=null?{tipSelectionArgs:{tipRackId:w,tipWell:ye}}:{},isFromMixCommand:!0})]}const V=te||e.blowoutLocation!=null&&C>0?[R(Lt,{pipetteId:a})]:[],M=e.touchTip?[R(Et,{pipetteId:a,labwareId:s,wellName:W,zOffsetFromTop:e.touchTipMmFromTop})]:[],ae=k_({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)?[...M,...ae]:[...ae,...M],F=Te&&(C===o.length-1||u==="always")?[R(zr,{pipette:a,dropTipLocation:h,isReturnTip:Te})]:[],x=Mr({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:h,finalPushOut:S,aspirateDelaySeconds:v,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[...P,...Ee,...V,...x,...z,...F]});return ne(X,t,r)},Wy=(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:v,dispenseFlowRateUlSec:k,dispensePositionReference:$,dispenseRetractPositionReference:q,dispenseRetractXOffset:ee,dispenseRetractYOffset:pe,dispenseRetractZOffset:_e,dispenseSubmergeDelay:le,dispenseSubmergePositionReference:Te,dispenseSubmergeSpeed:ke,dispenseSubmergeXOffset:He,dispenseSubmergeYOffset:$e,dispenseSubmergeZOffset:te,dispenseXOffset:Ee,dispenseYOffset:ze,dispenseZOffset:Pe,dropTipLocation:ge,liquidClass:X,mixInDestination:W,nozzles:C,pipette:P,primaryNozzle:V,pushOut:M,sourceLabware:ae,sourceWells:U,tipRack:H,tipTracking:z,tiprackSelected:F,tipsSelected:x,touchTipAfterAspirate:ye,touchTipAfterAspirateMmFromEdge:Ve,touchTipAfterAspirateOffsetMmFromTop:Qe,touchTipAfterAspirateSpeed:Be,touchTipAfterDispense:ce,touchTipAfterDispenseMmFromEdge:Je,touchTipAfterDispenseOffsetMmFromTop:mt,touchTipAfterDispenseSpeed:Rt,stepNumber:ht,volume:Oe}=e,{pipetteEntities:et,labwareEntities:Re,trashBinEntities:ve,wasteChuteEntities:Ce}=t,ue="consolidate",re=[],vt=r.pipettes[P],We=et[P]?.spec.channels!==1,Y=e.aspirateAirGapVolume??0,we=e.dispenseAirGapVolume??0;vt==null&&re.push(ut({pipette:P})),(w==null||Re[w]==null&&ve[w]==null&&Ce[w]==null)&&re.push(Ih());const hr=G(r.labware[w]?.stack),tt=G(r.labware[ae]?.stack);Object.keys(Ce).length>0&&(hr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||tt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&re.push(ba());const me=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],rt=me.length>0?me[0]:null,Yr=Object.values(t.labwareEntities).find(({labwareDefURI:he})=>he===ge),kt=Yr!=null&&c.getIsTiprack(Yr.def),za=t.wasteChuteEntities[ge]!=null,Kr=t.trashBinEntities[ge]!=null,rr=r.tipState.pipettes[P]?.hasTip;(ge==null||kt&&rt==null&&L!=="never"&&rr||!kt&&!za&&!Kr)&&re.push(En());let ot,Q;if(L==="never"){const he=r.tipState.pipettes[P]?.tiprackURI;ot=t.labwareEntities[he??""],Q=ot?.labwareDefURI}else ot=Object.values(Re).find(({labwareDefURI:he})=>he===H),Q=H;ot==null&&(L==="never"?re.push(Bt({actionName:ue,pipette:P})):re.push(ct({actionName:ue,labware:Q})));const{def:Pt=null}=ot??{},{spec:Ie,name:Ct,pythonName:J}=et[P],j=c.getAllLiquidClassDefs()[X===c.NONE_LIQUID_CLASS_NAME||X==null?c.WATER_LIQUID_CLASS_NAME:X].byPipette?.find(({pipetteModel:he})=>he===c.getFlexNameConversion(Ie))?.byTipType.find(({tiprack:he})=>he===Q)??null,{aspirate:it}=j??{},{multiWellHandling:de}=Fc({pipetteSpecs:Ie,tiprackDefinition:Pt,volume:Oe,path:"multiAspirate",numAspirateWells:U.length,numDispenseWells:1,aspirateAirGapByVolume:it?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:nt}=de;if((!de.isSupported||nt==null||nt===1)&&re.push(Nb()),We&&C!==c.ALL){const he=dt({robotState:r,invariantContext:t,pipetteId:P,labwareId:ae,wellLocationOffset:{x:y,y:A},primaryNozzle:V,nozzleConfiguration:C});he.isSafe||re.push(Ut({unsafePipetteMovementReason:he.reason}));const se=dt({robotState:r,invariantContext:t,pipetteId:P,labwareId:w,wellLocationOffset:{x:Ee,y:ze},primaryNozzle:V,nozzleConfiguration:C});se.isSafe||re.push(Ut({unsafePipetteMovementReason:se.reason}))}const Ht=E!=null?Re[ae]?.def.wells[E]?.depth:null,Nt=c.getMmFromBottom(Pe,$,Ht),Xr=c.getMmFromBottom(te,Te,Ht),nr=c.getMmFromBottom(_e,q,Ht);if(Nt!=null&&Xr!=null&&Nt>Xr&&re.push(Pb()),Nt!=null&&nr!=null&&Nt>nr&&re.push(Cb()),re.length>0)return{errors:re};const{tipracks:_r}=xa(P,Q,t,r,V,C),ar=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Oe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Se=ve[w]?.pythonName??Ce[w]?.pythonName,Dt=ve[ge]?.pythonName??Ce[ge]?.pythonName,yr=I==null?null:ve[I]?.pythonName??Ce[I]?.pythonName,br=Re[ae].pythonName,Zr=Re[w]?.pythonName,Tr=U.map(he=>`${br}[${N(he)}]`).join(", 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_t=(Le,jt=!0)=>we>0&&!(L==="never"&&Ne&&Le)?[...jt?wr:[],O(Ut,{pipetteId:v}),O(Qt,{pipetteId:v,volume:we,flowRate:zn,...Ir>0?{correctionVolume:Ir}:{}}),...xt]:[],yt=Le=>E!=null&&ce?[O(Mt,{pipetteId:v,labwareId:w,wellName:E,...Qe!=null?{mmFromEdge:Qe}:{},zOffsetFromTop:mt,...At!=null?{speed:At}:{}}),..._t(Le).length>0&&or?[O($,{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(
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Qn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},sn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},on=Ur({retractZOffset:d,retractPositionReference:i,labwareId:ae,labwareEntities:Re,well:Le}),Jn=!on&&Le!=null?[O(B,{pipetteId:P,labwareId:ae,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],ln=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Tt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kr=vr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[P].name)?[O(gn,{pipetteId:P,volume:oe})]:[],O(Lt,{pipetteId:P})]:[],ea=Tt>0?[O(Xe,{pipetteId:P,volume:Tt,flowRate:Yt,...ln>0?{correctionVolume:ln}:{},isAirGap:!0,pushOut:0}),...wr]:[],Pr=[...[O(B,{pipetteId:P,labwareId:ae,wellName:Le,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...ea,...kr],un=[O(B,{pipetteId:P,labwareId:ae,wellName:Le,wellLocation:Qn}),O(B,{pipetteId:P,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(fe,{seconds:f.seconds})]:[]],pr=ye?[O(Et,{pipetteId:P,labwareId:ae,wellName:Le,...Ve!=null?{mmFromEdge:Ve}:{},zOffsetFromTop:Qe,...Be!=null?{speed:Be}:{}}),...Y>0&&on?[O(B,{pipetteId:P,labwareId:ae,wellName:Le,wellLocation:sn})]:[]]:[],Cr=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Kt=Y>0?[...Jn,O(At,{pipetteId:P,volume:Y,flowRate:jn,...Cr>0?{correctionVolume:Cr}:{}}),...zt]:[],dr=[O(Ra,{pipetteId:P,volume:Oe,flowRate:a,correctionVolume:ar}),...zt],ta=[O(B,{pipetteId:P,labwareId:ae,...l!=null?{speed:l}:{},wellName:Le,wellLocation:sn}),...o!=null&&o?.seconds>0?[O(fe,{seconds:o.seconds})]:[]];return[...Pr,...un,...dr,...ta,...pr,...Kt]}),Lr=E!=null?[O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:or,...ke!=null?{speed:ke}:{}})]:[O(Fe,{pipetteId:P,fixtureId:w,offset:{x:0,y:0,z:0}})],Kn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xn=Y>0?[O(Xe,{pipetteId:P,volume:Y,flowRate:tn,pushOut:0,correctionVolume:Kn,isAirGap:!0}),...wr]:[],bt=E!=null?[O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:or}),O(B,{pipetteId:P,labwareId:w,...ke!=null?{speed:ke}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[$],offset:{x:Ee,y:ze,z:Pe}}}),...le!=null&&le.seconds>0?[O(fe,{seconds:le.seconds})]:[]]:[],Zn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:oe,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,ur=W!=null?0:M,Or=[O(Xe,{pipetteId:P,volume:oe,flowRate:k,...ur!=null?{pushOut:ur}:{},correctionVolume:Zn}),...wr],jt=(W!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:W.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Gt=(W!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:W.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):k)??k,nn=W!=null?Mr({pipette:P,volume:W.volume,times:W.times,aspirateFlowRateUlSec:jt,dispenseFlowRateUlSec:Gt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:v?.seconds,finalPushOut:M,invariantContext:t,liquidClass:X,tiprack:Q,generatePython:!1}):[],Rr=[O(Rn,{pipetteId:P,flowRate:g})];let cr=[];I==null||I===jr?cr=[...yt(!0),..._t(!0)]:I===vn&&E!=null?cr=[O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Rr,...yt(!0),..._t(!0)]:cr=[...yt(!1),..._t(!1),O(Fe,{pipetteId:P,fixtureId:Object.values(ve).length>0?Object.values(ve)[0].id:Object.values(Ce)[0].id,offset:{x:0,y:0,z:0}}),...Rr,..._t(!0,!1)];const an=kt&&(se===Ir.length-1||L==="always")?[O(zr,{pipette:P,dropTipLocation:Q,isReturnTip:kt})]:[];return[...lr,...ja,...Ar,...Lr,...Xn,...bt,...Or,...nn,...cr,...an]}),Hn];return ne(Ga,t,r)},BS=(e,t,r)=>{const{pipetteId:n,trashId:a,flowRate:s,volume:o}=e,{pipetteEntities:i,trashBinEntities:l}=t,u=l[a],p=i[n].pythonName,d=u.pythonName,f=[`volume=${o}`,`location=${d}`,`rate=${s} / ${p}.flow_rate.dispense`],_=()=>({commands:[],python:`${p}.dispense(
+${K(f.join(`,
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-)`}),m=[O(Ue,{pipetteId:n,fixtureId:a,offset:Et}),O(nt,{pipetteId:n,volume:o,flowRate:s}),_];return ne(m,t,r)},LS=(e,t,r)=>{const{pipetteId:n,flowRate:a,volume:s,wasteChuteId:o}=e,{pipetteEntities:i,wasteChuteEntities:l}=t,u=l[o].pythonName,p=i[n].pythonName,d=[`volume=${s}`,`location=${u}`,`rate=${a} / ${p}.flow_rate.dispense`],f=()=>({commands:[],python:`${p}.dispense(
-${Z(d.join(`,
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+${K(d.join(`,
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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(
-${Z(Ha.join(`,
+)`}),_=[O(Fe,{pipetteId:n,fixtureId:o,offset:wt}),O(Xe,{pipetteId:n,flowRate:a,volume:s}),f];return ne(_,t,r)},Yy=(e,t,r)=>{const{aspirateDelay:n,aspirateFlowRateUlSec:a,aspiratePositionReference:s,aspirateRetractDelay:o,aspirateRetractPositionReference:i,aspirateRetractSpeed:l,aspirateRetractXOffset:u,aspirateRetractYOffset:p,aspirateRetractZOffset:d,aspirateSubmergeDelay:f,aspirateSubmergePositionReference:_,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:h,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:S,blowoutFlowRateUlSec:g,blowoutLocation:I,changeTip:L,destLabware:w,destWells:E,dispenseDelay:v,dispenseFlowRateUlSec:k,dispensePositionReference:$,dispenseRetractDelay:q,dispenseRetractPositionReference:ee,dispenseRetractSpeed:pe,dispenseRetractXOffset:_e,dispenseRetractYOffset:le,dispenseRetractZOffset:Te,dispenseSubmergeDelay:ke,dispenseSubmergePositionReference:He,dispenseSubmergeSpeed:$e,dispenseSubmergeXOffset:te,dispenseSubmergeYOffset:Ee,dispenseSubmergeZOffset:ze,dispenseXOffset:Pe,dispenseYOffset:ge,dispenseZOffset:X,dropTipLocation:W,liquidClass:C,mixBeforeAspirate:P,nozzles:V,pipette:M,preWetTip:ae,primaryNozzle:U,pushOut:H,sourceLabware:z,sourceWell:F,tipRack:x,tipTracking:ye,tiprackSelected:Ve,tipsSelected:Qe,touchTipAfterAspirate:Be,touchTipAfterAspirateMmFromEdge:ce,touchTipAfterAspirateOffsetMmFromTop:Je,touchTipAfterAspirateSpeed:mt,touchTipAfterDispense:Rt,touchTipAfterDispenseMmFromEdge:ht,touchTipAfterDispenseOffsetMmFromTop:Oe,touchTipAfterDispenseSpeed:et,stepNumber:Re,volume:ve}=e,{pipetteEntities:Ce,labwareEntities:ue,trashBinEntities:re,wasteChuteEntities:vt}=t,We="distribute",Y=[],we=Ce[M]?.spec.channels!==1,hr=ue[z]?.def.parameters.quirks?.includes("touchTipDisabled"),tt=e.aspirateAirGapVolume??0,qe=e.dispenseAirGapVolume??0,me=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,rt=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[M]==null||Ce[M]==null)&&Y.push(ut({pipette:M})),(!z||!r.labware[z])&&Y.push(ct({actionName:We,labware:z}));const Yr=G(r.labware[w]?.stack),kt=G(r.labware[z]?.stack);Object.keys(vt).length>0&&(Yr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||kt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&Y.push(ba());const Kr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],rr=Kr.length>0?Kr[0]:null,ot=Object.values(t.labwareEntities).find(({labwareDefURI:oe})=>oe===W),Q=ot!=null&&c.getIsTiprack(ot.def),Pt=t.wasteChuteEntities[W]!=null,Ie=t.trashBinEntities[W]!=null,Ct=r.tipState.pipettes[M]?.hasTip;(W==null||Q&&rr==null&&L!=="never"&&Ct||!Q&&!Pt&&!Ie)&&Y.push(En());let J,j;if(L==="never"){const oe=r.tipState.pipettes[M]?.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:M})):Y.push(ct({actionName:We,labware:j})));const{def:it=null}=J??{},{spec:de,name:nt,pythonName:Ht}=Ce[M],Nt=c.getAllLiquidClassDefs()[C===c.NONE_LIQUID_CLASS_NAME||C==null?c.WATER_LIQUID_CLASS_NAME:C].byPipette?.find(({pipetteModel:oe})=>oe===c.getFlexNameConversion(de))?.byTipType.find(({tiprack:oe})=>oe===j)??null,{aspirate:Xr,multiDispense:nr}=Nt??{},{multiWellHandling:_r}=Fc({pipetteSpecs:de,tiprackDefinition:it,volume:ve,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:nr?.conditioningByVolume??[],disposalByVolume:nr?.disposalByVolume??[],aspirateAirGapByVolume:Xr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:ar}=_r;if((!_r.isSupported||ar==null||ar===1)&&Y.push(Db()),we&&V!==c.ALL){const oe=dt({robotState:r,invariantContext:t,pipetteId:M,labwareId:z,wellLocationOffset:{x:y,y:A},wellTargetName:F,primaryNozzle:U,nozzleConfiguration:V});oe.isSafe||Y.push(Ut({unsafePipetteMovementReason:oe.reason}));const Ye=dt({robotState:r,invariantContext:t,pipetteId:M,labwareId:w,wellLocationOffset:{x:Pe,y:ge},wellTargetName:E[0],primaryNozzle:U,nozzleConfiguration:V});Ye.isSafe||Y.push(Ut({unsafePipetteMovementReason:Ye.reason}))}const Se=t.labwareEntities[z]?.def.wells[F]?.depth??null,Dt=c.getMmFromBottom(S,s,Se),yr=c.getMmFromBottom(T,_,Se),br=c.getMmFromBottom(d,i,Se);Dt!=null&&yr!=null&&Dt>yr&&Y.push(Eh()),Dt!=null&&br!=null&&Dt>br&&Y.push(wh());const Zr=[O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Tr=Ns(M,t,j)-tt;if(Math.floor((Tr-me)/ve)===0&&Y.push(rs({actionName:We,volume:ve,maxVolume:Tr,disposalVolume:me})),Y.length>0)return{errors:Y};const{tipracks:Jr}=xa(M,j,t,r,U,V),Vn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:ve,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Bn=re[w]?.pythonName??vt[w]?.pythonName,gr=re[W]?.pythonName??vt[W]?.pythonName,sr=I==null?null:re[I]?.pythonName??vt[I]?.pythonName,xn=ue[z].pythonName,en=ue[w]?.pythonName,Hn=`${xn}[${N(e.sourceWell)}]`,Ir=e.destWells.map(oe=>`${en}[${N(oe)}]`).join(", "),ja=[`name=${N(`${e.commandCreatorFnName}_step_${Re}`)}`,...C!=null?[`base_liquid_class=${Va(C,!0)}`]:[],`properties=${ks({args:e,pipetteName:c.isFlexPipette(nt)?c.getFlexNameConversion(de):nt,tiprackUri:j,liquidClassValuesForTip:Nt})}`],or=`${be}.define_liquid_class(
+${K(ja.join(`,
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-)`,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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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:`${p}.open_labware_latch()`}},PS=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:s}=e;if(a===null)return{errors:[X()]};if(n[a]?.type!==c.HEATERSHAKER_MODULE_TYPE)throw new 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_=(n??0)*3600+(a??0)*60+(s??0);d.push(M(he,{seconds:_})),d.push(M(rh,{moduleId:p})),d.push(M(th,{moduleId:p}))}return o&&d.push(M(vS,{moduleId:p})),ne(d,t,r)},vy=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a,labwareEntities:s}=t,o=[],i=a[n].pythonName,u=Object.values(r.labware).filter(f=>f.stack.includes(n)).find(f=>f.stack.find(_=>s[_]?.def.allowedRoles?.includes("lid")&&s[_]?.def.parameters.loadName!=="opentrons_tough_pcr_auto_sealing_lid")),p=u!=null?Sc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(lb({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:F(),params:{moduleId:n}}],python:`${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(`,
+)`}),Gn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[_],offset:{x:h,y:b,z:T}},rn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},ir={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[He],offset:{x:te,y:Ee,z:ze}},Sr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ee],offset:{x:_e,y:le,z:Te}},Wn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:tt,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,Ga=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:tt,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,he=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,se=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"multiDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,_t=Hy(E,ar),yt=Ur({retractZOffset:d,retractPositionReference:i,labwareId:z,labwareEntities:ue,well:F}),Ae=!yt&&F!=null?[O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],Yn=[...Tn(_t,(oe,Ye)=>{const lr=oe.length,Ar=ve*lr,Lr=Ar+me+rt,Kn=Ye===0,Xn=Ye===_t.length-1,bt=L==="always"||L==="once"&&Kn,Zn=c.LOW_VOLUME_PIPETTES.includes(nt)?[O(gn,{pipetteId:M,volume:Lr})]:[];let ur=[];if(bt){const De=zt?.shift();ur=[R(Ha,{pipette:M,nozzles:V,primaryNozzle:U,dropTipLocation:Q&&rr!=null?rr:W,tipRack:j,...ye===St&&De!=null&&Ve!=null?{tipSelectionArgs:{tipRackId:Ve,tipWell:De}}:{}})]}const Or=[O(Lt,{pipetteId:M})],jt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=v!=null?[O(fe,{seconds:v.seconds})]:[],nn=qe>0&&!bt&&!Kn&&me===0&&I==null?[O(Xe,{isAirGap:!0,pipetteId:M,volume:qe,flowRate:se,...jt>0?{correctionVolume:jt}:{},pushOut:0}),...Gt]:[],Rr=[...Zr,...nn,...Zn,...Or],cr=[O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:Gn}),O(B,{pipetteId:M,labwareId:z,...m!=null?{speed:m}:{},wellName:F,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:S}}}),...f!=null&&f.seconds>0?[O(fe,{seconds:f.seconds})]:[]],an=ae?Mr({pipette:M,volume:Ar,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:v?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Le=P!=null?Mr({pipette:M,volume:P.volume,times:P.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:k,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:v?.seconds,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Wt=n!=null?[O(fe,{seconds:n.seconds})]:[],vr=Be?[O(Et,{pipetteId:M,labwareId:z,wellName:F,...ce!=null?{mmFromEdge:ce}:{},zOffsetFromTop:Je,...mt!=null?{speed:mt}:{}}),...tt>0&&yt?[O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:rn})]:[]]:[],Tt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:tt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yt=tt>0?[...Ae,O(At,{pipetteId:M,volume:tt,flowRate:Wn,...Tt>0?{correctionVolume:Tt}:{}}),...Wt]:[],Qn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Lr,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,sn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:rt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,on=rt!=null&&rt>0?[O(Xe,{pipetteId:M,volume:rt,flowRate:k,correctionVolume:sn,pushOut:0}),...Gt]:[],Jn=[O(Ra,{pipetteId:M,volume:Lr,flowRate:a,correctionVolume:Qn}),...Wt,...on],ln=[O(B,{pipetteId:M,labwareId:z,...l!=null?{speed:l}:{},wellName:F,wellLocation:rn}),...o!=null&&o?.seconds>0?[O(fe,{seconds:o.seconds})]:[]],kr=Tn(oe,(De,Pr)=>{const un=Pr===0,pr=Pr===oe.length-1,Cr=Xn&&pr;let Kt=0,dr=k;un&&tt>0?(Kt=tt,dr=Ga):!un&&qe>0&&rt===0&&(Kt=qe,dr=se);const ta=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:Kt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Wa=Ur({retractZOffset:Te,retractPositionReference:ee,labwareId:w,labwareEntities:ue,well:De}),Ms=Wa?[]:[O(B,{pipetteId:M,labwareId:w,wellName:De,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Ya=De!=null?[O(B,{pipetteId:M,labwareId:w,wellName:De,wellLocation:ir}),...Kt>0?[O(Xe,{isAirGap:!0,pipetteId:M,volume:Kt,flowRate:dr,pushOut:0,correctionVolume:ta}),...Gt]:[],O(B,{pipetteId:M,labwareId:w,...$e!=null?{speed:$e}:{},wellName:De,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[$],offset:{x:Pe,y:ge,z:X}}}),...ke!=null&&ke.seconds>0?[O(fe,{seconds:ke.seconds})]:[]]:[O(Fe,{fixtureId:w,pipetteId:M,offset:{x:0,y:0,z:0}})],ra=me===0&&pr?H:0,gt=[O(Xe,{pipetteId:M,volume:ve,flowRate:k,...ra!=null?{pushOut:ra}:{},correctionVolume:Vn}),...Gt],cn=De!=null?[O(B,{pipetteId:M,labwareId:w,...pe!=null?{speed:pe}:{},wellName:De,wellLocation:Sr}),...q!=null&&q?.seconds>0?[O(fe,{seconds:q.seconds})]:[]]:[],Mt=pr?[O(Rn,{pipetteId:M,flowRate:g})]:[],Ka=c.getByVolumeValue({liquidClass:C,pipetteSpecs:de,tiprackDefUri:j,targetVolume:qe,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ft=(na,db=!0)=>qe>0&&!(Pr<oe.length-1&&rt>0)&&!(L==="never"&&Cr&&na)?[...db?Ms:[],O(Lt,{pipetteId:M}),O(At,{pipetteId:M,volume:qe,flowRate:he,...Ka>0?{correctionVolume:Ka}:{}}),...Wt]:[],It=na=>De!=null&&Rt?[O(Et,{pipetteId:M,labwareId:w,wellName:De,...ht!=null?{mmFromEdge:ht}:{},zOffsetFromTop:Oe,...et!=null?{speed:et}:{}}),...Ft(na).length>0&&Wa?[O(B,{pipetteId:M,labwareId:w,wellName:De,wellLocation:Sr})]:[]]:[];let Nr=[];if(I==null||!pr)Nr=[...It(!0),...Ft(!0)];else if(I===vn)Nr=[O(B,{pipetteId:M,labwareId:w,wellName:De,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Mt,...It(!0),...Ft(!0)];else if(I===jr){const na=Ft(!0);Nr=[...It(!1),...Ft(!1),O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Mt,...Rt&&!hr?[O(Et,{pipetteId:M,labwareId:z,wellName:F,...ht!=null?{mmFromEdge:ht}:{},zOffsetFromTop:Oe,...et!=null?{speed:et}:{}})]:[],...na.length>0?[O(B,{pipetteId:M,labwareId:z,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...Ft(!0,!1)]}else Nr=[...It(!1),...Ft(!1),O(Fe,{pipetteId:M,fixtureId:Object.values(re).length>0?Object.values(re)[0].id:Object.values(vt)[0].id,offset:{x:0,y:0,z:0}}),...Mt,...Ft(!0,!1)];return[...Ya,...gt,...cn,...Nr]}),ea=Q&&(Ye===_t.length-1||L==="always")?[O(zr,{pipette:M,dropTipLocation:j,isReturnTip:Q})]:[];return[...ur,...Rr,...cr,...Le,...an,...Jn,...ln,...vr,...Yt,...kr,...ea]}),tn];return ne(Yn,t,r)},HS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/closeLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.close_labware_latch()`}},ch=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_heater()`}},zS=["1","4","7","10"],jS=(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)&&hy(r.labware,a,o)){const d=zS.includes(o)?"right":"left";return{errors:[Lb(d)]}}const p=s[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/openLabwareLatch",key:D(),params:{moduleId:e.moduleId}}],python:`${p}.open_labware_latch()`}},GS=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,rpm:s}=e;if(a===null)return{errors:[Z()]};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(${s})`}},ph=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"heaterShaker/deactivateShaker",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_shaker()`}},Ky=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:s,latchOpen:o,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[Z()]};const u=Ot(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[Z()]};const d=[];if(o||d.push(R(HS,{moduleId:p})),i===null?d.push(R(ch,{moduleId:p})):d.push(R(Sc,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(R(ph,{moduleId:p})):l!==null&&d.push(R(GS,{moduleId:p,rpm:l})),[n,a,s].some(_=>_!=null&&_!==0)){i!==null&&d.push(R(vc,{moduleId:p,celsius:i}));const _=(n??0)*3600+(a??0)*60+(s??0);d.push(R(fe,{seconds:_})),d.push(R(ph,{moduleId:p})),d.push(R(ch,{moduleId:p}))}return o&&d.push(R(jS,{moduleId:p})),ne(d,t,r)},Xy=(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?Nc(u.stack):null,d=p!=null?s[p].def.metadata.displayName:null;return d!=null&&o.push(Mb({lidDisplayName:d})),o.length>0?{errors:o}:{commands:[{commandType:"thermocycler/closeLid",key:D(),params:{moduleId:n}}],python:`${i}.close_lid()`}},Zy=(e,t,r)=>{const{moduleId:n,celsius:a}=e,s=t.moduleEntities[n].pythonName;return{commands:[{commandType:"thermocycler/setTargetLidTemperature",key:D(),params:{moduleId:n,celsius:a}}],python:`${s}.set_lid_temperature(${a})`}},Qy=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:s,profileVolume:o}=e,i=Ds(r,n);if(i===null)return{errors:[Z()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(R(Xy,{moduleId:n})),s!==i.lidTargetTemp&&u.push(R(Zy,{moduleId:n,celsius:s}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(R(Hg,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ne(u,t,r)},WS=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),YS=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},KS=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},XS=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,ZS=(e,t)=>{const r={...YS(e,t)},n={...KS(e,t)},a=!XS(e,t.blockTargetTemp),s=a&&t.blockTargetTemp===null,o=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...WS(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},QS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateBlock",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_block()`}},JS=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/deactivateLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.deactivate_lid()`}},eA=(e,t,r)=>{const n=t.moduleEntities[e.moduleId].pythonName;return{commands:[{commandType:"thermocycler/openLid",key:D(),params:{moduleId:e.moduleId}}],python:`${n}.open_lid()`}},tA=(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})`}},Jy=(e,t,r)=>{const n=Ds(r,e.moduleId);if(n===null)return{errors:[Z()]};if(n.currentBlockActivity.type==="profile")return{errors:[gb()]};const{lidOpen:a,lidClosed:s,setBlockTemperature:o,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=ZS(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(R(eA,{moduleId:e.moduleId})),s&&f.push(R(Xy,{moduleId:e.moduleId})),i&&f.push(R(QS,{moduleId:e.moduleId})),p!==null&&o&&f.push(R(tA,{moduleId:e.moduleId,celsius:p})),u&&f.push(R(JS,{moduleId:e.moduleId})),d!==null&&l&&f.push(R(Zy,{moduleId:e.moduleId,celsius:d})),ne(f,t,r)};var Cu,dh;function rA(){if(dh)return Cu;dh=1;var e=Ia(),t=J_(),r=ey();function n(a,s){return r(t(a,s,e),a+"")}return Cu=n,Cu}var Nu,fh;function nA(){if(fh)return Nu;fh=1;var e=Hr(),t=er();function r(n){return t(n)&&e(n)}return Nu=r,Nu}var Du,mh;function aA(){if(mh)return Du;mh=1;var e=Kh(),t=Aa(),r=s_(),n=Zh(),a=nA(),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 Du=o,Du}var Mu,hh;function sA(){if(hh)return Mu;hh=1;var e=rA(),t=aA(),r=e(t);return Mu=r,Mu}var oA=sA();const iA=xe(oA),eb=(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:v,dispenseAirGapVolume:k,dispenseDelay:$,dispenseFlowRateUlSec:q,dispensePositionReference:ee,dispenseRetractDelay:pe,dispenseRetractPositionReference:_e,dispenseRetractSpeed:le,dispenseRetractXOffset:Te,dispenseRetractYOffset:ke,dispenseRetractZOffset:He,dispenseSubmergeDelay:$e,dispenseSubmergePositionReference:te,dispenseSubmergeSpeed:Ee,dispenseSubmergeXOffset:ze,dispenseSubmergeYOffset:Pe,dispenseSubmergeZOffset:ge,dispenseXOffset:X,dispenseYOffset:W,dispenseZOffset:C,dropTipLocation:P,liquidClass:V,mixBeforeAspirate:M,mixInDestination:ae,pipette:U,preWetTip:H,primaryNozzle:z,pushOut:F,sourceLabware:x,nozzles:ye,sourceWells:Ve,tipRack:Qe,tipTracking:Be,tiprackSelected:ce,tipsSelected:Je,touchTipAfterAspirate:mt,touchTipAfterAspirateMmFromEdge:Rt,touchTipAfterAspirateOffsetMmFromTop:ht,touchTipAfterAspirateSpeed:Oe,touchTipAfterDispense:et,touchTipAfterDispenseMmFromEdge:Re,touchTipAfterDispenseOffsetMmFromTop:ve,touchTipAfterDispenseSpeed:Ce,volume:ue,stepNumber:re}=e,{pipetteEntities:vt,trashBinEntities:We,wasteChuteEntities:Y,labwareEntities:we}=t,hr=kn(we,Y,We,E),tt=we[x]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(hr==="labware"&&v!=null&&Ve.length===v.length||(hr==="wasteChute"||hr==="trashBin")&&v==null&&Ve.length>=1))throw 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Or=qr({retractZOffset:f,retractPositionReference:l,labwareId:x,labwareEntities:we,well:Ae}),ur=!Or&&Ae!=null?[O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],rn=qr({retractZOffset:He,retractPositionReference:_e,labwareId:E,labwareEntities:we,well:Ne}),Le=!rn&&Ne!=null?[O($,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];Ht!=null&&tn!=null&&Ht>tn&&fe.push(mh());const jt=[O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Rr=[O(Ut,{pipetteId:U})],Tt=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Gt=B!=null?[O(he,{seconds:B.seconds})]:[],Xn=it>0&&!bt&&(ir>0||yt>0)?[O(nt,{isAirGap:!0,pipetteId:U,volume:it,flowRate:en,...Tt>0?{correctionVolume:Tt}:{},pushOut:0}),...Gt]:[],nn=[...jt,...Xn,...Kn,...Rr],an=[O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:Yr}),O($,{pipetteId:U,labwareId:x,...h!=null?{speed:h}:{},wellName:Ae,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:A,y:S,z:g}}}),..._!=null&&_.seconds>0?[O(he,{seconds:_.seconds})]:[]],Zn=H?Dr({pipette:U,volume:Ye,times:1,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:B?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],sn=N!=null?Dr({pipette:U,volume:N.volume,times:N.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:B?.seconds,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],kr=a!=null?[O(he,{seconds:a.seconds})]:[],Qn=mt?[O(Mt,{pipetteId:U,labwareId:x,wellName:Ae,...At!=null?{mmFromEdge:At}:{},zOffsetFromTop:ht,...Oe!=null?{speed:Oe}:{}}),...j>0&&Or?[O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:rr})]:[]]:[],De=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,vr=j>0?[...ur,O(Qt,{pipetteId:U,volume:j,flowRate:Hn,...De>0?{correctionVolume:De}:{}}),...kr]:[],on=[O(_s,{pipetteId:U,volume:Ye,flowRate:s,...Xr>0?{correctionVolume:Xr}:{}}),...kr],cr=[O($,{pipetteId:U,labwareId:x,...u!=null?{speed:u}:{},wellName:Ae,wellLocation:rr}),...i!=null&&i?.seconds>0?[O(he,{seconds:i.seconds})]:[]],Pr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Wt=Ne!=null?[O($,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:hr}),...j>0?[O(nt,{isAirGap:!0,pipetteId:U,volume:j,flowRate:Jr,pushOut:0,...Pr>0?{correctionVolume:Pr}:{}}),...Gt]:[],O($,{pipetteId:U,labwareId:E,...Ee!=null?{speed:Ee}:{},wellName:Ne,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ee],offset:{x:K,y:W,z:P}}}),...Be!=null&&Be.seconds>0?[O(he,{seconds:Be.seconds})]:[]]:[O(Ue,{fixtureId:E,pipetteId:U,offset:{x:0,y:0,z:0}})],pr=ae!=null&&Ne!=null?0:D,Jn=[O(nt,{pipetteId:U,volume:Ye,flowRate:q,...pr!=null?{pushOut:pr}:{},...br>0?{correctionVolume:br}:{}}),...Gt],ja=ae!=null&&Ne!=null?Dr({pipette:U,volume:ae.volume,times:ae.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:B?.seconds,finalPushOut:D,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],Ps=Ne!=null?[O($,{pipetteId:U,labwareId:E,...le!=null?{speed:le}:{},wellName:Ne,wellLocation:nr}),...pe!=null&&pe?.seconds>0?[O(he,{seconds:pe.seconds})]:[]]:[],Ga=O(Oa,{pipetteId:U,flowRate:I}),ea=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gt=(It,Cr=!0)=>it>0&&!(w==="never"&&Yn&&It)?[...Cr?Le:[],O(Ut,{pipetteId:U}),O(Qt,{pipetteId:U,volume:it,flowRate:zn,...ea>0?{correctionVolume:ea}:{}}),...kr]:[],ln=It=>Ne!=null&&Je?[O(Mt,{pipetteId:U,labwareId:E,wellName:Ne,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ke,...Ce!=null?{speed:Ce}:{}}),...gt(It).length>0&&rn?[O($,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:nr})]:[]]:[];let Ct=[];switch(L){case null:case void 0:Ct=[...ln(!0),...gt(!0)];break;case On:Ct=[Ga,...ln(!0),...gt(!0)];break;case Hr:Ct=[...ln(!0),...gt(!1),O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),Ga,...Je&&!et?[O(Mt,{pipetteId:U,labwareId:x,wellName:Ae,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ke,...Ce!=null?{speed:Ce}:{}})]:[],...gt(!0).length>0?[O($,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...gt(!0,!1)];break;default:L in We?Ct=[...ln(!1),...gt(!1),O(Ay,{pipetteId:U,flowRate:I,trashId:L}),...gt(!0,!1)]:L in Y&&(Ct=[O(Ly,{pipetteId:U,flowRate:I,wasteChuteId:L}),...gt(!0,!1)]);break}const Wa=Rt&&(yt===or.length-1||w==="always")?[O(An,{pipette:U,dropTipLocation:J,isReturnTip:Rt})]:[],Nt=[...lr,...nn,...an,...sn,...Zn,...on,...cr,...Qn,...vr,...Wt,...Jn,...ja,...Ps,...Ct,...Wa];return wr=Ae,jn=Ne,[...oe,...Nt]},[]);return[...se,...Gn]},[]),Er];return 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sA=xe(aA),Ny=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Vr="p300SingleId",da="p300MultiId",Yu="p100096Id",Ku="sourcePlateId",Xu="destPlateId",Zu="troughId",oA="A1",iA="tiprack1Id",lA={isAirGap:!0},Xa=c.fixture96Plate,lh=c.fixture12Trough,Za=c.fixtureTiprack10ul,Dt=c.fixtureTiprack300ul,un=c.fixtureTiprack1000ul,Qa=c.fixtureTiprackAdapter,Dy={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function My(e){return Ny.reduce((t,r)=>({...t,[r]:e?Ea:ie}),{})}function uA(e,t){return Array.from("ABCDEFGH").map(r=>`${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;
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Rr=Ur({retractZOffset:f,retractPositionReference:l,labwareId:x,labwareEntities:we,well:Ae}),cr=!Rr&&Ae!=null?[O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],an=Ur({retractZOffset:He,retractPositionReference:_e,labwareId:E,labwareEntities:we,well:Ne}),Le=!an&&Ne!=null?[O(B,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[];jt!=null&&nn!=null&&jt>nn&&me.push(wh());const Wt=[O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],vr=[O(Lt,{pipetteId:U})],Tt=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yt=$!=null?[O(fe,{seconds:$.seconds})]:[],Qn=it>0&&!bt&&(lr>0||yt>0)?[O(Xe,{isAirGap:!0,pipetteId:U,volume:it,flowRate:rn,...Tt>0?{correctionVolume:Tt}:{},pushOut:0}),...Yt]:[],sn=[...Wt,...Qn,...Zn,...vr],on=[O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:Xr}),O(B,{pipetteId:U,labwareId:x,...h!=null?{speed:h}:{},wellName:Ae,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[o],offset:{x:A,y:S,z:g}}}),..._!=null&&_.seconds>0?[O(fe,{seconds:_.seconds})]:[]],Jn=H?Mr({pipette:U,volume:Ye,times:1,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds??0,dispenseDelaySeconds:$?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],ln=M!=null?Mr({pipette:U,volume:M.volume,times:M.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:$?.seconds,finalPushOut:0,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],kr=a!=null?[O(fe,{seconds:a.seconds})]:[],ea=mt?[O(Et,{pipetteId:U,labwareId:x,wellName:Ae,...Rt!=null?{mmFromEdge:Rt}:{},zOffsetFromTop:ht,...Oe!=null?{speed:Oe}:{}}),...j>0&&Rr?[O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:nr})]:[]]:[],De=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Pr=j>0?[...cr,O(At,{pipetteId:U,volume:j,flowRate:jn,...De>0?{correctionVolume:De}:{}}),...kr]:[],un=[O(Ra,{pipetteId:U,volume:Ye,flowRate:s,...Qr>0?{correctionVolume:Qr}:{}}),...kr],pr=[O(B,{pipetteId:U,labwareId:x,...u!=null?{speed:u}:{},wellName:Ae,wellLocation:nr}),...i!=null&&i?.seconds>0?[O(fe,{seconds:i.seconds})]:[]],Cr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Kt=Ne!=null?[O(B,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:_r}),...j>0?[O(Xe,{isAirGap:!0,pipetteId:U,volume:j,flowRate:tn,pushOut:0,...Cr>0?{correctionVolume:Cr}:{}}),...Yt]:[],O(B,{pipetteId:U,labwareId:E,...Ee!=null?{speed:Ee}:{},wellName:Ne,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[ee],offset:{x:X,y:W,z:C}}}),...$e!=null&&$e.seconds>0?[O(fe,{seconds:$e.seconds})]:[]]:[O(Fe,{fixtureId:E,pipetteId:U,offset:{x:0,y:0,z:0}})],dr=ae!=null&&Ne!=null?0:F,ta=[O(Xe,{pipetteId:U,volume:Ye,flowRate:q,...dr!=null?{pushOut:dr}:{},...Tr>0?{correctionVolume:Tr}:{}}),...Yt],Wa=ae!=null&&Ne!=null?Mr({pipette:U,volume:ae.volume,times:ae.times,aspirateFlowRateUlSec:s,dispenseFlowRateUlSec:q,aspirateDelaySeconds:a?.seconds,dispenseDelaySeconds:$?.seconds,finalPushOut:F,invariantContext:t,liquidClass:V,tiprack:J,generatePython:!1}):[],Ms=Ne!=null?[O(B,{pipetteId:U,labwareId:E,...le!=null?{speed:le}:{},wellName:Ne,wellLocation:ar}),...pe!=null&&pe?.seconds>0?[O(fe,{seconds:pe.seconds})]:[]]:[],Ya=O(Rn,{pipetteId:U,flowRate:I}),ra=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,gt=(It,Nr=!0)=>it>0&&!(w==="never"&&Xn&&It)?[...Nr?Le:[],O(Lt,{pipetteId:U}),O(At,{pipetteId:U,volume:it,flowRate:Gn,...ra>0?{correctionVolume:ra}:{}}),...kr]:[],cn=It=>Ne!=null&&et?[O(Et,{pipetteId:U,labwareId:E,wellName:Ne,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ve,...Ce!=null?{speed:Ce}:{}}),...gt(It).length>0&&an?[O(B,{pipetteId:U,labwareId:E,wellName:Ne,wellLocation:ar})]:[]]:[];let Mt=[];switch(L){case null:case void 0:Mt=[...cn(!0),...gt(!0)];break;case vn:Mt=[Ya,...cn(!0),...gt(!0)];break;case jr:Mt=[...cn(!0),...gt(!1),O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),Ya,...et&&!tt?[O(Et,{pipetteId:U,labwareId:x,wellName:Ae,...Re!=null?{mmFromEdge:Re}:{},zOffsetFromTop:ve,...Ce!=null?{speed:Ce}:{}})]:[],...gt(!0).length>0?[O(B,{pipetteId:U,labwareId:x,wellName:Ae,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...gt(!0,!1)];break;default:L in We?Mt=[...cn(!1),...gt(!1),O(By,{pipetteId:U,flowRate:I,trashId:L}),...gt(!0,!1)]:L in Y&&(Mt=[O(xy,{pipetteId:U,flowRate:I,wasteChuteId:L}),...gt(!0,!1)]);break}const Ka=Pt&&(yt===ir.length-1||w==="always")?[O(zr,{pipette:U,dropTipLocation:J,isReturnTip:Pt})]:[],Ft=[...ur,...sn,...on,...ln,...Jn,...un,...pr,...ea,...Pr,...Kt,...ta,...Wa,...Ms,...Mt,...Ka];return Sr=Ae,Wn=Ne,[...oe,...Ft]},[]);return[...se,...Yn]},[]),wr];return ne(he,t,r)},tb=(e,t,r)=>ne([R(va,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),R(Lc,{...e,commandCreatorFnName:"vacuumSetPumpPower"})],t,r),rb=(e,t,r)=>ne([R(va,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),R(Oc,{...e,commandCreatorFnName:"vacuumSetPumpPressure"})],t,r),nb=(e,t,r)=>{const{ventAfter:n}=e;return ne([R(va,{moduleId:e.moduleId,commandCreatorFnName:"vacuumCloseVent"}),R(Rc,{...e,commandCreatorFnName:"vacuumStartRunProfile",ventAfter:n})],t,r)},ab=(e,t,r)=>{const n=`[${e.task_ids.join(", ")}]`,a=`${be}.wait_for_tasks(${n})`;return{commands:[{key:D(),commandType:"waitForTasks",params:e}],python:a}},sb=(e,t,r)=>{const{waitCondition:n}=e;return n==="thermocyclerProfileComplete"?lA(e,t,r):n==="vacuumProfileComplete"||n==="vacuumStateComplete"?uA(e,t,r):{errors:[Hb(n)]}},lA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=Ds(r,n);if(s==null)return{errors:[Z()]};if(s.currentBlockActivity.type!=="profile")return{errors:[np()]};const{taskId:o}=s.currentBlockActivity;return o==null?{errors:[np()]}:(a.push(R(ab,{task_ids:[o]})),ne(a,t,r))},uA=(e,t,r)=>{const{moduleId:n}=e,a=[],s=st(r,n);if(s==null)return{errors:[Z()]};if(s.currentPumpActivity.type!=="timedHold"&&s.currentPumpActivity.type!=="profile")return{errors:[xb()]};const o=s.currentPumpActivity.taskId;return a.push(R(ab,{task_ids:[o]})),ne(a,t,r)};var Fu,_h;function cA(){if(_h)return Fu;_h=1;var e=Z_(),t=1,r=4;function n(a){return e(a,t|r)}return Fu=n,Fu}var pA=cA();const dA=xe(pA),ob=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Br="p300SingleId",fa="p300MultiId",Zu="p100096Id",Qu="sourcePlateId",Ju="destPlateId",ec="troughId",fA="A1",mA="tiprack1Id",hA={isAirGap:!0},Qa=c.fixture96Plate,yh=c.fixture12Trough,Ja=c.fixtureTiprack10ul,qt=c.fixtureTiprack300ul,pn=c.fixtureTiprack1000ul,es=c.fixtureTiprackAdapter,ib={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function lb(e){return ob.reduce((t,r)=>({...t,[r]:e?wa:ie}),{})}function _A(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function ub(){const e={[Qu]:{id:Qu,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(Qa),def:Qa},[Ju]:{id:Ju,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(Qa),def:Qa},[ec]:{id:ec,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(yh),def:yh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(qt),def:qt},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(es),def:es},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(es),def:es},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(pn),def:pn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(pn),def:pn}},t={},r={[Uu]:{id:Uu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(Ja)],tiprackLabwareDef:[Ja],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(Ja)],tiprackLabwareDef:[Ja],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Br]:{name:"p300_single",id:Br,tiprackDefURI:[c.getLabwareDefURI(qt)],tiprackLabwareDef:[qt],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[fa]:{name:"p300_multi",id:fa,tiprackDefURI:[c.getLabwareDefURI(qt)],tiprackLabwareDef:[qt],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[Zu]:{name:"p1000_96",id:Zu,tiprackDefURI:[c.getLabwareDefURI(pn)],tiprackLabwareDef:[pn],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:ib}}const Wr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=Cc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=Jt(s,i=>lb(i)),o},$n=()=>({pipetteLocations:{[Br]:{mount:"left",tiprackId:"tiprack1Id"},[fa]:{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:{}}),cb=()=>({pipetteLocations:{[Br]:{mount:"left"},[fa]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),pb=e=>Wr({...$n(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),yA=e=>Wr({...cb(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),bA=e=>({robotState:pb(e),warnings:[]}),TA=e=>{const t=Wr({...$n(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t},gA=e=>{const t=Wr({...$n(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Br]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=ie,t},IA=e=>Wr({...$n(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),EA=({temperatureModuleId:e,thermocyclerId:t})=>{const r=ub();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=Wr({...$n(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Ea,targetTemperature:null}},[t]:{slot:"span7_8_10_11",moduleState:{type:c.THERMOCYCLER_MODULE_TYPE,currentBlockActivity:{type:"blockDeactivated"},lidTargetTemp:null,lidOpen:null,numProfilesStarted:0}}},{invariantContext:r,robotState:n}},wA=(e,t,r,n)=>{const a=dA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=Ph;exports.AIR=Ge;exports.AIR_GAP_META=hA;exports.AIR_GAP_OFFSET_FROM_TOP=qu;exports.AUTOMATIC=nc;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Zt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=Jb;exports.CLEAN=wa;exports.COLUMN_4_SLOTS=Me;exports.CUSTOM_LABWARE_DICT_NAME=Is;exports.DEFAULT_BLOWOUT_WELL=fA;exports.DEFAULT_CONFIG=ib;exports.DEFAULT_PIPETTE=Br;exports.DEST_LABWARE=Ju;exports.DEST_WELL_BLOWOUT_DESTINATION=vn;exports.DIRTY=Xt;exports.EMPTY=ie;exports.FAKE_HOPPER_LOCATION_MAP=$h;exports.FIXED_TRASH_ID=Uu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=Nh;exports.FLEX_TRASH_DEF_URI=Zb;exports.GRIPPER_LOCATION=Fh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=kh;exports.HOPPER_FAKE_LOCATIONS=Uh;exports.HOPPER_STACKER_LOCATION=je;exports.INDENT=ka;exports.MAGNETIC_BLOCK_INITIAL_STATE=Ch;exports.MAGNETIC_MODULE_INITIAL_STATE=Oh;exports.MANUAL=St;exports.MIXED_WELL_COLOR=by;exports.MODULES_WITH_COLLISION_ISSUES=Lh;exports.MODULE_INITIAL_STATE_BY_TYPE=Mh;exports.MULTI_PIPETTE=fa;exports.OFF_DECK=la;exports.OT2_TC_SLOTS=Qb;exports.OT_2_TRASH_DEF_URI=Xb;exports.PAPI_VERSION=gy;exports.PD_APPLICATION_VERSION=cS;exports.PIPETTE_96=Zu;exports.PROTOCOL_CONTEXT_NAME=be;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=eT;exports.SOURCE_LABWARE=Qu;exports.SOURCE_WELL_BLOWOUT_DESTINATION=jr;exports.STAGING_AREA_SLOTS=qh;exports.TEMPERATURE_APPROACHING_TARGET=rc;exports.TEMPERATURE_AT_TARGET=tc;exports.TEMPERATURE_DEACTIVATED=Ea;exports.TEMPERATURE_MODULE_INITIAL_STATE=Rh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=vh;exports.TIPRACK_1=mA;exports.TOUCHED_PIPETTABLE_LABWARE=Ku;exports.TROUGH_LABWARE=ec;exports.VACUUM_AT_TARGET=cT;exports.VACUUM_DEACTIVATED=uT;exports.VACUUM_DOCK_ADDRESSABLE_AREA=tT;exports.VACUUM_DOCK_LOCATION=ac;exports.VACUUM_MODE_POWER=$u;exports.VACUUM_MODE_PRESSURE=Vu;exports.VACUUM_MODULE_INITIAL_STATE=Dh;exports.VACUUM_PROGRAM_PROFILE=nT;exports.VACUUM_PROGRAM_STATE=rT;exports.VACUUM_STATE_PUMP_OFF=aT;exports.VACUUM_STATE_PUMP_ON=sT;exports.VACUUM_STATE_VENT=oT;exports.VACUUM_VENT_CLOSED=Sa;exports.VACUUM_VENT_OPEN=sc;exports.VACUUM_VENT_SET_CLOSED=lT;exports.VACUUM_VENT_SET_OPEN=iT;exports.ZERO_OFFSET=wt;exports._getNextTip=Uy;exports._wellContentsForLabware=eS;exports.absorbanceReaderCloseInitialize=$y;exports.absorbanceReaderCloseLid=Ts;exports.absorbanceReaderCloseRead=Vy;exports.absorbanceReaderCollision=Ca;exports.absorbanceReaderInitialize=u_;exports.absorbanceReaderOpenLid=c_;exports.absorbanceReaderRead=p_;exports.absorbanceReaderStateGetter=Un;exports.airGapLocationHelper=rI;exports.aspirate=qg;exports.assignContainsAmongSiblings=Zc;exports.blowOutInWell=Ic;exports.captureImage=d_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=q_;exports.commandCreatorsTimeline=Nw;exports.comment=f_;exports.consolidate=Wy;exports.constructInvariantContextFromAnalysis=$w;exports.createEmptyLiquidState=P_;exports.createStagingAreaForInvariantContext=xu;exports.createTipLiquidState=C_;exports.curryCommandCreator=R;exports.curryWithoutPython=O;exports.deactivateTemperature=h_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=aI;exports.delay=fe;exports.delayLocationHelper=nI;exports.disengageMagnet=__;exports.dispense=Ec;exports.dispenseLocationHelper=eI;exports.distribute=Yy;exports.dropTip=zr;exports.dropTipInPlace=gs;exports.dropTipInTrash=zy;exports.dropTipInWasteChute=jy;exports.engageMagnet=y_;exports.enrichRobotStateForStackGraphTraversals=VE;exports.flexStackerEmpty=b_;exports.flexStackerFillItems=T_;exports.flexStackerRetrieve=g_;exports.flexStackerStateGetter=ft;exports.flexStackerStore=I_;exports.formatChangeTipArg=Cs;exports.formatPyDict=qr;exports.formatPyList=Es;exports.formatPyStr=N;exports.formatPyTuple=Ac;exports.formatPyValue=pt;exports.formatPyWellLocation=Vt;exports.getAddressableAreaFromModule=Xc;exports.getAddressableAreaNameFromLabwareLocation=DE;exports.getAllLargestStacks=ny;exports.getAllProvidedAddressableAreasFromDeckConfig=ay;exports.getAllWellsForLabware=yy;exports.getChunkForIndentingLists=ws;exports.getCommandCreatorFromStepArgs=NS;exports.getCustomLiquidClassProperties=ks;exports.getCutoutFromSlot=Ny;exports.getCutoutIdByAddressableArea=L_;exports.getDefaultPrimaryNozzle=os;exports.getDefineLiquids=Ly;exports.getDispenseAirGapLocation=N_;exports.getFlexStackerCutoutBaseDeckSlotId=Dc;exports.getFlexStackerShuttleAddressableArea=Ss;exports.getFullStackFromLabwares=Mc;exports.getFullStackFromNodeTopDownRecursive=vs;exports.getHasNoWellsFromCCArgs=Mw;exports.getInitialRobotStateStandard=pb;exports.getInitialRobotStateWithOffDeckLabwareStandard=yA;exports.getIsHeaterShakerEastWestMultiChannelPipette=Fn;exports.getIsHeaterShakerEastWestWithLatchOpen=Mn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=qa;exports.getIsLabwareCompatibleWithStack=$_;exports.getIsRetractSafeForAirGap=Ur;exports.getIsSafePickupWithinTiprack=ep;exports.getIsSlotAHopper=V_;exports.getIsSlotAVacuumDock=ua;exports.getIsSpaceInHopper=$c;exports.getIsTallLabwareEastWestOfHeaterShaker=hy;exports.getLabwareHasLiquid=M_;exports.getLabwareIdOnHopper=lI;exports.getLabwareIdOnShuttle=qc;exports.getLabwareSlot=Cn;exports.getLargestStackContainingLabware=ry;exports.getLargestStackInSlot=fn;exports.getLiquidClassName=Va;exports.getLiquidIdsOnLabware=nS;exports.getLiquidIdsOnLabwareStack=rS;exports.getLoadAdapters=Ey;exports.getLoadLabware=Sy;exports.getLoadLidStacks=wy;exports.getLoadLiquidClasses=Ry;exports.getLoadLiquids=Oy;exports.getLoadModules=Iy;exports.getLoadPipettes=Ay;exports.getLoadTrashBins=vy;exports.getLoadWasteChute=ky;exports.getLocationTotalVolume=fr;exports.getModuleHasLiveTask=Nn;exports.getModuleIdFromRobotStateStack=Pa;exports.getModuleState=Ot;exports.getNearestParentInStack=F_;exports.getNextRobotStateAndWarnings=Qc;exports.getNextRobotStateAndWarningsSingleCommand=my;exports.getNextTiprack=xa;exports.getNodeParentModuleId=CE;exports.getNozzleConfig=Jc;exports.getPipetteIdFromCCArgs=Dw;exports.getPipetteMovementSafetyStatus=dt;exports.getPipetteWithTipMaxVol=Ns;exports.getProvidedAddressableAreasExposed=ME;exports.getPythonAssignTipRacksString=Ps;exports.getResultingTimelineFrameFromRunCommands=Bw;exports.getRobotInitialStateNoTipsRemain=IA;exports.getRobotStateAndWarningsStandard=bA;exports.getRobotStatePickedUpTipStandard=gA;exports.getRobotStateWithTipStandard=TA;exports.getSetStoredLabware=Cy;exports.getSlotInLocationStack=G;exports.getStackForLabwareLocation=Bu;exports.getStackedOnNodeFromPdStack=sy;exports.getStateAndContextTempTCModules=EA;exports.getTargetTipsFromWellSets=Ba;exports.getThermocyclerProfileRepetitionsForPython=Fy;exports.getTipColumn=_A;exports.getTipColumnIndex=Xu;exports.getTipColumnName=tp;exports.getTipRowName=hn;exports.getTiprackHasTips=D_;exports.getTiprackTipstate=lb;exports.getTopLocationInStack=Nc;exports.getTopmostLabwareOnModuleFromStackRobotState=oI;exports.getTransferPlanAndReferenceVolumes=Fc;exports.getTrashBinAddressableAreaName=kc;exports.getTrashLocationFromAddressableAreaName=R_;exports.getTrashOrLabware=kn;exports.getVolumesPerLiquid=tS;exports.getWasteChuteAddressableAreaNamePip=O_;exports.getWellsForTips=Pc;exports.heaterShaker=Ky;exports.indentPyLines=K;exports.labwareMatchesLabwareInHopper=Uc;exports.makeContext=ub;exports.makeInitialRobotState=Cc;exports.makeState=Wr;exports.makeStateArgsLabwareOffDeck=cb;exports.makeStateArgsStandard=$n;exports.mergeLiquid=mr;exports.mix=Gy;exports.mixBlowoutLocationHelper=k_;exports.modulePipetteCollision=Dn;exports.moveHelper=tI;exports.moveLabware=E_;exports.moveToAddressableArea=Fe;exports.moveToAddressableAreaForDropTip=wc;exports.pipetteAdjacentHeaterShakerWhileShaking=qn;exports.pipetteIntoHeaterShakerLatchOpen=Ua;exports.pipetteIntoHeaterShakerWhileShaking=$a;exports.pythonCustomLabwareDict=bS;exports.pythonDefRun=yS;exports.pythonImports=pS;exports.pythonMetadata=dS;exports.pythonRequirements=fS;exports.reduceCommandCreators=ne;exports.repeatArray=v_;exports.replaceTip=Ha;exports.resolveDeckSlotKeyForLabwareStackInSlot=U_;exports.robotWithStatusAndTemp=wA;exports.setTemperature=Sc;exports.sortLabwareBySlot=qy;exports.splitLiquid=Qt;exports.stepCommands=Py;exports.swatchColors=Ty;exports.thermocyclerPipetteCollision=Ma;exports.thermocyclerProfileStep=Qy;exports.thermocyclerStateGetter=Ds;exports.thermocyclerStateStep=Jy;exports.tiprackWellNamesFlat=ob;exports.touchTip=Et;exports.transfer=eb;exports.unrollThermocyclerProfile=rp;exports.uuid=D;exports.vacuumCloseVent=va;exports.vacuumCloseVentSetPumpPower=tb;exports.vacuumCloseVentSetPumpPressure=rb;exports.vacuumCloseVentStartProfile=nb;exports.vacuumModuleStateGetter=st;exports.vacuumOpenVent=w_;exports.vacuumSetPumpPower=Lc;exports.vacuumSetPumpPressure=Oc;exports.vacuumStartRunProfile=Rc;exports.vacuumStopPump=A_;exports.waitForModuleTask=sb;exports.waitForTemperature=vc;exports.wellFillFromWellContents=sS;