@opentrons/step-generation 0.3.4-alpha.0 → 0.3.5-alpha.0

package/lib/index.cjs

@@ -1,150 +1,150 @@
-"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. Move the step outside the profile."}),_n=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),is=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),ap=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Fr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),Ib=()=>({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."}),bh=()=>({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."}),Eb=()=>({type:"HOPPER_EMPTY",message:"Cannot retrieve labware from empty stacker"}),wb=()=>({type:"SHUTTLE_FULL",message:"Shuttle must be empty in order to retrieve labware from the stacker"}),Sb=()=>({type:"SHUTTLE_EMPTY",message:"Shuttle must have labware in order to store it in the stacker"}),Th=()=>({type:"MISMATCHED_STACKER_LABWARE_TYPE",message:"The stacker can only store a single type of labware at a time"}),Ab=()=>({type:"MISSING_STACKER_LABWARE_TYPE",message:"Add labware to the stacker in the starting deck so that you can refill it later"}),gh=()=>({type:"HOPPER_FULL",message:"The hopper has reached capacity"}),yn=()=>({type:"HEATER_SHAKER_IS_SHAKING",message:"Attempted to interact with the contents of a heater-shaker when it is shaking."}),Lb=e=>({type:"TALL_LABWARE_EAST_WEST_OF_HEATER_SHAKER",message:`Labware over 53 mm is ${e} of this Heater-Shaker module.`}),Ut=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 ${t.addressableAreaCausingCollision.displayName}`,translationParams:{addressableAreaCausingCollisionDisplayName:t.addressableAreaCausingCollision.displayName}}}},ha=()=>({type:"HEATER_SHAKER_EAST_WEST_LATCH_OPEN",message:"The Heater-Shaker labware latch is open"}),_a=()=>({type:"HEATER_SHAKER_NORTH_SOUTH_EAST_WEST_SHAKING",message:"The Heater-Shaker is shaking"}),ya=()=>({type:"HEATER_SHAKER_EAST_WEST_MULTI_CHANNEL",message:"The Heater-Shaker is shaking"}),ls=()=>({type:"HEATER_SHAKER_NORTH_SOUTH__OF_NON_TIPRACK_WITH_MULTI_CHANNEL",message:"8-Channel pipette cannot access labware"}),bn=()=>({type:"LABWARE_OFF_DECK",message:"Attempted to interact with labware off deck"}),Ob=()=>({type:"LABWARE_ON_ANOTHER_ENTITY",message:"Attempted to move labware onto another entity with the same slotName"}),En=()=>({type:"DROP_TIP_LOCATION_DOES_NOT_EXIST",message:"The destination for dropping tip does not exist"}),Ih=()=>({type:"EQUIPMENT_DOES_NOT_EXIST",message:"Equipment does not exist."}),Rb=()=>({type:"GRIPPER_REQUIRED",message:"The gripper is required to fulfill this action"}),$t=e=>({type:"PIPETTING_INTO_COLUMN_4",message:`Cannot ${e.typeOfStep} into a column 4 slot.`}),vb=()=>({type:"CANNOT_MOVE_WITH_GRIPPER",message:"The gripper cannot move aluminum blocks"}),kb=()=>({type:"NO_TIP_SELECTED",message:"No tips were selected for this step"}),ba=()=>({type:"LABWARE_DISCARDED_IN_TRASH",message:"The labware was discarded in trash in a previous step."}),Eh=()=>({type:"SUBMERGE_BELOW_ASPIRATE",message:"The submerge position must be above the aspirate position"}),wh=()=>({type:"RETRACT_BELOW_ASPIRATE",message:"The retract position must be above the aspirate position"}),Pb=()=>({type:"SUBMERGE_BELOW_DISPENSE",message:"The submerge position must be above the dispense position"}),Cb=()=>({type:"RETRACT_BELOW_DISPENSE",message:"The retract position must be above the dispense position"}),Nb=()=>({type:"MULTI_ASPIRATE_VOLUME_TOO_HIGH",message:"Consolidate pipette path was selected but cannot fit volume for more than 1 well in the tip"}),Db=()=>({type:"MULTI_DISPENSE_VOLUME_TOO_HIGH",message:"Distribute pipette path was selected but cannot fit volume for more than 1 well in the tip"}),Mb=e=>({type:"CLOSING_THERMOCYCLER_WITH_INVALID_LABWARE_LID",message:`Closing the Thermocycler lid with ${e.lidDisplayName} in place will cause damage`}),sp=()=>({type:"RETURN_TIP_UNAVAILABLE",message:"Current tip does not have a known location to return to"}),Fb=()=>({type:"TIPRACK_LID_NOT_ALLOWED_ON_DECK",message:"The tip rack lid is not supported directly on the deck"}),qb=()=>({type:"NEXT_TIPRACK_HAS_LID",message:"A pipette cannot pick up tips from a tip rack with a lid"}),Ub=e=>({type:"STACK_TOO_HIGH",message:`The stack on slot ${e.slot} is too high`}),$b=()=>({type:"TOO_MANY_TIPS",message:"Action will pick up too many tips"}),Vb=()=>({type:"INCOMPLETE_PICKUP",message:"At least one of the selected tips is empty"}),Bb=()=>({type:"LABWARE_ON_HOPPER",message:"Labware cannot be moved from the Flex Stacker Hopper"}),xb=()=>({type:"MISSING_PUMP_ACTIVITY",message:"This module is not currently running a pump activity."}),Hb=e=>({type:"INVALID_WAIT_CONDITION",message:`Invalid wait condition: ${e}`}),Ta=()=>({type:"LIVE_TASK_ERROR",message:"This module is currently running a live task. 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Dg(){if(Uf)return dl;Uf=1;function e(t,r,n,a,s){return s(t,function(o,i,l){n=a?(a=!1,o):r(n,o,i,l)}),n}return dl=e,dl}var fl,$f;function Mg(){if($f)return fl;$f=1;var e=Ng(),t=bc(),r=On(),n=Dg(),a=Ze();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 fl=s,fl}var Fg=Mg();const lt=xe(Fg),Ts=(e,t,r)=>{const{gripperEntities:n,moduleEntities:a}=t,s=Un(r,e.moduleId),o=Object.keys(n).length>0,i=[];if((e.moduleId==null||s==null)&&i.push(Z()),o||i.push(bh()),i.length>0)return{errors:i};const l=a[e.moduleId].pythonName;return{commands:[{commandType:"absorbanceReader/closeLid",key:D(),params:{moduleId:e.moduleId}}],python:`${l}.close_lid()`}},u_=(e,t,r)=>{const{moduleId:n,sampleWavelengths:a,measureMode:s,referenceWavelength:o}=e,i=t.moduleEntities[n].pythonName,l=o!=null?`, 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s.length>0?{errors:s}:{commands:[{commandType:"absorbanceReader/read",key:D(),params:{moduleId:n,...a!=null?{fileName:a}:{}}}],python:`${i}.read(${l})`}},At=(e,t,r)=>{const{flowRate:n,pipetteId:a,volume:s,correctionVolume:o}=e,i=[];t.pipetteEntities[a]?.spec||i.push(ut({pipette:a}));const u=t.pipetteEntities[a].pythonName;return{commands:[{commandType:"airGapInPlace",key:D(),params:{flowRate:n,pipetteId:a,volume:s,...o!=null?{correctionVolume:o}:{}}}],python:`${u}.air_gap(${[`volume=${s}`,"in_place=True",`flow_rate=${n}`].join(", ")})`}},qg=(e,t,r)=>{const{pipetteId:n,volume:a,labwareId:s,wellName:o,flowRate:i,isAirGap:l,tipRack:u,wellLocation:p,primaryNozzle:d,nozzles:f}=e,_="aspirate",m=r.labware,h=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Cn(s,r.labware);if(b||h.push(ut({pipette:n})),!s||!r.labware[s]?h.push(ct({actionName:_,labware:s})):G(r.labware[s].stack)==="offDeck"&&h.push(bn()),Me.includes(y))h.push($t({typeOfStep:_}));else 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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(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()),$a(r.modules,r.labware,s)&&h.push(yn()),qn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&h.push(_a()),T||(Mn(r.modules,y)&&h.push(ha()),Fn(r.modules,y,b)&&h.push(ya()),qa(r.modules,y,b,t.labwareEntities[s])&&h.push(ls())),h.length===0&&b&&b.liquids.default.maxVolume<a&&h.push(rs({actionName:_,volume:a,maxVolume:b.liquids.default.maxVolume})),h.length===0&&b){const v=Ns(n,t,u);v<a&&h.push(bb({actionName:_,volume:a,maxVolume:v}))}if(h.length>0)return{errors:h};const g=[{commandType:"aspirate",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:p,flowRate:i},...l&&{meta:{isAirGap:l}}}],I=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,w=[`volume=${a}`,`location=${L}[${N(o)}]${Vt(p)}`,`flow_rate=${i}`],E=`${I}.aspirate(
-${K(w.join(`,
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("@opentrons/shared-data");function Pb(){return{type:"INSUFFICIENT_TIPS",message:"Not enough tips to complete action"}}function Cb(){return{type:"MISSING_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips fully without an adapter"}}function Nb(){return{type:"REMOVE_96_CHANNEL_TIPRACK_ADAPTER",message:"A 96-channel cannot pick up tips partially with an adapter"}}function xt(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 Db(){return{message:"One or more of the pipettes has a tip",type:"PIPETTE_HAS_TIP"}}function ct(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 pt(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 Q(){return{message:"This step requires a module, but none is selected",type:"MISSING_MODULE"}}function Mb(){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 pp(){return{message:"This module is not currently running a profile.",type:"MISSING_PROFILE_STEP"}}function Fb(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 os(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 ${n}µL.`,type:"PIPETTE_VOLUME_EXCEEDED"}}const qb=()=>({type:"MOVE_LOCATION_NOT_SPECIFIED",message:"This step is missing a move location."}),Ta=()=>({type:"MODULE_PIPETTE_COLLISION_DANGER",message:"Gen 1 8-Channel pipettes cannot access labware or tip racks in slot 4 or 6 because they are adjacent to modules."}),Ub=()=>({type:"THERMOCYCLER_BUSY_WITH_PROFILE",message:"This step cannot run while the Thermocycler is running a profile. Move the step outside the profile."}),In=()=>({type:"THERMOCYCLER_LID_CLOSED",message:"Attempted to interact with contents of a thermocycler with the lid closed."}),ps=()=>({type:"HEATER_SHAKER_LATCH_OPEN",message:"Attempted to interact with contents of a heater-shaker with the latch open."}),dp=()=>({type:"HEATER_SHAKER_LATCH_CLOSED",message:"Attempted to move the contents of a heater-shaker with the latch closed."}),Mr=()=>({type:"ABSORBANCE_READER_LID_CLOSED",message:"Attempted to interact with contents of an absorbance plate reader with the lid closed."}),$b=()=>({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."}),Sh=()=>({type:"ABSORBANCE_READER_NO_GRIPPER",message:"This step involves opening or closing the Absorbance Plate Reader lid with a gripper. 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-${o}.deactivate_block()`}:s===c.HEATERSHAKER_MODULE_TYPE?{commands:[{commandType:"heaterShaker/deactivateHeater",key:D(),params:i}],python:`${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(
-${K(w.join(`,
+)`}},w_=(e,t,r)=>{const{moduleId:n}=e;if(n===null)return{errors:[Q()]};const a=t.moduleEntities[n],s=a?.type,o=a?.pythonName,i={moduleId:n};return s===c.TEMPERATURE_MODULE_TYPE?{commands:[{commandType:"temperatureModule/deactivate",key:D(),params:i}],python:`${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 ${s}`),{errors:[Q()]})},me=(e,t,r)=>{const{message:n}=e;let a,s;if("seconds"in e){a={commandType:"waitForDuration",key:D(),params:{seconds:e.seconds,message:n}};const o=[`seconds=${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}},S_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t,s="magneticModule/disengage";if(n===null)return{errors:[Q()]};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()`}},Rc=(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,h="dispense",m=r.labware,_=[],b=t.pipetteEntities[n]?.spec,T=(b?.displayCategory==="FLEX"||b?.channels===96)??!1,y=Un(s,r.labware);if(b||_.push(ct({pipette:n})),Vn({pipette:n,labware:s,invariantContext:t,prevRobotState:r})&&_.push(Ta()),r.tipState.pipettes[n]?.hasTip||_.push(xt({actionName:h,pipette:n,labware:s,well:o})),!s||!r.labware[s]?_.push(pt({actionName:h,labware:s})):G(r.labware[s].stack)==="offDeck"&&_.push(wn()),ve.includes(y))_.push(Vt({typeOfStep:h}));else if(m[y]!=null){const k=G(m[y].stack);ve.includes(k)&&_.push(Vt({typeOfStep:h}))}const A=t.pipetteEntities[n]?.spec.channels!==1,w=ft({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&&!w.isSafe&&_.push($t({unsafePipetteMovementReason:w.reason})),Va(r.modules,r.labware,s)&&_.push(In()),qa(r.modules,r.labware,s)&&_.push(Mr()),Ha(r.modules,r.labware,s)&&_.push(ps()),za(r.modules,r.labware,s)&&_.push(En()),Hn(r.modules,y,T?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&_.push(Ia()),T||(Bn(r.modules,y)&&_.push(ga()),xn(r.modules,y,b)&&_.push(Ea()),xa(r.modules,y,b,t.labwareEntities[s])&&_.push(ds())),_.length>0)return{errors:_};const I=[{commandType:"dispense",key:D(),params:{pipetteId:n,volume:a,labwareId:s,wellName:o,wellLocation:u,flowRate:i,...p!=null?{pushOut:p}:{}},...l&&{meta:{isAirGap:l}}}],S=t.pipetteEntities[n].pythonName,L=t.labwareEntities[s].pythonName,g=[`volume=${a}`,`location=${L}[${N(o)}]${Bt(u)}`,`flow_rate=${i}`,...p!=null?[`push_out=${p}`]:[]],E=`${S}.dispense(
+${K(g.join(`,
 `))},
-)`;return{commands:g,python:E}},Xe=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,pushOut:o,correctionVolume:i,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(Bt({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:D(),params:{pipetteId:n,volume:a,flowRate:s,...o!=null?{pushOut:o}:{},...i!=null?{correctionVolume:i}:{}},...l?{meta:{isAirGap:l}}:{}}],d=t.pipetteEntities[n].pythonName,f=[`volume=${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=$c(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),_=ws(d,4).map(T=>ka+T.join(", ")).join(`,
+)`;return{commands:I,python:E}},Xe=(e,t,r)=>{const{pipetteId:n,volume:a,flowRate:s,pushOut:o,correctionVolume:i,isAirGap:l}=e,u=[];r.tipState.pipettes[n]?.hasTip||u.push(xt({actionName:"dispense",pipette:n}));const p=[{commandType:"dispenseInPlace",key:D(),params:{pipetteId:n,volume:a,flowRate:s,...o!=null?{pushOut:o}:{},...i!=null?{correctionVolume:i}:{}},...l?{meta:{isAirGap:l}}:{}}],d=t.pipetteEntities[n].pythonName,f=[`volume=${a}`,`flow_rate=${s}`,...o!=null?[`push_out=${o}`]:[]],h=`${d}.dispense(${f.join(", ")})`;return u.length>0?{errors:u}:{commands:p,python:h}},Hr=(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:h})=>h===i),p=u!=null&&l!=null;if(o&&!p)return{errors:[fp()]};let d=null;if(o&&p){const h=t.pipetteEntities[n].pythonName,_=`${u.pythonName}["${l}"]`;d=`${h}.drop_tip(location=${_})`}let f=[];if(o){if(i==null||l==null)return{errors:[fp()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:i,wellName:l}}]}else{if(a==null||s==null)return{errors:[Rn()]};f=[{commandType:"dropTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}]}return{commands:f,...d!=null?{python:d}:{}}},Ss=(e,t,r)=>{const{pipetteId:n}=e;return r.tipState.pipettes[n]?.hasTip?{commands:[{commandType:"dropTipInPlace",key:D(),params:{pipetteId:n}}]}:{commands:[]}},A_=(e,t,r)=>{const{moduleId:n,height:a}=e,{moduleEntities:s}=t,o="magneticModule/engage";if(n===null)return{errors:[Q()]};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=${a})`}},L_=(e,t,r)=>{const{moduleEntities:n}=t,{moduleId:a,strategy:s,message:o,count:i}=e,l=mt(r,a);if(a==null||n[a]==null)return{errors:[Q()]};const u=[];if(l==null&&u.push(Q()),u.length>0)return{errors:u};const p=n[a].pythonName;return{commands:[{commandType:"flexStacker/empty",key:D(),params:{moduleId:a,strategy:s,message:o,count:i}}],python:`${p}.empty(${e.message?`message=${N(e.message)}`:""})`}},O_=(e,t,r)=>{const{moduleId:n,interventionMessage:a,fillLabwareIds:s}=e,{labwareEntities:o,moduleEntities:i}=t;if(n==null||i[n]==null)return{errors:[Q()]};const l=mt(r,n),u=Wc(l,t.labwareEntities),p=i[n].pythonName,d=s.filter(T=>!c.getIsLid(o[T].def)).map(T=>o[T]?.pythonName),h=Os(d,4).map(T=>Ma+T.join(", ")).join(`,
 `),m=d.length<4?d.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}],
+${h}
+`;if(l!=null&&l.storedLabwareDetails===null&&l.labwareInHopper==null)return{errors:[Hb()]};if(u){if(s.length>0&&!s.every(y=>Gc(y,t,l)))return{errors:[Ah()]}}else return{errors:[Lh()]};const b=[...s.filter(T=>!c.getIsLid(o[T].def)).length>0?`labware=[${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")}: ${m.holdSeconds}},`).join(`
+${K(b)})`}},R_=(e,t,r)=>{const{moduleId:n}=e,{moduleEntities:a}=t;if(n==null||a[n]==null)return{errors:[Q()]};const s=a[n].pythonName,o=mt(r,n),i=o?.labwareInHopper!=null&&o.labwareInHopper.length>0;return o!==null&&jc(o)?{errors:[Bb()]}:i?{commands:[{commandType:"flexStacker/retrieve",key:D(),params:{moduleId:n}}],python:`${s}.retrieve()`}:{errors:[Vb()]}},k_=(e,t,r)=>{const{moduleId:n}=e,{labwareEntities:a,moduleEntities:s}=t;if(n==null||s[n]==null)return{errors:[Q()]};const o=s[n].pythonName,i=mt(r,n),l=i?.labwareOnShuttle?.primaryLabwareId??null,u=Wc(i,a);return i!==null&&!jc(i)?{errors:[xb()]}:l!==null&&!Gc(l,t,i)?{errors:[Ah()]}:u?{commands:[{commandType:"flexStacker/store",key:D(),params:{moduleId:n,strategy:"automatic"}}],python:`${o}.store()`}:{errors:[Lh()]}};function bl(){return{type:"ASPIRATE_MORE_THAN_WELL_CONTENTS",message:"Not enough liquid"}}function Tl(){return{type:"ASPIRATE_FROM_PRISTINE_WELL",message:"This step tries to aspirate from an empty well."}}function tI(){return{type:"LABWARE_IN_WASTE_CHUTE_HAS_LIQUID",message:"Disposing of a labware with liquid"}}function rI(){return{type:"TIPRACK_IN_WASTE_CHUTE_HAS_TIPS",message:"Disposing unused tips"}}function nI(){return{type:"TEMPERATURE_IS_POTENTIALLY_UNREACHABLE",message:"The module set temperature is potentially unreachable."}}function aI(){return{type:"WAITING_FOR_NONEXISTENT_TASK",message:"This step is waiting for a task that was never started."}}const sI="opentrons_flex_tiprack_lid",v_=(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,h=Object.values(u).length>0,m=r.tipState!=null?Z_(r.tipState,n):!1,_=r.liquidState!=null?Q_(r.liquidState,n):!1,b=Object.values(r.tipState.pipettes).some(({hasTip:C})=>C),T="moveToLabware",y=[],A=[],w=c.locationIsOnAddressableArea(s)&&s.addressableAreaName==="gripperWasteChute";!n||!r.labware[n]?y.push(pt({actionName:T,labware:n})):G(r.labware[n].stack)==="offDeck"&&o?y.push(wn()):r.labware[n].stack.includes(Ze)&&y.push(sT());const I=p[n]?.def.metadata.displayCategory==="aluminumBlock";o&&I&&y.push(Wb()),(w&&f&&!o||!f&&o)&&y.push(Gb()),b&&o&&y.push(Db());const S=r.labware[n]!=null?G(r.labware[n].stack):null;(h&&S==="gripperWasteChute"||c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(S)||S==="fixedTrash")&&y.push(wa());const L=S!=null&&r.labware[S]!=null?G(r.labware[S].stack):null,g=L??S,E=C=>C==null?null:C in r.modules?r.modules[C].moduleState:Object.values(r.modules).find(({slot:P})=>P===C)?.moduleState??null,k=Object.entries(r.labware).filter(([C,P])=>P.stack.includes("offDeck")).map(([C])=>C),v=Object.values(s);k.some(C=>v.includes(C))&&o&&y.push(qb());const $=E(g);$!=null&&($.type===c.THERMOCYCLER_MODULE_TYPE&&$.lidOpen!==!0?y.push(In()):$.type===c.HEATERSHAKER_MODULE_TYPE?$.latchOpen!==!0?y.push(dp()):$.targetSpeed!==null&&y.push(En()):$.type===c.ABSORBANCE_READER_TYPE&&$.lidOpen!==!0&&y.push(Mr()));const U=c.locationIsOnModule(s)&&"moduleId"in s?s.moduleId:null,ee=c.locationIsOnLabware(s)?s.labwareId:null,de=ee!=null?r.labware[ee].stack[1]:null,Te=de??U;s==="offDeck"&&o&&y.push(wn()),m&&w&&h?A.push(rI()):_&&w&&h&&A.push(tI());const ue=E(Te);ue!=null&&(ue.type===c.THERMOCYCLER_MODULE_TYPE&&ue.lidOpen!==!0?y.push(In()):ue.type===c.HEATERSHAKER_MODULE_TYPE?(ue.latchOpen!==!0&&y.push(dp()),ue.targetSpeed!==null&&y.push(En())):ue.type===c.ABSORBANCE_READER_TYPE&&ue.lidOpen!==!0&&y.push(Mr())),p[n]?.def.parameters.loadName===sI&&s!=null&&c.locationIsOnDeck(s)&&("slotName"in s||"addressableAreaName"in s&&c.FLEX_STAGING_AREA_SLOT_ADDRESSABLE_AREAS.includes(s.addressableAreaName))&&y.push(eT());const Pe={labwareId:n,strategy:a,newLocation:s},He=[{commandType:"moveLabware",key:D(),params:Pe}],Ve=p[n]?.pythonName;let te="",Se=null;if(s==="offDeck")te=Ln;else if(s==="systemLocation")te="system_location";else if(s==="wasteChuteLocation")te=Ln;else if("labwareId"in s){te=p[s.labwareId].pythonName;const C=r.labware[s.labwareId].stack;Se=C[C.length-1]}else if("moduleId"in s)Se=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;Se=M[M.length-1]}else te=N(C),Se=C}else if("addressableAreaName"in s){const C=ve.includes(s.addressableAreaName),P=c.WASTE_CHUTE_ADDRESSABLE_AREAS.includes(s.addressableAreaName),V=s.addressableAreaName==="fixedTrash",se=c.MOVABLE_TRASH_ADDRESSABLE_AREAS.includes(s.addressableAreaName)||V?Object.values(l)?.map(F=>F.location):[],q=!P&&!C&&!ma(s.addressableAreaName)?H_(s.addressableAreaName,V?"fixedTrashSlot":"trashBinAdapter",V?c.OT2_ROBOT_TYPE:c.FLEX_ROBOT_TYPE):null,z=se.find(F=>F===q),x=z!=null?Object.values(l).find(F=>F.location===z)?.id:null;if(C)te=N(s.addressableAreaName);else if(x!=null&&!P)te=l[x]?.pythonName??"";else if(x==null&&P)te=Object.values(u)[0]?.pythonName??"";else if(ma(s.addressableAreaName)){const[F]=Object.entries(r.modules).find(([,H])=>H.moduleState.type===c.VACUUM_MODULE_TYPE)??[];if(F!=null&&d[F]!=null){const{pythonName:H}=d[F];te=`${H}.manifold_dock`}}else te=""}if(Se!=null){const C=fa({slot:Se,labwareState:r.labware,modulesState:r.modules}),P=G(C),{isCompatible:V,isAboveStackLimit:M}=ry(n,C,p,d);V||y.push(jb()),M&&y.push(rT({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":"",Ce=c.getIsLid(p[n].def),Ee=r.labware[n].stack;let X="";if(Ce){const C=J_(Ee);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);Ee.length===2||P&&V?X=N(G(Ee)):(P||!c.getIsLid(p[C].def))&&(X=p[C].pythonName)}}Ce&&X===""&&console.error("expected to find a valid lid move location but could not");const W=Ce?`${be}.move_lid(${X}, ${te}${ze})`:`${be}.move_labware(${Ve}, ${te}${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],h=f.pythonName;let m=z_(p);return i[a]!=null&&(m=Uc(f.location)),{commands:[{commandType:"moveToAddressableArea",key:D(),params:{pipetteId:n,addressableAreaName:m,offset:s}}],python:`${d}.move_to(${h})`}},kc=(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:h,labwareEntities:m}=t,_=h[n]?.spec,b=r.pipettes[n]?.nozzles??c.ALL,T=r.pipettes[n]?.primaryNozzle??cs({nozzles:b,channels:_?.channels}),y=(_?.displayCategory==="FLEX"||_?.channels===96)??!1,A=Un(a,r.labware);if(_||d.push(ct({pipette:n})),!a||!r.labware[a]?d.push(pt({actionName:p,labware:a})):G(r.labware[a].stack)==="offDeck"&&d.push(wn()),ve.includes(A))d.push(Vt({typeOfStep:"move to well"}));else if(f[A]!=null){const v=G(f[A].stack);ve.includes(v)&&d.push(Vt({typeOfStep:p}))}Vn({pipette:n,labware:a,invariantContext:t,prevRobotState:r})&&d.push(Ta()),Va(r.modules,r.labware,a)&&d.push(In()),Ha(r.modules,r.labware,a)&&d.push(ps()),qa(r.modules,r.labware,a)&&d.push(Mr()),za(r.modules,r.labware,a)&&d.push(En()),Hn(r.modules,A,y?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE)&&d.push(Ia()),y||(Bn(r.modules,A)&&d.push(ga()),xn(r.modules,A,_)&&d.push(Ea()),xa(r.modules,A,_,m[a])&&d.push(ds()));const w=t.pipetteEntities[n]?.spec.channels!==1,I=t.pipetteEntities[n]?.spec,S=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:o?.offset??{x:0,y:0,z:0},wellTargetName:s,nozzleConfiguration:b,primaryNozzle:T});if(w&&I&&!S.isSafe&&d.push($t({unsafePipetteMovementReason:S.reason})),d.length>0)return{errors:d};const L=h[n].pythonName,g=m[a].pythonName,E=[{commandType:"moveToWell",key:D(),params:{pipetteId:n,labwareId:a,wellName:s,wellLocation:o,...l!=null?{forceDirect:l}:{},...i!=null?{minimumZHeight:i}:{},...u!=null?{speed:u}:null}}],k=[`${g}[${N(s)}]${Bt(o)}`,...l?["force_direct=True"]:[],...i?[`minimum_z_height=${i}`]:[],...u?[`speed=${u}`]:[]];return{commands:E,python:`${L}.move_to(${k.join(", ")})`}},ss=(e,t,r)=>{const{pipetteId:n,labwareId:a,wellName:s,tipTrackingOption:o=uc,nozzles:i,primaryNozzle:l}=e,u=[],p=t.pipetteEntities[n].spec.channels,d=ft({robotState:r,invariantContext:t,pipetteId:n,labwareId:a,wellLocationOffset:{x:0,y:0},wellTargetName:s,nozzleConfiguration:i,primaryNozzle:l}),f=lp({tipState:r.tipState.tipracks[a],primaryNozzle:l,channels:p,nozzleConfiguration:i,wellName:s,tiprackDef:t.labwareEntities[a].def});d.isSafe||u.push($t({unsafePipetteMovementReason:d.reason})),f.isSafe||u.push(nT()),f.isComplete!==!0&&u.push(aT());const h=G(r.labware[a].stack);if(ve.includes(h))u.push(Vt({typeOfStep:"pick up tip"}));else if(r.labware[h]!=null){const T=G(r.labware[h].stack);ve.includes(T)&&u.push(Vt({typeOfStep:"pick up tip"}))}const m=t.pipetteEntities[n].pythonName,_=t.labwareEntities[a].pythonName,b=`${m}.pick_up_tip(location=${_}${o===St?`[${N(s)}]`:""})`;return u.length>0?{errors:u}:{commands:[{commandType:"pickUpTip",key:D(),params:{pipetteId:n,labwareId:a,wellName:s}}],python:b}},P_=(e,t,r)=>{const{moduleId:n,taskId:a,profileElements:s,blockMaxVolumeUl:o}=e,i=t.moduleEntities[n].pythonName,l=rb(e.profileElements),u=l.repeatingProfileSteps.map(m=>`{${N("temperature")}: ${m.celsius}, ${N("hold_time_seconds")}: ${m.holdSeconds}},`).join(`
 `),d=`${`[
 ${K(u)}
 ],`}
 ${l.numRepetitions},
-`+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),_=(a!=null?`${a} = `:"")+`${i}.start_execute_profile(
+`+(e.blockMaxVolumeUl!==void 0?`block_max_volume=${e.blockMaxVolumeUl},`:""),h=(a!=null?`${a} = `:"")+`${i}.start_execute_profile(
 ${K(d)}
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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 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b of o){const T=a[b].labwareDefURI;if(T===u)f.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(T===p){const y=f[f.length-1];y&&(y.adapterLabwareId=b)}else if(T===d){const y=f[f.length-1];y&&(y.lidLabwareId=b)}}const _=[je,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,..._].filter(A=>A!=null);n.labware[b.primaryLabwareId]={...n.labware[b.primaryLabwareId],stack:T.slice(T.indexOf(b.primaryLabwareId))},b.adapterLabwareId!=null&&(n.labware[b.adapterLabwareId]={...n.labware[b.adapterLabwareId],stack:T.slice(T.indexOf(b.adapterLabwareId))}),b.lidLabwareId!=null&&(n.labware[b.lidLabwareId]={...n.labware[b.lidLabwareId],stack:T.slice(T.indexOf(b.lidLabwareId))});let y=null;for(const A of T)a[A]!=null&&(y==null?n.labware[A].stackedOnNode={kind:"inStackerHopper",moduleId:s}:n.labware[A].stackedOnNode={labwareId:y},y=A)}const m=l.labwareInHopper??[],h=f.map(({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y})=>({primaryLabwareId:b,adapterLabwareId:T,lidLabwareId:y}));l.labwareInHopper=[...m,...h]},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 getNextRobotStateAndWarning");switch(e.commandType){case"aspirateWhileTracking":case"aspirate":case"aspirateInPlace":if(e.meta?.isAirGap===!0)break;HI(e.params,t,r);break;case"airGapInPlace":RI(e.params,t,r);break;case"dispenseWhileTracking":case"dispense":case"dispenseInPlace":if(e.meta?.isAirGap===!0)break;GI(e.params,t,r);break;case"blowout":zI(e.params,t,r);break;case"dropTip":WI(e.params,t,r);break;case"pickUpTip":zE(e.params,t,r);break;case"setTipState":GE(e.params,t,r);break;case"magneticModule/engage":Iw(e.params,t,r);break;case"magneticModule/disengage":Ew(e.params,t,r);break;case"moveLabware":BE(e.params,t,r);break;case"waitForTasks":dw(e.params,t,r);break;case"flexStacker/setStoredLabware":Aw(e.params,t,r);break;case"flexStacker/setStoredLabwareItems":Lw(e.params,t,r);break;case"flexStacker/prepareShuttle":case"flexStacker/closeLatch":case"flexStacker/openLatch":break;case"flexStacker/empty":ww(e.params,t,r);break;case"flexStacker/fill":Ow(e.params,t,r);break;case"flexStacker/fillItems":Sw(e.params,t,r);break;case"flexStacker/retrieve":Rw(e.params,t,r);break;case"flexStacker/store":vw(e.params,t,r);break;case"touchTip":case"configureForVolume":case"loadPipette":case"loadLabware":case"loadModule":case"home":case"moveRelative":case"moveToSlot":case"moveToCoordinates":case"savePosition":case"waitForResume":case"waitForDuration":case"pause":case"delay":case"custom":case"comment":case"captureImage":case"prepareToAspirate":case"liquidProbe":case"loadLiquidClass":case"loadLidStack":case"loadLid":case"getTipPresence":case"identifyModule":case"getNextTip":case"retractAxis":case"sealPipetteToTip":case"tryLiquidProbe":case"unsealPipetteFromTip":case"verifyTipPresence":case"pressureDispense":case"createTimer":break;case"moveToAddressableArea":case"moveToAddressableAreaForDropTip":xE(e.params,t,r);break;case"moveToWell":HE(e.params,t,r);break;case"loadLiquid":YI(e.params,t,r);break;case"dropTipInPlace":gw(e.params,t,r);break;case"blowOutInPlace":Tw(e.params,t,r);break;case"configureNozzleLayout":jI(e.params,t,r);break;case"temperatureModule/setTargetTemperature":kw(e.params,t,r);break;case"temperatureModule/deactivate":Cw(e.params,t,r);break;case"temperatureModule/waitForTemperature":Pw(e.params,t,r);break;case"thermocycler/setTargetBlockTemperature":WE(e.params,t,r);break;case"thermocycler/setTargetLidTemperature":YE(e.params,t,r);break;case"thermocycler/waitForBlockTemperature":KE(e.params);break;case"thermocycler/waitForLidTemperature":XE(e.params);break;case"thermocycler/deactivateBlock":QE(e.params,t,r);break;case"thermocycler/deactivateLid":JE(e.params,t,r);break;case"thermocycler/closeLid":ew(e.params,t,r);break;case"thermocycler/openLid":tw(e.params,t,r);break;case"thermocycler/runProfile":rw(e.params,t,r);break;case"thermocycler/runExtendedProfile":oy(e.params,t,r);break;case"thermocycler/startRunExtendedProfile":iy(e.params,t,r);break;case"thermocycler/awaitProfileComplete":ZE(e.params);break;case"heaterShaker/deactivateHeater":mw(e.params,t,r);break;case"heaterShaker/setTargetTemperature":fw(e.params,t,r);break;case"heaterShaker/setAndWaitForShakeSpeed":hw(e.params,t,r);break;case"heaterShaker/deactivateShaker":_w(e.params,t,r);break;case"heaterShaker/openLabwareLatch":yw(e.params,t,r);break;case"heaterShaker/closeLabwareLatch":bw(e.params,t,r);break;case"heaterShaker/waitForTemperature":break;case"absorbanceReader/openLid":AI(e.params,t,r);break;case"absorbanceReader/closeLid":LI(e.params,t,r);break;case"absorbanceReader/initialize":OI(e.params,t,r);break;case"absorbanceReader/read":break;case"vacuumModule/startSetVacuumPressure":iw(e.params,t,r);break;case"vacuumModule/startSetVacuumPower":lw(e.params,t,r);break;case"vacuumModule/openVent":sw(e.params,t,r);break;case"vacuumModule/closeVent":ow(e.params,t,r);break;case"vacuumModule/stopVacuum":uw(e.params,t,r);break;case"vacuumModule/startRunProfile":cw(e.params,t,r);break;default:console.error(`unknown command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function my(e,t,r){return Y_({warnings:[],robotState:r},a=>{fy(e,t,a)})}function Qc(e,t,r){const n=K_(e);return Y_({warnings:[],robotState:r},s=>{n.forEach(o=>{fy(o,t,s)})})}const Nw=(e,t,r)=>{const n=e.reduce((a,s,o)=>{const i=a.timeline.length===0?r:Vc(a.timeline).robotState;if(a.errors!=null)return a;const l=s(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=K_(l.commands).reduce((f,_)=>my(_,t,f.robotState),{robotState:i,warnings:[]}),d={commands:l.commands,robotState:p.robotState,warnings:l.warnings,stepInfo:{stepNumber:l.stepNumber,name:l.name,description:l.description},python:l.python};return{timeline:[...a.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},Cn=(e,t)=>{const r=t[e]?.stack;return r!=null?G(r):""},Nn=e=>{if(e.type===c.VACUUM_MODULE_TYPE){const t=e;return t.currentPumpActivity.type==="timedHold"||t.currentPumpActivity.type==="profile"}if(e.type===c.THERMOCYCLER_MODULE_TYPE){const t=e;return t.currentBlockActivity.type==="profile"||t.currentBlockActivity.type==="blockTargetTemp"}return!1},Dn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?G(a.labware[r]?.stack):null;if(!t||!r||!s||!o)return!1;const i=Object.keys(n.moduleEntities).some(l=>{const u=n.moduleEntities[l].model;if(Lh.includes(u)){const p=a.modules[l]?.slot;return p==="1"&&o==="4"||p==="3"&&o==="6"}else return!1});return c.GEN_ONE_MULTI_PIPETTES.includes(s.name)&&i},ne=(e,t,r)=>{const n=e.reduce((a,s)=>{if(a.errors.length>0)return a;const o=s(t,a.robotState);if("errors"in o)return{robotState:a.robotState,commands:a.commands,errors:o.errors,warnings:a.warnings};const i=[...a.commands,...o.commands],l=[...a.python?[a.python]:[],...o.python?[o.python]:[]].join(`
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$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 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sw(e,t,r){const{pipetteId:n,labwareId:a,wellName:s}=e,{robotState:o}=r;o.pipettes[n]={...o.pipettes[n],entityId:a,wellName:s}}function ow(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=ip(u,o),f=(_,b)=>_.find(T=>T.includes(b)),h=(_,b)=>{const T=_.findIndex(A=>A.includes(b));if(T===-1)return null;const y=_[T].indexOf(b);return _.map(A=>A[y])},m=(_,b)=>{const T=c.PARTIAL_NOZZLE_MAP[p],y=_.findIndex(L=>L.includes(b)),A=_[y].indexOf(b),w=_[y];if(w.length-A<T){const L=w.length-T;return w.slice(L,w.length)}const S=A+T;return w.slice(A,Math.min(S,w.length))};if(l.pipettes[n].hasTip=!0,l.pipettes[n].tiprackURI=a,d===c.SINGLE)l.tipracks[a][s]=le;else if(d===c.PARTIAL_COLUMN&&p){const _=m(i.ordering,s);_==null?console.error(`Invalid primary well for 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Ry(e,t){e.type===c.MAGNETIC_MODULE_TYPE&&(e.engaged=t)}function qw(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);Ry(s,!0)}function Uw(e,t,r){const{moduleId:n}=e,{robotState:a}=r,s=Ot(a,n);Ry(s,!1)}const Su=(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},ky=(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},vy=(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 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b of o){const T=a[b].labwareDefURI;if(T===u)f.push({primaryLabwareId:b,adapterLabwareId:null,lidLabwareId:null});else if(T===p){const y=f[f.length-1];y&&(y.adapterLabwareId=b)}else if(T===d){const y=f[f.length-1];y&&(y.lidLabwareId=b)}}const h=[Ze,s,i];for(const b of f){const T=[b.adapterLabwareId,b.primaryLabwareId,b.lidLabwareId,...h].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 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d=u.storedLabwareDetails?.adapterLabwareURI,f=u.storedLabwareDetails?.lidLabwareURI;s!=null?vy(n,u,i,s,p,"fillCount",d,f):o!=null&&ky(u,o,n,p),u.fillCount=(u?.fillCount??0)+1}},zw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=mt(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 Jt){const h=u[f];if(h!=null){if(p.unshift(h),n.labware[h].stack=[...p],d==null){const m=Rs(o);m!=null?n.labware[h].stackedOnNode={addressableAreaName:m}:console.warn(`Could not find an addressable area for retrieved labware in stacker module ${a} at slot ${o}`)}else n.labware[h].stackedOnNode={labwareId:d};d=h}}}}},jw=(e,t,r)=>{const{robotState:n}=r,{moduleId:a}=e,s=mt(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 Jt){const p=i[u];p!=null&&(n.labware[p].stack=[p,Ze,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 Py(e,t,r){e.type===c.TEMPERATURE_MODULE_TYPE&&(e.targetTemperature=t,e.status=r)}function Gw(e,t,r){const{robotState:n}=r,{moduleId:a,celsius:s}=e,o=Ot(n,a);Py(o,s,lc)}function Ww(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=ic)}function Yw(e,t,r){const{robotState:n}=r,{moduleId:a}=e,s=Ot(n,a);Py(s,null,Oa)}function Cy(e,t,r){if(!e)throw new Error("undefined command passed to 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command: ${e.commandType} passed to getNextRobotStateAndWarning`)}}function Ny(e,t,r){return fy({warnings:[],robotState:r},a=>{Cy(e,t,a)})}function op(e,t,r){const n=my(e);return fy({warnings:[],robotState:r},s=>{n.forEach(o=>{Cy(o,t,s)})})}const Kw=(e,t,r)=>{const n=e.reduce((a,s,o)=>{const i=a.timeline.length===0?r:Yc(a.timeline).robotState;if(a.errors!=null)return a;const l=s(t,i);if("errors"in l)return{timeline:a.timeline,errors:l.errors};const p=my(l.commands).reduce((f,h)=>Ny(h,t,f.robotState),{robotState:i,warnings:[]}),d={commands:l.commands,robotState:p.robotState,warnings:l.warnings,stepInfo:{stepNumber:l.stepNumber,name:l.name,description:l.description},python:l.python};return{timeline:[...a.timeline,d],errors:null}},{timeline:[],errors:null});return{timeline:n.timeline,errors:n.errors}},Un=(e,t)=>{const r=t[e]?.stack;return r!=null?G(r):""},$n=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},Vn=e=>{const{pipette:t,labware:r,invariantContext:n,prevRobotState:a}=e;if(n.config.OT_PD_DISABLE_MODULE_RESTRICTIONS)return!1;const s=t?n.pipetteEntities[t]:null,o=r?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(Ch.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},ae=(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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tS(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]>=Jw&&l[1]>=eS,p=t.protocolType==="json"&&r>=Qw,d=c.getLabwareDefinitionsByURIForProtocol(o),f=i.reduce((y,A)=>{const{id:w,description:I,displayName:S,displayColor:L}=A;return{...y,[w]:{description:I,displayName:S??"Unknown Liquid",pythonName:"n/a",displayColor:L??"#B7B8B9",liquidGroupId:w}}},{}),h=a.reduce((y,A)=>{const{id:w,model:I}=A;return{...y,[w]:{id:w,type:c.getModuleType(I),model:I,pythonName:"n/a"}}},{}),m=n.reduce((y,A)=>{const{id:w,definitionUri:I}=A,S=d[I];return S==null||S.schemaVersion===3?y:{...y,[w]:{id:w,labwareDefURI:I,def:S,pythonName:"n/a"}}},{}),_=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{stackLabwareId:w,lidStackDefinition:I}=A.result;if(w!=null&&I!=null&&y[w]==null&&I.schemaVersion!==3)return{...y,[w]:{id:w,labwareDefURI:c.getLabwareDefURI(I),def:I,pythonName:"n/a"}}}return y},m),b=s.reduce((y,A)=>{const{id:w,pipetteName:I}=A,S=c.getPipetteSpecsV2(I),g=o.filter(v=>v.commandType==="pickUpTip"&&v.params.pipetteId===w).map(v=>_[v.params.labwareId]),E=Array.from(new Set(g.map(v=>v.labwareDefURI))),k=Array.from(new Set(g.map(v=>v.def)));return S==null||(y[w]={name:I,id:w,tiprackLabwareDef:k,tiprackDefURI:E,spec:S,pythonName:"n/a"}),y},{}),T=o.reduce((y,A)=>{if(A.commandType==="loadLidStack"&&A.result!=null){const{params:w}=A,I=Yu(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...I}}}else if((A.commandType==="loadLabware"||A.commandType==="loadLid")&&A.result!=null){const{params:w}=A,I=Yu(w);return{...y,stagingAreaEntities:{...y.stagingAreaEntities,...I}}}else if(A.commandType==="moveToAddressableArea"||A.commandType==="moveToAddressableAreaForDropTip"){const w=A.params.addressableAreaName,I=`${D()}:${w}`;let S=xh;w==="fixedTrash"?S="cutout12":w.includes("WasteChute")?S="cutoutD3":w.includes("movableTrash")&&(S=`cutout${w.split("movableTrash")[1]}`);let L=y.trashBinEntities;Object.values(y.trashBinEntities).some(E=>E.location===S)||(w.includes("movableTrash")?L={...y.trashBinEntities,[I]:{pythonName:"trash_bin_1",id:I,location:S}}:w==="fixedTrash"&&(L={...y.trashBinEntities,[I]:{pythonName:"trash_bin_1",id:I,location:S}}));let g=y.wasteChuteEntities;return w.includes("WasteChute")&&(g={[I]:{pythonName:"waste_chute",id:I,location:S}}),{...y,trashBinEntities:L,wasteChuteEntities:g}}return y},{wasteChuteEntities:{},trashBinEntities:{},stagingAreaEntities:{},gripperEntities:{},config:{OT_PD_DISABLE_MODULE_RESTRICTIONS:!0}});return{labwareEntities:_,pipetteEntities:b,moduleEntities:h,liquidEntities:u||p?f:{},...T}}const rS={A3:"A4",B3:"B4",C3:"C4",D3:"D4"};function nS(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?rS[i.params.location.slotName]:i.params.location.slotName,moduleState:Bh[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,h=m=>{if(c.locationIsOffDeck(m))return[m];if("slotName"in m)return[m.slotName];if("moduleId"in m){const _=n[m.moduleId]?.slot??"offDeck";return[m.moduleId,_]}else if("addressableAreaName"in m)return[m.addressableAreaName];return["offDeck"]};if(u!=null){const m=u.reduce((T,y)=>{const A=y.find(w=>w.kind==="onLabware");return A!=null&&(T[A.labwareId]=y),T},{}),_=p.reduce((T,y,A)=>{const w=m[y]??u[A];if(w!=null){const I=Wu(w);T[y]={stack:I[0]===y?I:[y,...I]}}else{const I=i.params.location;c.locationIsOffDeck(I)?T[y]={stack:[y,I]}:"slotName"in I?T[y]={stack:[y,I.slotName]}:T[y]={stack:[y,"offDeck"]}}return T},{}),b=d!=null&&f!=null?[d,...Wu(f)]:null;return{...o,..._,...d!=null&&b!=null?{[d]:{stack:b}}:{}}}else{const m=i.params.location,_=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,...h(m)]:null;return{...o,..._,...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 nh(i).forEach(u=>{rh(o,u,"setStoredLabwareCount")}),o;if(i.commandType==="flexStacker/fill")return nh(i).forEach(u=>{rh(o,u,"fillCount")}),o}return o},{}),s=Vc({invariantContext:t,labwareLocations:a,moduleLocations:n,pipetteLocations:r});return{frame:{...op(e,t,s),command:e[e.length-1]},invariantContext:t}}const rh=(e,t,r)=>{const n=e[t]??{stack:[t,"offDeck"]};e[t]={...n,[r]:(n[r]??0)+1}},nh=e=>e.result?.storedLabware?.flatMap(r=>[r.primaryLabwareId,r.adapterLabwareId,r.lidLabwareId].filter(n=>n!=null))??[],ip=(e,t)=>e??(t.channels===1?c.SINGLE:t.channels===96?c.ALL:c.COLUMN);var Au,ah;function aS(){if(ah)return Au;ah=1;var e=Sc();function t(r,n){var a;return e(r,function(s,o,i){return a=n(s,o,i),!a}),!!a}return Au=t,Au}var Lu,sh;function sS(){if(sh)return Lu;sh=1;var e=Qh(),t=Nn(),r=aS(),n=Qe(),a=Lc();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 Lu=s,Lu}var oS=sS();const Ba=xe(oS),Bn=(e,t)=>Ba(e,r=>r.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&r.moduleState.latchOpen!==!1&&c.getAreSlotsHorizontallyAdjacent(r.slot,t)),xn=(e,t,r)=>r.channels!==1&&Ba(e,n=>n.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsHorizontallyAdjacent(n.slot,t)),xa=(e,t,r,n)=>r.channels!==1&&!n.def.parameters.isTiprack&&Ba(e,a=>a.moduleState.type===c.HEATERSHAKER_MODULE_TYPE&&c.getAreSlotsVerticallyAdjacent(a.slot,t)),Dy=(e,t,r)=>Ba(e,(a,s)=>c.getAreSlotsHorizontallyAdjacent(r,G(a.stack))&&c.getIsLabwareAboveHeight(t[s].def,c.MAX_LABWARE_HEIGHT_EAST_WEST_HEATER_SHAKER_MM)),Ha=(e,t,r)=>{const n=Fa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.latchOpen!==!1)},Hn=(e,t,r)=>Ba(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))),za=(e,t,r)=>{const n=Fa(e,t[r]?.stack),a=n!=null?e[n].moduleState:null;return!!(a&&a.type===c.HEATERSHAKER_MODULE_TYPE&&a.targetSpeed!==null)},Ds=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=iS(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:My(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 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+`);return`${l} = ${_}.load_adapter(
+${K(y)},
+)`}else{const y=[`${As}[${N(c.getLabwareDefURI(i))}]`,...b?[b]:[]].join(`,
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+`),h=K(f);return`lid_stack_${s} = ${be}.load_lid_stack(
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+${K(T)}`}function DS(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`${As} = json.loads("""${JSON.stringify(r)}""")`}else return""}const Fs=e=>{switch(e){case"perDest":return"per destination";case"perSource":return"per source";default:return e}},Zy=(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(_=>_.robotState.labware),h=Object.entries(r).filter(([_,b])=>b.stack.includes(l)&&b.stack.includes(Ze)),m=[...Object.entries(r),...f.flatMap(_=>Object.entries(_))].filter(([_,b])=>G(b.stack)===d&&!b.stack.includes(Ze));if(h.length===0){if(m.length===0)return"";const _=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=${t[b[0]].def.version}`,"count=0",..._!=null?[`lid=${N(t[_[0]].def.parameters.loadName)}`]:[]].join(`,
 `);return`${p}.set_stored_labware(
 ${K(T)}
-)`}else{const h=Object.values(_).filter(S=>!t[S[0]]?.def.allowedRoles?.includes("lid")).map(S=>t[S[0]].pythonName),T=ws(h,4).map(S=>ka+S.join(", ")).join(`,
-`),A=`labware=[${h.length<4?h.join(", "):`
+)`}else{const _=Object.values(h).filter(w=>!t[w[0]]?.def.allowedRoles?.includes("lid")).map(w=>t[w[0]].pythonName),T=Os(_,4).map(w=>Ma+w.join(", ")).join(`,
+`),A=`labware=[${_.length<4?_.join(", "):`
 ${T}
 `}],
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 ${K(A)})`}}}).filter(Boolean);return o.length>0?`# Set Stored Labware:
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-`).trimStart()}`:""},TS=(e,t,r,n)=>{const{spec:a}=t,s=e===c.ROW,o=e===c.COLUMN||e===c.ALL&&a.channels===8,i=n.ordering[0].length===1;if((o||s)&&i){const u=o?`H${r.slice(1)}`:`${r.charAt(0)}12`,p=a.nozzleMap[u],d=a.nozzleMap[r],f=p.map((h,b)=>h-d[b]),_=[f[0]/2,f[1]/2,0],m=d.map((h,b)=>h+_[b]);return{x:m[0],y:m[1],z:m[2]}}const l=a.nozzleMap[r];return{x:l[0],y:l[1],z:l[2]}},mn={back_left:{x:-43.25,y:454.9,z:211.91},front_right:{x:128.75,y:402,z:211.91}},sh={x:mn.back_left.x,y:mn.back_left.y,z:mn.back_left.z},gS={x:mn.front_right.x,y:mn.front_right.y,z:mn.front_right.z},Ny=e=>{if(e.addressableArea?.areaType==="slot"){const t=`cutout${e.addressableArea?.id}`;if(t)return t}return null},IS=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=TS(s,e,a,n),u=i.backLeftCorner[0],p=i.frontRightCorner[0],d=i.backLeftCorner[1],f=i.frontRightCorner[1],_=r.x-(l.x-u),m=r.x+(p-l.x),h=r.y+(d-l.y),b=r.y-(l.y-f),T=(r.z??0)+t-o;return[{x:_,y:h,z:T},{x:m,y:b,z:T},{x:m,y:h,z:T},{x:_,y:b,z:T}]},Dy=(e,t)=>{const r=e[1].x<t[0].x,n=e[0].x>t[1].x,a=e[0].y<t[1].y,s=e[1].y>t[0].y;return!(r||n||a||s)},oh=(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},ES=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},wS=(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=Mc(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===Ny(r))&&(u+=ES(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=oh(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=oh(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(Dy([e[0],e[1]],[l,u])&&e[0].z!=null&&wS(r,n,s,a)>=e[0]?.z&&s.addressableArea!=null)return{addressableAreaCausingCollision:s.addressableArea}}return null},AS=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?Dy([sh,gS],[e[0],e[1]])&&e[0].x<=sh.z:!1,LS=(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,v=E!=null?E.def.parameters.tipLength:0,k=Object.values(f).map(P=>P.location),$=L?v??0:0,q=G(m[a].stack),ee=m[a].stack.some(P=>_[P]?.type===c.THERMOCYCLER_MODULE_TYPE),pe=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),_e=(ee?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,pe):c.getPositionFromSlotId(q,I))??[0,0,0],le=ee?pe.locations.addressableAreas.find(P=>P.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],Te={x:le[0]+_e[0],y:le[1]+_e[1],z:le[2]+_e[2]},{def:ke}=d[a],He=kS({wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:ke}),$e={x:s.x+He.x+Te.x,y:s.y+He.y+Te.y,z:(s.z??0)+(Te.z??0)},te=LS(d[a],o,$e,L),Ee=E!=null?OS({pipetteSpecs:T,tiprackUri:E.labwareDefURI,nozzles:l}):0,ze=d[a].def,Pe=IS(b,$,te,ze,i,l,Ee);if(!vS({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(P=>{const V=c.getAddressableAreaFromSlotId(P,I),M=c.getPositionFromSlotId(P,I);return{addressableArea:V,position:M}});if(AS(Pe,_))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const C=SS(Pe,W,t,r,g);return C!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:C.addressableAreaCausingCollision}}:{isSafe:!0}},ep=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=Xu(s),d=l[p],f=u?[...d].reverse():d;if(a===c.SINGLE){const _=f.indexOf(s);return{isSafe:f.slice(_+1).every(m=>t[m]===ie||i.includes(m)),isComplete:t[s]!==ie}}if(a===c.PARTIAL_COLUMN){const _=f.indexOf(s),m=c.PARTIAL_NOZZLE_MAP[r],h=u?f.slice(_-m+1,_+1):f.slice(_,_+m);return{isSafe:f.slice(_+1).every(b=>t[b]===ie||i.includes(b)),isComplete:h.every(b=>t[b]!==ie&&!i.includes(b))}}return{isSafe:!0,isComplete:f.every(_=>t[_]!==ie)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(o.wells).every(u=>t[u]!==ie)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=Xu(s),d=l[p],f=u?[...l].reverse():l,_=f.indexOf(d);return{isSafe:f.slice(_+1).flat().every(m=>t[m]===ie||i.includes(m)),isComplete:f[_].every(m=>t[m]!==ie)}}if(a===c.ROW){const u=l[0].map((_,m)=>l.map(h=>h[m])),d=r===c.H1_NOZZLE?[...u].reverse():u,f=d.findIndex(_=>_.some(m=>m===s));return{isSafe:d.slice(f+1).flat().every(_=>t[_]===ie||i.includes(_)),isComplete:d[f].every(_=>t[_]!==ie)}}if(a===c.SINGLE){const u=hn(r??os({nozzles:a,channels:n})),p=tp(r??os({nozzles:a,channels:n})),d=u==="H",_=p==="12"?[...l].reverse():l,m=_.findIndex(h=>h.some(b=>b===s));return{isSafe:_.slice(m).every(h=>{const b=d?[...h].reverse():h,T=b.findIndex(y=>hn(y)===hn(s));return b.slice(T).every(y=>t[y]===ie||i.includes(y)||y===s)}),isComplete:t[s]!==ie}}return{isSafe:!1}},hn=e=>e.slice(0,1),tp=e=>e.slice(1),Xu=e=>parseInt(e.slice(1))-1,os=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===c.SINGLE)return"H1";if(r===96){if(t===c.COLUMN)return"A12";if(t===c.SINGLE)return"H12"}return"A1"},Ba=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;if(r===c.ROW){const s=t[0].length;return Array.from({length:s},(i,l)=>t.map(u=>u[l])).map(i=>i[0])}return t.map(s=>n===96&&r===c.ALL?a:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?hn(a)==="H"?s[s.length-1]:s[0]:(console.assert(s.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),s[0]))},OS=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,s=RS(a,n),o=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[s]?.default.tipOverlaps;if(o==null)return console.error(`No tip overlaps found for ${n} 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u=tp(t)==="12"?1:-1,p=My(n);return i?(l-1)*p/2*u:0},CS=e=>{const{wellTargetName:t,primaryNozzle:r,nozzleConfiguration:n,specs:a,labwareDef:s}=e,{channels:o}=a,{ordering:i}=s,l=i.findIndex(m=>m.includes(t));if(!(i[l].length===1))return 0;let d;n===c.COLUMN||n===c.ALL&&o===96||o===8?d=8:n===c.PARTIAL_COLUMN?d=c.PARTIAL_NOZZLE_MAP[r]:n===c.QUADRANT?d=4:d=1;const f=My(a),_=hn(r)==="H"?-1:1;return(d-1)*f/2*_};function Fy(e){const t=e.length===1?e[0]:null;return t!=null&&"steps"in t?{numRepetitions:t.repetitions,repeatingProfileSteps:t.steps}:{numRepetitions:1,repeatingProfileSteps:rp(e)}}function rp(e){return e.flatMap(t=>"steps"in t?v_(t.steps,t.repetitions):t)}const NS=e=>{switch(e.commandCreatorFnName){case"consolidate":return R(Wy,e);case"delay":return R(fe,e);case"waitForModuleTask":return R(sb,e);case"distribute":return R(Yy,e);case"transfer":return R(eb,e);case"mix":return R(Gy,e);case"moveLabware":return R(E_,e);case"captureImage":return R(d_,e);case"engageMagnet":return R(y_,e);case"disengageMagnet":return R(__,e);case"setTemperature":return R(Sc,e);case"deactivateTemperature":return R(h_,e);case"waitForTemperature":return R(vc,e);case"thermocyclerProfile":return R(Qy,e);case"thermocyclerState":return R(Jy,e);case"heaterShaker":return R(Ky,e);case"comment":return R(f_,e);case"absorbanceReaderOpenLid":return R(c_,e);case"absorbanceReaderCloseLid":return R(Ts,e);case"absorbanceReaderRead":return R(Vy,e);case"absorbanceReaderInitialize":return R($y,e);case"flexStackerEmpty":return R(b_,{...e,strategy:"manualWithPause"});case"flexStackerFillItems":return R(T_,e);case"flexStackerRetrieve":return R(g_,e);case"flexStackerStore":return R(I_,{...e,strategy:"automatic"});case"vacuumCloseVent":return R(va,e);case"vacuumOpenVent":return R(w_,e);case"vacuumSetPumpPower":return R(Lc,e);case"vacuumSetPumpPressure":return R(Oc,e);case"vacuumStartRunProfile":return R(Rc,e);case"vacuumStopPump":return R(A_,e);case"vacuumCloseVentSetPumpPressure":return R(rb,e);case"vacuumCloseVentSetPumpPower":return R(tb,e);case"vacuumCloseVentStartProfile":return R(nb,e);case"airGapInPlace":return R(At,e);case"aspirate":return R(At,e);case"aspirateInPlace":return R(Ra,e);case"aspirateWhileTracking":return R(Yg,e);case"blowOutInPlace":return R(Rn,e);case"blowout":return R(Ic,e);case"configureForVolume":return R(gn,e);case"configureNozzleLayout":return R(m_,e);case"dispense":return R(Ec,e);case"dispenseInPlace":return R(Xe,e);case"dispenseWhileTracking":return R(Kg,e);case"dropTip":return R(zr,e);case"dropTipInPlace":return R(gs,e);case"home":return R(Xg,e);case"moveRelative":return R(Zg,e);case"moveToAddressableArea":return R(Fe,e);case"moveToAddressableAreaForDropTip":return R(wc,e);case"moveToCoordinates":return R(Qg,e);case"moveToWell":return R(B,e);case"pickUpTip":return R(ts,e);case"prepareToAspirate":return R(Lt,e);case"touchTip":return R(Et,e);case"tryLiquidProbe":return R(Jg,e)}},D=mT;function qy(e){return Object.keys(e).sort((r,n)=>{const a=G(e[r].stack),s=G(e[n].stack),o=parseInt(a),i=parseInt(s);return Me.includes(a)&&Me.includes(s)?r.localeCompare(n):Me.includes(a)?1:Me.includes(s)?-1:o-i})}function Uy(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 ${t} missing channels/spec or tiprack definition`),null;const p=E=>u[E]===wa,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),_=E=>E.find(p)??null,m=E=>[...E].reverse().find(p)??null,h=E=>E.find(v=>v.every(p))??null,b=E=>[...E].reverse().find(v=>v.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,A=T&&o===c.A1_NOZZLE,S=i===96&&s===c.SINGLE,g=S&&o===c.H12_NOZZLE,I=S&&o===c.A12_NOZZLE,L=S&&o===c.H1_NOZZLE,w=S&&o===c.A1_NOZZLE;if(i===1||y||g)return _(d);if(A)return _(f);if(s===c.PARTIAL_COLUMN){const E=_(d);if(!E)return null;const v=d.indexOf(E);return d[v]??null}if(s===c.ALL&&i===8)return h(l.ordering)?.[0]??null;if(w)return m(d);if(I)return _(f);if(L)return m(f);if(s===c.COLUMN){const E=l.ordering;return(o===c.A1_NOZZLE?b(E):h(E))?.[0]??null}if(s===c.ROW){const E=l.ordering,v=E[0].map(($,q)=>E.map(ee=>ee[q]));return(o===c.A1_NOZZLE?b(v):h(v))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function xa(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=qy(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=Uy({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?ep({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 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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null},US=(e,t,r,n,a,s,o)=>{const{pipetteBoundingBoxOffsets:i}=e.spec,l=MS(s,e,a,n),u=i.backLeftCorner[0],p=i.frontRightCorner[0],d=i.backLeftCorner[1],f=i.frontRightCorner[1],h=r.x-(l.x-u),m=r.x+(p-l.x),_=r.y+(d-l.y),b=r.y-(l.y-f),T=(r.z??0)+t-o;return[{x:h,y:_,z:T},{x:m,y:b,z:T},{x:m,y:_,z:T},{x:h,y:b,z:T}]},Jy=(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)},mh=(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},$S=e=>{const t=c.getDeckDefFromRobotType(e);return Object.values(t.cutoutFixtures).find(n=>c.WASTE_CHUTE_FIXTURES.includes(n.id))?.height??0},VS=(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=Hc(s,p),f=Object.keys(a).find(m=>a[m].slot===p);Object.values(l).find(m=>m.location===Qy(r))&&(u+=$S(n)),d.length>0?d.forEach(m=>{a[m]!=null&&(u+=mh(o[m].model,n)),s[m]!=null&&(u+=i[m].def.dimensions.zDimension)}):f!=null&&(u+=mh(o[f].model,n))}return u},BS=(e,t,r,n,a)=>{for(const s of t){const o=s.addressableArea?.boundingBox,i=s.position;if(i==null||o==null)continue;const l={x:i[0],y:o.yDimension+i[1],z:i[2]},u={x:i[0]+o.xDimension,y:i[1],z:i[2]};if(Jy([e[0],e[1]],[l,u])&&e[0].z!=null&&VS(r,n,s,a)>=e[0]?.z&&s.addressableArea!=null)return{addressableAreaCausingCollision:s.addressableArea}}return null},xS=(e,t)=>Object.values(t).find(r=>r.type===c.THERMOCYCLER_MODULE_TYPE)?Jy([fh,FS],[e[0],e[1]])&&e[0].x<=fh.z:!1,HS=(e,t,r,n)=>{const{wells:a}=e.def,s=a[t];return{x:s.x+r.x,y:s.y+r.y,z:n?s.z+(r.z??0):e.def.dimensions.zDimension}},ft=e=>{const{robotState:t,invariantContext:r,pipetteId:n,labwareId:a,wellLocationOffset:s={x:0,y:0,z:0},wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,tiprackId:u}=e,{pipetteEntities:p,labwareEntities:d,stagingAreaEntities:f,moduleEntities:h}=r,{labware:m,tipState:_}=t,b=p[n];if(b==null)return{isSafe:!0};const{spec:T}=b,{channels:y}=T,I=T?.displayCategory==="FLEX"?c.FLEX_ROBOT_TYPE:c.OT2_ROBOT_TYPE,S=c.getDeckDefFromRobotType(I);if(d[a]==null||o==null||y===1)return{isSafe:!0};const L=u?!0:_.pipettes[n]?.hasTip??!1,g=u??_.pipettes[n]?.tiprackURI,E=g!=null?d[g]:null,k=E!=null?E.def.parameters.tipLength:0,v=Object.values(f).map(P=>P.location),$=L?k??0:0,U=G(m[a].stack),ee=m[a].stack.some(P=>h[P]?.type===c.THERMOCYCLER_MODULE_TYPE),de=c.getDeckDefFromRobotType(c.FLEX_ROBOT_TYPE),Te=(ee?c.getPositionFromSlotId(c.B1_ADDRESSABLE_AREA,de):c.getPositionFromSlotId(U,S))??[0,0,0],ue=ee?de.locations.addressableAreas.find(P=>P.id===c.THERMOCYCLER_MODULE_V2)?.offsetFromCutoutFixture??[0,0,0]:[0,0,0],Ie={x:ue[0]+Te[0],y:ue[1]+Te[1],z:ue[2]+Te[2]},{def:Pe}=d[a],He=tb({wellTargetName:o,primaryNozzle:i,nozzleConfiguration:l,specs:T,labwareDef:Pe}),Ve={x:s.x+He.x+Ie.x,y:s.y+He.y+Ie.y,z:(s.z??0)+(Ie.z??0)},te=HS(d[a],o,Ve,L),Se=E!=null?zS({pipetteSpecs:T,tiprackUri:E.labwareDefURI,nozzles:l}):0,ze=d[a].def,Ce=US(b,$,te,ze,i,l,Se);if(!GS({channels:y,boundingBox:Ce,robotType:I}))return{isSafe:!1,reason:{type:"outsidePipetteExtents"}};const W=(I===c.OT2_ROBOT_TYPE?c.getOt2SurroundingSlots(U):c.getFlexSurroundingSlots(U,v)).map(P=>{const V=c.getAddressableAreaFromSlotId(P,S),M=c.getPositionFromSlotId(P,S);return{addressableArea:V,position:M}});if(xS(Ce,h))return{isSafe:!1,reason:{type:"thermocyclerLidCollision"}};const C=BS(Ce,W,t,r,I);return C!=null?{isSafe:!1,reason:{type:"adjacentAdressableAreaCollision",addressableAreaCausingCollision:C.addressableAreaCausingCollision}}:{isSafe:!0}},lp=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]!==le};if(n===8){const u=r!==c.A1_NOZZLE,p=rc(s),d=l[p],f=u?[...d].reverse():d;if(a===c.SINGLE){const h=f.indexOf(s);return{isSafe:f.slice(h+1).every(m=>t[m]===le||i.includes(m)),isComplete:t[s]!==le}}if(a===c.PARTIAL_COLUMN){const h=f.indexOf(s),m=c.PARTIAL_NOZZLE_MAP[r],_=u?f.slice(h-m+1,h+1):f.slice(h,h+m);return{isSafe:f.slice(h+1).every(b=>t[b]===le||i.includes(b)),isComplete:_.every(b=>t[b]!==le&&!i.includes(b))}}return{isSafe:!0,isComplete:f.every(h=>t[h]!==le)}}if(a===c.ALL)return{isSafe:!0,isComplete:Object.keys(o.wells).every(u=>t[u]!==le)};if(a===c.COLUMN){const u=r===c.A12_NOZZLE,p=rc(s),d=l[p],f=u?[...l].reverse():l,h=f.indexOf(d);return{isSafe:f.slice(h+1).flat().every(m=>t[m]===le||i.includes(m)),isComplete:f[h].every(m=>t[m]!==le)}}if(a===c.ROW){const u=l[0].map((h,m)=>l.map(_=>_[m])),d=r===c.H1_NOZZLE?[...u].reverse():u,f=d.findIndex(h=>h.some(m=>m===s));return{isSafe:d.slice(f+1).flat().every(h=>t[h]===le||i.includes(h)),isComplete:d[f].every(h=>t[h]!==le)}}if(a===c.SINGLE){const u=gn(r??cs({nozzles:a,channels:n})),p=up(r??cs({nozzles:a,channels:n})),d=u==="H",h=p==="12"?[...l].reverse():l,m=h.findIndex(_=>_.some(b=>b===s));return{isSafe:h.slice(m).every(_=>{const b=d?[..._].reverse():_,T=b.findIndex(y=>gn(y)===gn(s));return b.slice(T).every(y=>t[y]===le||i.includes(y)||y===s)}),isComplete:t[s]!==le}}return{isSafe:!1}},gn=e=>e.slice(0,1),up=e=>e.slice(1),rc=e=>parseInt(e.slice(1))-1,cs=e=>{const{nozzles:t,channels:r}=e;if(r===8&&t===c.SINGLE)return"H1";if(r===96){if(t===c.COLUMN)return"A12";if(t===c.SINGLE)return"H12"}return"A1"},Ga=e=>{const{wellSets:t,nozzles:r,channels:n,primaryNozzle:a}=e;return r===c.ROW?t.map(s=>s[0]):t.map(s=>n===96&&r===c.ALL?a:r===c.COLUMN||n===8&&r===c.ALL||n===8&&r===c.PARTIAL_COLUMN?gn(a)==="H"?s[s.length-1]:s[0]:(console.assert(s.length===1,"Well set for SINGLE nozzle configuration should have exactly 1 well"),s[0]))},zS=e=>{const{pipetteSpecs:t,tiprackUri:r,nozzles:n}=e,{channels:a}=t,s=jS(a,n),o=t.pickUpTipConfigurations.pressFit.configurationsByNozzleMap[s]?.default.tipOverlaps;if(o==null)return console.error(`No tip overlaps found for ${n} and ${s} overlap.`),0;const 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ab(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 ${t} missing channels/spec or tiprack definition`),null;const p=E=>u[E]===Ra,d=c.orderWells(l.ordering,"t2b","l2r"),f=c.orderWells(l.ordering,"b2t","l2r"),h=E=>E.find(p)??null,m=E=>[...E].reverse().find(p)??null,_=E=>E.find(k=>k.every(p))??null,b=E=>[...E].reverse().find(k=>k.every(p))??null,T=i===8&&s===c.SINGLE,y=T&&o===c.H1_NOZZLE,A=T&&o===c.A1_NOZZLE,w=i===96&&s===c.SINGLE,I=w&&o===c.H12_NOZZLE,S=w&&o===c.A12_NOZZLE,L=w&&o===c.H1_NOZZLE,g=w&&o===c.A1_NOZZLE;if(i===1||y||I)return h(d);if(A)return h(f);if(s===c.PARTIAL_COLUMN){const E=h(d);if(!E)return null;const k=d.indexOf(E);return d[k]??null}if(s===c.ALL&&i===8)return _(l.ordering)?.[0]??null;if(g)return m(d);if(S)return h(f);if(L)return m(f);if(s===c.COLUMN){const E=l.ordering;return(o===c.A1_NOZZLE?b(E):_(E))?.[0]??null}if(s===c.ROW){const E=l.ordering,k=E[0].map(($,U)=>E.map(ee=>ee[U]));return(o===c.A1_NOZZLE?b(k):_(k))?.[0]??null}return s===c.ALL&&i===96?d.every(p)?d[0]:null:(console.assert(!1,`Unhandled _getNextTip case for pipette ${t}`),null)}function Wa(e,t,r,n,a,s){const o=r.pipetteEntities[e];if(!o)throw new Error(`cannot getNextTiprack, no pipette entity for pipette "${e}"`);const i=[],l=nb(n.labware).filter(m=>{console.assert(r.labwareEntities[m]?.labwareDefURI!=null,`cannot getNextTiprack, no labware entity for "${m}"`);const _=G(n.labware[m].stack),b=sy(_),T=ay({labwareId:m,labwareRobotState:n.labware,labwareEntities:r.labwareEntities});if(b&&T&&c.getIsTiprack(r.labwareEntities[m].def))return i.push(m),!1;const y=r.labwareEntities[m].labwareDefURI;return b&&y===t});let u=l;const p=o.spec.channels===96,d=[];p&&(u=u.filter(m=>{const _=n.labware[m].stack[1],b=r.labwareEntities[_],T=b?.def.parameters.loadName==="opentrons_flex_96_tiprack_adapter"&&c.getLabwareDefIsStandard(b?.def),y=s===c.ALL?T:!T;return y||d.push(m),y}));let f=null,h=null;for(const m of u){const _=ab({pipetteId:e,tiprackId:m,nozzles:s,invariantContext:r,robotState:n,primaryNozzle:a}),{isSafe:b}=_!=null?ft({robotState:n,invariantContext:r,pipetteId:e,labwareId:m,wellTargetName:_,primaryNozzle:a,nozzleConfiguration:s}):{isSafe:!1},{isSafe:T,isComplete:y=!1}=_!=null?lp({tipState:n.tipState.tipracks[m],primaryNozzle:a,channels:o.spec.channels,nozzleConfiguration:s,wellName:_,tiprackDef:r.labwareEntities[m].def}):{isSafe:!1};if(_&&b&&T&&y){f=m,h=_;break}}return f&&h?{nextTiprack:{tiprackId:f,well:h},tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}:{nextTiprack:null,tipracks:{totalTipracks:l.length,excludedBy96Channel:d.length,excludedByLid:i.length,filteredSortedTiprackIds:u}}}function qs(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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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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0}),_=u.pipetteEntities[t].spec,b=c.getByVolumeValue({liquidClass:p,pipetteSpecs:_,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,T=c.getByVolumeValue({liquidClass:p,pipetteSpecs:_,tiprackDefUri:d,targetVolume:r,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,A=f!=null?[R(B,{...f,wellLocation:{...f.wellLocation}})]:[];for(let 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de=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],Te=de.length>0?de[0]:null,ue=Object.values(t.labwareEntities).find(({labwareDefURI:W})=>W===m),Ie=ue!=null&&c.getIsTiprack(ue.def),Pe=t.wasteChuteEntities[m]!=null,He=t.trashBinEntities[m]!=null,Ve=r.pipettes[a]?.tipWell!=null;if(m==null||Ie&&Te==null&&u!=="never"&&Ve||!Ie&&!Pe&&!He)return{errors:[Rn()]};if($){const W=ft({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:S,nozzleConfiguration:I});if(!W.isSafe)return{errors:[$t({unsafePipetteMovementReason:W.reason})]};const C=ft({robotState:r,invariantContext:t,pipetteId:a,labwareId:s,wellLocationOffset:{x:T,y},wellTargetName:o[0],primaryNozzle:S,nozzleConfiguration:I});if(!C.isSafe)return{errors:[$t({unsafePipetteMovementReason:C.reason})]}}const te=c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[a].name),Se=te?[O(An,{pipetteId:a,volume:i})]:[],ze=t.pipetteEntities[a].spec,Ee=E===St&&g!=null&&L!=null&&L.length>0?Ga({wellSets:L,nozzles:I,channels:ze.channels,primaryNozzle:S}):null,X=Sn(o,(W,C)=>{let P=[];if(u==="always"||u==="once"&&C===0){const ce=Ee?.shift();P=[O(Ya,{pipette:a,primaryNozzle:S,dropTipLocation:Ie&&Te!=null?Te:m,tipRack:_,nozzles:I,...E===St&&ce!=null&&g!=null?{tipSelectionArgs:{tipRackId:g,tipWell:ce}}:{},isFromMixCommand:!0})]}const V=te||e.blowoutLocation!=null&&C>0?[O(Lt,{pipetteId:a})]:[],M=e.touchTip?[O(Et,{pipetteId:a,labwareId:s,wellName:W,zOffsetFromTop:e.touchTipMmFromTop})]:[],se=W_({pipette:e.pipette,sourceLabwareId:e.labware,sourceWell:W,destLabwareId:e.labware,destWell:W,blowoutLocation:e.blowoutLocation,flowRate:f,offsetFromTopMm:h,invariantContext:t}),x=[...Object.keys(t.wasteChuteEntities),...Object.keys(t.trashBinEntities)].some(ce=>ce===e.blowoutLocation)?[...M,...se]:[...se,...M],F=Ie&&(C===o.length-1||u==="always")?[O(Hr,{pipette:a,dropTipLocation:_,isReturnTip:Ie})]:[],H=Dr({pipette:a,volume:i,times:l,aspirateFlowRateUlSec:p,dispenseFlowRateUlSec:d,invariantContext:t,liquidClass:null,tiprack:_,finalPushOut:w,aspirateDelaySeconds:k,dispenseDelaySeconds:v,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,...Se,...V,...H,...x,...F]});return ae(X,t,r)},fb=(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:h,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:w,blowoutFlowRateUlSec:I,blowoutLocation:S,changeTip:L,destLabware:g,destWell:E,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:$,dispenseRetractPositionReference:U,dispenseRetractXOffset:ee,dispenseRetractYOffset:de,dispenseRetractZOffset:Te,dispenseSubmergeDelay:ue,dispenseSubmergePositionReference:Ie,dispenseSubmergeSpeed:Pe,dispenseSubmergeXOffset:He,dispenseSubmergeYOffset:Ve,dispenseSubmergeZOffset:te,dispenseXOffset:Se,dispenseYOffset:ze,dispenseZOffset:Ce,dropTipLocation:Ee,liquidClass:X,mixInDestination:W,nozzles:C,pipette:P,primaryNozzle:V,pushOut:M,sourceLabware:se,sourceWells:q,tipRack:z,tipTracking:x,tiprackSelected:F,tipsSelected:H,touchTipAfterAspirate:ce,touchTipAfterAspirateMmFromEdge:qe,touchTipAfterAspirateOffsetMmFromTop:Je,touchTipAfterAspirateSpeed:Be,touchTipAfterDispense:pe,touchTipAfterDispenseMmFromEdge:et,touchTipAfterDispenseOffsetMmFromTop:ht,touchTipAfterDispenseSpeed:Rt,stepNumber:_t,volume:Re}=e,{pipetteEntities:tt,labwareEntities:ge,trashBinEntities:ke,wasteChuteEntities:Ne}=t,re="consolidate",ne=[],kt=r.pipettes[P],Ge=tt[P]?.spec.channels!==1,Y=e.aspirateAirGapVolume??0,he=e.dispenseAirGapVolume??0;kt==null&&ne.push(ct({pipette:P})),(g==null||ge[g]==null&&ke[g]==null&&Ne[g]==null)&&ne.push(Oh());const _r=G(r.labware[g]?.stack),rt=G(r.labware[se]?.stack);Object.keys(Ne).length>0&&(_r===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||rt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&ne.push(wa());const _e=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],nt=_e.length>0?_e[0]:null,Wr=Object.values(t.labwareEntities).find(({labwareDefURI:ye})=>ye===Ee),vt=Wr!=null&&c.getIsTiprack(Wr.def),Ka=t.wasteChuteEntities[Ee]!=null,Yr=t.trashBinEntities[Ee]!=null,sr=r.tipState.pipettes[P]?.hasTip;(Ee==null||vt&&nt==null&&L!=="never"&&sr||!vt&&!Ka&&!Yr)&&ne.push(Rn());let We,J;if(L==="never"){const ye=r.tipState.pipettes[P]?.tiprackURI;We=t.labwareEntities[ye??""],J=We?.labwareDefURI}else We=Object.values(ge).find(({labwareDefURI:ye})=>ye===z),J=z;We==null&&(L==="never"?ne.push(xt({actionName:re,pipette:P})):ne.push(pt({actionName:re,labware:J})));const{def:Pt=null}=We??{},{spec:we,name:it,pythonName:Z}=tt[P],j=c.getAllLiquidClassDefs()[X===c.NONE_LIQUID_CLASS_NAME||X==null?c.WATER_LIQUID_CLASS_NAME:X].byPipette?.find(({pipetteModel:ye})=>ye===c.getFlexNameConversion(we))?.byTipType.find(({tiprack:ye})=>ye===J)??null,{aspirate:lt}=j??{},{multiWellHandling:fe}=zc({pipetteSpecs:we,tiprackDefinition:Pt,volume:Re,path:"multiAspirate",numAspirateWells:q.length,numDispenseWells:1,aspirateAirGapByVolume:lt?.retract.airGapByVolume??[],conditioningByVolume:null,disposalByVolume:null}),{numWellsToFitInTip:at}=fe;if((!fe.isSupported||at==null||at===1)&&ne.push(Zb()),Ge&&C!==c.ALL){const ye=ft({robotState:r,invariantContext:t,pipetteId:P,labwareId:se,wellLocationOffset:{x:y,y:A},primaryNozzle:V,nozzleConfiguration:C});ye.isSafe||ne.push($t({unsafePipetteMovementReason:ye.reason}));const oe=ft({robotState:r,invariantContext:t,pipetteId:P,labwareId:g,wellLocationOffset:{x:Se,y:ze},primaryNozzle:V,nozzleConfiguration:C});oe.isSafe||ne.push($t({unsafePipetteMovementReason:oe.reason}))}const zt=E!=null?ge[se]?.def.wells[E]?.depth:null,Ct=c.getMmFromBottom(Ce,$,zt),Kr=c.getMmFromBottom(te,Ie,zt),or=c.getMmFromBottom(Te,U,zt);if(Ct!=null&&Kr!=null&&Ct>Kr&&ne.push(Kb()),Ct!=null&&or!=null&&Ct>or&&ne.push(Xb()),ne.length>0)return{errors:ne};const{tipracks:yr}=Wa(P,J,t,r,V,C),ir=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Re,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ae=ke[g]?.pythonName??Ne[g]?.pythonName,Nt=ke[Ee]?.pythonName??Ne[Ee]?.pythonName,br=S==null?null:ke[S]?.pythonName??Ne[S]?.pythonName,Tr=ge[se].pythonName,Xr=ge[g]?.pythonName,gr=C===c.PARTIAL_COLUMN?tr({labwareDef:ge[se].def,wells:q,primaryNozzle:V}):q,Zr=(C===c.PARTIAL_COLUMN&&E!=null&&ge[g]!=null?tr({labwareDef:ge[g].def,wells:[E],primaryNozzle:V}):[E])[0],Qr=gr.map(ye=>`${Tr}[${N(ye)}]`).join(", "),Jr=Zr!=null&&Xr!=null?`${Xr}[${N(Zr)}]`:null,en=[`name=${N(`${e.commandCreatorFnName}_step_${_t}`)}`,...X!=null?[`base_liquid_class=${ja(X,!0)}`]:[],`properties=${Ds({args:e,pipetteName:c.isFlexPipette(it)?c.getFlexNameConversion(we):it,tiprackUri:J,liquidClassValuesForTip:j})}`],Gn=`${be}.define_liquid_class(
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-)`}),Ir=Hy(U,nt),ja=c.LOW_VOLUME_PIPETTES.includes(Ct)?[O(gn,{pipetteId:P,volume:Oe})]:[],or={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Te],offset:{x:He,y:$e,z:te}},zn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[q],offset:{x:ee,y:pe,z:_e}},zt=n!=null?[O(fe,{seconds:n.seconds})]:[],Er=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,wr=v!=null?[O(fe,{seconds:v.seconds})]:[],jn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,tn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,Gn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,rn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:Ie,tiprackDefUri:Q,targetVolume:we,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??k,ir=Ur({retractZOffset:_e,retractPositionReference:q,labwareId:w,labwareEntities:Re,well:E}),Sr=!ir&&E!=null?[O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],Ga=[...Tn(Ir,(he,se)=>{const _t=(Le,Wt=!0)=>we>0&&!(L==="never"&&Ne&&Le)?[...Wt?Sr:[],O(Lt,{pipetteId:P}),O(At,{pipetteId:P,volume:we,flowRate:Gn,...Er>0?{correctionVolume:Er}:{}}),...zt]:[],yt=Le=>E!=null&&ce?[O(Et,{pipetteId:P,labwareId:w,wellName:E,...Je!=null?{mmFromEdge:Je}:{},zOffsetFromTop:mt,...Rt!=null?{speed:Rt}:{}}),..._t(Le).length>0&&ir?[O(B,{pipetteId:P,labwareId:w,wellName:E,wellLocation:zn})]:[]]:[],Ae=se===0,Ne=se===Ir.length-1,Yn=he.length,oe=Oe*Yn,Ye=L==="always"||L==="once"&&Ae;let lr=[];if(Ye){const Le=gr?.shift();lr=[R(Ha,{pipette:P,primaryNozzle:V,nozzles:C,dropTipLocation:kt&&rt!=null?rt:ge,tipRack:Q,...z===St&&Le!=null&&F!=null?{tipSelectionArgs:{tipRackId:F,tipWell:Le}}:{}})]}const Ar=Tn(he,(Le,Wt)=>{const vr=Wt===0;let Tt=0,Yt=k;vr&&!Ye&&!Ae?(Tt=we,Yt=rn):vr||(Tt=Y,Yt=tn);const 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(
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+${K(Wn.join(`,
+`))},
+)`}),sn=ub(q,at),Gt=c.LOW_VOLUME_PIPETTES.includes(it)?[R(An,{pipetteId:P,volume:Re})]:[],Kn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Ie],offset:{x:He,y:Ve,z:te}},Dt={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[U],offset:{x:ee,y:de,z:Te}},lr=n!=null?[R(me,{seconds:n.seconds})]:[],Xn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:he,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Ir=k!=null?[R(me,{seconds:k.seconds})]:[],Zn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,on=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??v,Qn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:he,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??a,ln=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:he,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??v,Er=qr({retractZOffset:Te,retractPositionReference:U,labwareId:g,labwareEntities:ge,well:E}),wr=!Er&&E!=null?[R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],Xa=[...Sn(sn,(ye,oe)=>{const yt=(Oe,Kt=!0)=>he>0&&!(L==="never"&&De&&Oe)?[...Kt?wr:[],R(Lt,{pipetteId:P}),R(At,{pipetteId:P,volume:he,flowRate:Qn,...Xn>0?{correctionVolume:Xn}:{}}),...lr]:[],Mt=Oe=>E!=null&&pe?[R(Et,{pipetteId:P,labwareId:g,wellName:E,...et!=null?{mmFromEdge:et}:{},zOffsetFromTop:ht,...Rt!=null?{speed:Rt}:{}}),...yt(Oe).length>0&&Er?[R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:Dt})]:[]]:[],Le=oe===0,De=oe===sn.length-1,ea=ye.length,ie=Re*ea,Ye=L==="always"||L==="once"&&Le;let ur=[];if(Ye){const Oe=jt?.shift();ur=[O(Ya,{pipette:P,primaryNozzle:V,nozzles:C,dropTipLocation:vt&&nt!=null?nt:Ee,tipRack:J,...x===St&&Oe!=null&&F!=null?{tipSelectionArgs:{tipRackId:F,tipWell:Oe}}:{}})]}const Sr=Sn(ye,(Oe,Kt)=>{const Rr=Kt===0;let Tt=0,Xt=v;Rr&&!Ye&&!Le?(Tt=he,Xt=ln):Rr||(Tt=Y,Xt=on);const na={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[h],offset:{x:_,y:b,z:T}},dn={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[i],offset:{x:u,y:p,z:d}},fn=qr({retractZOffset:d,retractPositionReference:i,labwareId:se,labwareEntities:ge,well:Oe}),aa=!fn&&Oe!=null?[R(B,{pipetteId:P,labwareId:se,wellName:Oe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})]:[],mn=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Tt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,kr=Rr?[...c.LOW_VOLUME_PIPETTES.includes(t.pipetteEntities[P].name)?[R(An,{pipetteId:P,volume:ie})]:[],R(Lt,{pipetteId:P})]:[],sa=Tt>0?[R(Xe,{pipetteId:P,volume:Tt,flowRate:Xt,...mn>0?{correctionVolume:mn}:{},isAirGap:!0,pushOut:0}),...Ir]:[],vr=[...[R(B,{pipetteId:P,labwareId:se,wellName:Oe,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],...sa,...kr],hn=[R(B,{pipetteId:P,labwareId:se,wellName:Oe,wellLocation:na}),R(B,{pipetteId:P,labwareId:se,...m!=null?{speed:m}:{},wellName:Oe,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:w}}}),...f!=null&&f.seconds>0?[R(me,{seconds:f.seconds})]:[]],dr=ce?[R(Et,{pipetteId:P,labwareId:se,wellName:Oe,...qe!=null?{mmFromEdge:qe}:{},zOffsetFromTop:Je,...Be!=null?{speed:Be}:{}}),...Y>0&&fn?[R(B,{pipetteId:P,labwareId:se,wellName:Oe,wellLocation:dn})]:[]]:[],Pr=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zt=Y>0?[...aa,R(At,{pipetteId:P,volume:Y,flowRate:Zn,...Pr>0?{correctionVolume:Pr}:{}}),...lr]:[],fr=[R(Na,{pipetteId:P,volume:Re,flowRate:a,correctionVolume:ir}),...lr],oa=[R(B,{pipetteId:P,labwareId:se,...l!=null?{speed:l}:{},wellName:Oe,wellLocation:dn}),...o!=null&&o?.seconds>0?[R(me,{seconds:o.seconds})]:[]];return[...vr,...hn,...fr,...oa,...dr,...Zt]}),Ar=E!=null?[R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION}),R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:Kn,...Pe!=null?{speed:Pe}:{}})]:[R(Fe,{pipetteId:P,fixtureId:g,offset:{x:0,y:0,z:0}})],ta=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:Y,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,un=Y>0?[R(Xe,{pipetteId:P,volume:Y,flowRate:on,pushOut:0,correctionVolume:ta,isAirGap:!0}),...Ir]:[],bt=E!=null?[R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:Kn}),R(B,{pipetteId:P,labwareId:g,...Pe!=null?{speed:Pe}:{},wellName:E,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[$],offset:{x:Se,y:ze,z:Ce}}}),...ue!=null&&ue.seconds>0?[R(me,{seconds:ue.seconds})]:[]]:[],ra=c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:ie,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,cr=W!=null?0:M,Lr=[R(Xe,{pipetteId:P,volume:ie,flowRate:v,...cr!=null?{pushOut:cr}:{},correctionVolume:ra}),...Ir],Wt=(W!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:W.volume,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null}):a)??a,Yt=(W!=null?c.getByVolumeValue({liquidClass:X,pipetteSpecs:we,tiprackDefUri:J,targetVolume:W.volume,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null}):v)??v,cn=W!=null?Dr({pipette:P,volume:W.volume,times:W.times,aspirateFlowRateUlSec:Wt,dispenseFlowRateUlSec:Yt,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:M,invariantContext:t,liquidClass:X,tiprack:J,generatePython:!1}):[],Or=[R(Dn,{pipetteId:P,flowRate:I})];let pr=[];S==null||S===zr?pr=[...Mt(!0),...yt(!0)]:S===Mn&&E!=null?pr=[R(B,{pipetteId:P,labwareId:g,wellName:E,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Or,...Mt(!0),...yt(!0)]:pr=[...Mt(!1),...yt(!1),R(Fe,{pipetteId:P,fixtureId:Object.values(ke).length>0?Object.values(ke)[0].id:Object.values(Ne)[0].id,offset:{x:0,y:0,z:0}}),...Or,...yt(!0,!1)];const pn=vt&&(oe===sn.length-1||L==="always")?[R(Hr,{pipette:P,dropTipLocation:J,isReturnTip:vt})]:[];return[...ur,...Gt,...Sr,...Ar,...un,...bt,...Lr,...cn,...pr,...pn]}),Yn];return ae(Xa,t,r)},nA=(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} / ${p}.flow_rate.dispense`],h=()=>({commands:[],python:`${p}.dispense(
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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(
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ae(h,t,r)},mb=(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:h,aspirateSubmergeSpeed:m,aspirateSubmergeXOffset:_,aspirateSubmergeYOffset:b,aspirateSubmergeZOffset:T,aspirateXOffset:y,aspirateYOffset:A,aspirateZOffset:w,blowoutFlowRateUlSec:I,blowoutLocation:S,changeTip:L,destLabware:g,destWells:E,dispenseDelay:k,dispenseFlowRateUlSec:v,dispensePositionReference:$,dispenseRetractDelay:U,dispenseRetractPositionReference:ee,dispenseRetractSpeed:de,dispenseRetractXOffset:Te,dispenseRetractYOffset:ue,dispenseRetractZOffset:Ie,dispenseSubmergeDelay:Pe,dispenseSubmergePositionReference:He,dispenseSubmergeSpeed:Ve,dispenseSubmergeXOffset:te,dispenseSubmergeYOffset:Se,dispenseSubmergeZOffset:ze,dispenseXOffset:Ce,dispenseYOffset:Ee,dispenseZOffset:X,dropTipLocation:W,liquidClass:C,mixBeforeAspirate:P,nozzles:V,pipette:M,preWetTip:se,primaryNozzle:q,pushOut:z,sourceLabware:x,sourceWell:F,tipRack:H,tipTracking:ce,tiprackSelected:qe,tipsSelected:Je,touchTipAfterAspirate:Be,touchTipAfterAspirateMmFromEdge:pe,touchTipAfterAspirateOffsetMmFromTop:et,touchTipAfterAspirateSpeed:ht,touchTipAfterDispense:Rt,touchTipAfterDispenseMmFromEdge:_t,touchTipAfterDispenseOffsetMmFromTop:Re,touchTipAfterDispenseSpeed:tt,stepNumber:ge,volume:ke}=e,{pipetteEntities:Ne,labwareEntities:re,trashBinEntities:ne,wasteChuteEntities:kt}=t,Ge="distribute",Y=[],he=Ne[M]?.spec.channels!==1,_r=re[x]?.def.parameters.quirks?.includes("touchTipDisabled"),rt=e.aspirateAirGapVolume??0,Ue=e.dispenseAirGapVolume??0,_e=e.disposalVolume!=null&&e.disposalVolume>0?e.disposalVolume:0,nt=e.conditioningVolume!=null&&e.conditioningVolume>0?e.conditioningVolume:0;(r.pipettes[M]==null||Ne[M]==null)&&Y.push(ct({pipette:M})),(!x||!r.labware[x])&&Y.push(pt({actionName:Ge,labware:x}));const Wr=G(r.labware[g]?.stack),vt=G(r.labware[x]?.stack);Object.keys(kt).length>0&&(Wr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||vt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&Y.push(wa());const Yr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],sr=Yr.length>0?Yr[0]:null,We=Object.values(t.labwareEntities).find(({labwareDefURI:ie})=>ie===W),J=We!=null&&c.getIsTiprack(We.def),Pt=t.wasteChuteEntities[W]!=null,we=t.trashBinEntities[W]!=null,it=r.tipState.pipettes[M]?.hasTip;(W==null||J&&sr==null&&L!=="never"&&it||!J&&!Pt&&!we)&&Y.push(Rn());let Z,j;if(L==="never"){const ie=r.tipState.pipettes[M]?.tiprackURI;Z=t.labwareEntities[ie??""],j=Z?.labwareDefURI}else Z=Object.values(re).find(({labwareDefURI:ie})=>ie===H),j=H;Z==null&&(L==="never"?Y.push(xt({actionName:Ge,pipette:M})):Y.push(pt({actionName:Ge,labware:j})));const{def:lt=null}=Z??{},{spec:fe,name:at,pythonName:zt}=Ne[M],Ct=c.getAllLiquidClassDefs()[C===c.NONE_LIQUID_CLASS_NAME||C==null?c.WATER_LIQUID_CLASS_NAME:C].byPipette?.find(({pipetteModel:ie})=>ie===c.getFlexNameConversion(fe))?.byTipType.find(({tiprack:ie})=>ie===j)??null,{aspirate:Kr,multiDispense:or}=Ct??{},{multiWellHandling:yr}=zc({pipetteSpecs:fe,tiprackDefinition:lt,volume:ke,path:"multiDispense",numAspirateWells:1,numDispenseWells:E.length,conditioningByVolume:or?.conditioningByVolume??[],disposalByVolume:or?.disposalByVolume??[],aspirateAirGapByVolume:Kr?.retract.airGapByVolume??[]}),{numWellsToFitInTip:ir}=yr;if((!yr.isSupported||ir==null||ir===1)&&Y.push(Qb()),he&&V!==c.ALL){const ie=ft({robotState:r,invariantContext:t,pipetteId:M,labwareId:x,wellLocationOffset:{x:y,y:A},wellTargetName:F,primaryNozzle:q,nozzleConfiguration:V});ie.isSafe||Y.push($t({unsafePipetteMovementReason:ie.reason}));const Ye=ft({robotState:r,invariantContext:t,pipetteId:M,labwareId:g,wellLocationOffset:{x:Ce,y:Ee},wellTargetName:E[0],primaryNozzle:q,nozzleConfiguration:V});Ye.isSafe||Y.push($t({unsafePipetteMovementReason:Ye.reason}))}const Ae=t.labwareEntities[x]?.def.wells[F]?.depth??null,Nt=c.getMmFromBottom(w,s,Ae),br=c.getMmFromBottom(T,h,Ae),Tr=c.getMmFromBottom(d,i,Ae);Nt!=null&&br!=null&&Nt>br&&Y.push(Rh()),Nt!=null&&Tr!=null&&Nt>Tr&&Y.push(kh());const Xr=[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],gr=qs(M,t,j)-rt;if(Math.floor((gr-_e)/ke)===0&&Y.push(os({actionName:Ge,volume:ke,maxVolume:gr,disposalVolume:_e})),Y.length>0)return{errors:Y};const{tipracks:Qr}=Wa(M,j,t,r,q,V),Jr=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:ke,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,en=ne[g]?.pythonName??kt[g]?.pythonName,Gn=ne[W]?.pythonName??kt[W]?.pythonName,tn=S==null?null:ne[S]?.pythonName??kt[S]?.pythonName,jt=re[x].pythonName,rn=re[g]?.pythonName,nn=(V===c.PARTIAL_COLUMN?tr({labwareDef:re[x].def,wells:[F],primaryNozzle:q}):[F])[0],an=V===c.PARTIAL_COLUMN&&E!=null&&re[g]!=null?tr({labwareDef:re[g].def,wells:E,primaryNozzle:q}):E,Wn=`${jt}[${N(nn)}]`,Yn=an.map(ie=>`${rn}[${N(ie)}]`).join(", "),sn=[`name=${N(`${e.commandCreatorFnName}_step_${ge}`)}`,...C!=null?[`base_liquid_class=${ja(C,!0)}`]:[],`properties=${Ds({args:e,pipetteName:c.isFlexPipette(at)?c.getFlexNameConversion(fe):at,tiprackUri:j,liquidClassValuesForTip:Ct})}`],Gt=`${be}.define_liquid_class(
+${K(sn.join(`,
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-)`,zt=ye===St&&Ve!=null&&Qe!=null&&Qe.length>0?Ba({wellSets:Qe,nozzles:V,channels:de.channels,primaryNozzle:U}):null,Er=Ve!=null?ue[Ve]?.pythonName:null,wr=zt?.map(oe=>`${Er}[${N(oe)}]`).join(", "),jn=[`volume=${ve}`,`source=[${Hn}]`,`dest=[${Ir??Bn}]`,`new_tip=${N(Cs(L))}`,...Q?["return_tip=True",...sr!=null?[`trash_location=${sr}`]:[]]:[`trash_location=${gr}`,"keep_last_tip=True"],...de.channels>1?["group_wells=False"]:[],...Jr.filteredSortedTiprackIds.length>0?[Ps({labwareEntities:ue,tiprackIds:Jr.filteredSortedTiprackIds})]:[],`liquid_class=${or}`,...zt!=null&&Er!=null?[`tips=[${wr}]`]:[]],tn=()=>({commands:[],python:`${Ht}.distribute_with_liquid_class(
-${K(jn.join(`,
+)`,Dt=ce===St&&qe!=null&&Je!=null&&Je.length>0?Ga({wellSets:Je,nozzles:V,channels:fe.channels,primaryNozzle:q}):null,lr=qe!=null?re[qe]?.pythonName:null,Ir=(Dt!=null&&Z!=null&&V===c.PARTIAL_COLUMN?tr({labwareDef:Z?.def,wells:Dt,primaryNozzle:q}):Dt)?.map(ie=>`${lr}[${N(ie)}]`).join(", "),Zn=[`volume=${ke}`,`source=[${Wn}]`,`dest=[${Yn??en}]`,`new_tip=${N(Fs(L))}`,...J?["return_tip=True",...tn!=null?[`trash_location=${tn}`]:[]]:[`trash_location=${Gn}`,"keep_last_tip=True"],...fe.channels>1?["group_wells=False"]:[],...Qr.filteredSortedTiprackIds.length>0?[Ms({labwareEntities:re,tiprackIds:Qr.filteredSortedTiprackIds})]:[],`liquid_class=${Gt}`,...Dt!=null&&lr!=null?[`tips=[${Ir}]`]:[]],on=()=>({commands:[],python:`${zt}.distribute_with_liquid_class(
+${K(Zn.join(`,
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-)`}),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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ur=ie.length,Sr=ke*ur,Ar=Sr+_e+nt,ta=Ye===0,un=Ye===yt.length-1,bt=L==="always"||L==="once"&&ta,ra=c.LOW_VOLUME_PIPETTES.includes(at)?[R(An,{pipetteId:M,volume:Ar})]:[];let cr=[];if(bt){const Me=Dt?.shift();cr=[O(Ya,{pipette:M,nozzles:V,primaryNozzle:q,dropTipLocation:J&&sr!=null?sr:W,tipRack:j,...ce===St&&Me!=null&&qe!=null?{tipSelectionArgs:{tipRackId:qe,tipWell:Me}}:{}})]}const Lr=[R(Lt,{pipetteId:M})],Wt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ue,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Yt=k!=null?[R(me,{seconds:k.seconds})]:[],cn=Ue>0&&!bt&&!ta&&_e===0&&S==null?[R(Xe,{isAirGap:!0,pipetteId:M,volume:Ue,flowRate:oe,...Wt>0?{correctionVolume:Wt}:{},pushOut:0}),...Yt]:[],Or=[...Xr,...cn,...ra,...Lr],pr=[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:Qn}),R(B,{pipetteId:M,labwareId:x,...m!=null?{speed:m}:{},wellName:F,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[s],offset:{x:y,y:A,z:w}}}),...f!=null&&f.seconds>0?[R(me,{seconds:f.seconds})]:[]],pn=se?Dr({pipette:M,volume:Sr,times:1,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds??0,dispenseDelaySeconds:k?.seconds??0,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Oe=P!=null?Dr({pipette:M,volume:P.volume,times:P.times,aspirateFlowRateUlSec:a,dispenseFlowRateUlSec:v,aspirateDelaySeconds:n?.seconds,dispenseDelaySeconds:k?.seconds,finalPushOut:0,invariantContext:t,liquidClass:C,tiprack:j,generatePython:!1}):[],Kt=n!=null?[R(me,{seconds:n.seconds})]:[],Rr=Be?[R(Et,{pipetteId:M,labwareId:x,wellName:F,...pe!=null?{mmFromEdge:pe}:{},zOffsetFromTop:et,...ht!=null?{speed:ht}:{}}),...rt>0&&Mt?[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:ln})]:[]]:[],Tt=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:rt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Xt=rt>0?[...Le,R(At,{pipetteId:M,volume:rt,flowRate:Jn,...Tt>0?{correctionVolume:Tt}:{}}),...Kt]:[],na=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ar,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,dn=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:nt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,fn=nt!=null&&nt>0?[R(Xe,{pipetteId:M,volume:nt,flowRate:v,correctionVolume:dn,pushOut:0}),...Yt]:[],aa=[R(Na,{pipetteId:M,volume:Ar,flowRate:a,correctionVolume:na}),...Kt,...fn],mn=[R(B,{pipetteId:M,labwareId:x,...l!=null?{speed:l}:{},wellName:F,wellLocation:ln}),...o!=null&&o?.seconds>0?[R(me,{seconds:o.seconds})]:[]],kr=Sn(ie,(Me,vr)=>{const hn=vr===0,dr=vr===ie.length-1,Pr=un&&dr;let Zt=0,fr=v;hn&&rt>0?(Zt=rt,fr=Xa):!hn&&Ue>0&&nt===0&&(Zt=Ue,fr=oe);const oa=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Zt,liquidHandlingAction:"multiDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Za=qr({retractZOffset:Ie,retractPositionReference:ee,labwareId:g,labwareEntities:re,well:Me}),$s=Za?[]:[R(B,{pipetteId:M,labwareId:g,wellName:Me,wellLocation:c.SAFE_MOVE_TO_WELL_LOCATION})],Qa=Me!=null?[R(B,{pipetteId:M,labwareId:g,wellName:Me,wellLocation:Er}),...Zt>0?[R(Xe,{isAirGap:!0,pipetteId:M,volume:Zt,flowRate:fr,pushOut:0,correctionVolume:oa}),...Yt]:[],R(B,{pipetteId:M,labwareId:g,...Ve!=null?{speed:Ve}:{},wellName:Me,wellLocation:{origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[$],offset:{x:Ce,y:Ee,z:X}}}),...Pe!=null&&Pe.seconds>0?[R(me,{seconds:Pe.seconds})]:[]]:[R(Fe,{fixtureId:g,pipetteId:M,offset:{x:0,y:0,z:0}})],ia=_e===0&&dr?z:0,gt=[R(Xe,{pipetteId:M,volume:ke,flowRate:v,...ia!=null?{pushOut:ia}:{},correctionVolume:Jr}),...Yt],_n=Me!=null?[R(B,{pipetteId:M,labwareId:g,...de!=null?{speed:de}:{},wellName:Me,wellLocation:wr}),...U!=null&&U?.seconds>0?[R(me,{seconds:U.seconds})]:[]]:[],Ft=dr?[R(Dn,{pipetteId:M,flowRate:I})]:[],Ja=c.getByVolumeValue({liquidClass:C,pipetteSpecs:fe,tiprackDefUri:j,targetVolume:Ue,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,qt=(la,vb=!0)=>Ue>0&&!(vr<ie.length-1&&nt>0)&&!(L==="never"&&Pr&&la)?[...vb?$s:[],R(Lt,{pipetteId:M}),R(At,{pipetteId:M,volume:Ue,flowRate:ye,...Ja>0?{correctionVolume:Ja}:{}}),...Kt]:[],It=la=>Me!=null&&Rt?[R(Et,{pipetteId:M,labwareId:g,wellName:Me,..._t!=null?{mmFromEdge:_t}:{},zOffsetFromTop:Re,...tt!=null?{speed:tt}:{}}),...qt(la).length>0&&Za?[R(B,{pipetteId:M,labwareId:g,wellName:Me,wellLocation:wr})]:[]]:[];let Cr=[];if(S==null||!dr)Cr=[...It(!0),...qt(!0)];else if(S===Mn)Cr=[R(B,{pipetteId:M,labwareId:g,wellName:Me,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ft,...It(!0),...qt(!0)];else if(S===zr){const la=qt(!0);Cr=[...It(!1),...qt(!1),R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}}),...Ft,...Rt&&!_r?[R(Et,{pipetteId:M,labwareId:x,wellName:F,..._t!=null?{mmFromEdge:_t}:{},zOffsetFromTop:Re,...tt!=null?{speed:tt}:{}})]:[],...la.length>0?[R(B,{pipetteId:M,labwareId:x,wellName:F,wellLocation:{origin:c.WELL_ORIGIN_TOP}})]:[],...qt(!0,!1)]}else Cr=[...It(!1),...qt(!1),R(Fe,{pipetteId:M,fixtureId:Object.values(ne).length>0?Object.values(ne)[0].id:Object.values(kt)[0].id,offset:{x:0,y:0,z:0}}),...Ft,...qt(!0,!1)];return[...Qa,...gt,..._n,...Cr]}),sa=J&&(Ye===yt.length-1||L==="always")?[R(Hr,{pipette:M,dropTipLocation:j,isReturnTip:J})]:[];return[...cr,...Or,...pr,...Oe,...pn,...aa,...mn,...Rr,...Xt,...kr,...sa]}),on];return ae(ea,t,r)},hb=(e,t,r)=>{const{timerHours:n,timerMinutes:a,timerSeconds:s,latchOpen:o,targetTemperature:i,rpm:l}=e;if(e.moduleId==null)return{errors:[Q()]};const u=Ot(r,e.moduleId),p=e.moduleId??"";if(u==null)return{errors:[Q()]};const d=[];if(o||d.push(O(M_,{moduleId:p})),i===null?d.push(O(ju,{moduleId:p})):d.push(O(vc,{moduleId:p,celsius:i})),l===null&&"targetSpeed"in u&&u.targetSpeed!==null?d.push(O(Gu,{moduleId:p})):l!==null&&d.push(O(q_,{moduleId:p,rpm:l})),[n,a,s].some(h=>h!=null&&h!==0)){i!==null&&d.push(O(Mc,{moduleId:p,celsius:i}));const h=(n??0)*3600+(a??0)*60+(s??0);d.push(O(me,{seconds:h})),d.push(O(Gu,{moduleId:p})),d.push(O(ju,{moduleId:p}))}return o&&d.push(O(F_,{moduleId:p})),ae(d,t,r)},_b=(e,t,r)=>{const{moduleId:n,profileElements:a,profileTargetLidTemp:s,profileVolume:o}=e,i=Us(r,n);if(i===null)return{errors:[Q()]};const l=t.moduleEntities[n].pythonName,u=[];i.lidOpen!==!1&&u.push(O(Fc,{moduleId:n})),s!==i.lidTargetTemp&&u.push(O(qc,{moduleId:n,celsius:s}));const p=`${l}_task_${i.numProfilesStarted+1}`;return u.push(O(P_,{moduleId:n,profileElements:a,blockMaxVolumeUl:o,taskId:p})),ae(u,t,r)},sA=()=>({lidOpen:!1,lidClosed:!1,setBlockTemperature:!1,deactivateBlockTemperature:!1,setLidTemperature:!1,deactivateLidTemperature:!1}),oA=(e,t)=>!e.lidOpen&&t.lidOpen?{lidOpen:!0}:{},iA=(e,t)=>e.lidOpen&&!t.lidOpen||e.lidOpen===null&&!t.lidOpen?{lidClosed:!0}:{},lA=(e,t)=>t==null?e.currentBlockActivity.type==="blockDeactivated":e.currentBlockActivity.type==="blockTargetTemp"&&e.currentBlockActivity.blockTargetTemp===t,uA=(e,t)=>{const r={...oA(e,t)},n={...iA(e,t)},a=!lA(e,t.blockTargetTemp),s=a&&t.blockTargetTemp===null,o=a&&t.blockTargetTemp!==null,i=e.lidTargetTemp!==t.lidTargetTemp,l=i&&t.lidTargetTemp===null,u=i&&t.lidTargetTemp!==null;return{...sA(),...r,...n,setBlockTemperature:o,deactivateBlockTemperature:s,setLidTemperature:u,deactivateLidTemperature:l}},yb=(e,t,r)=>{const n=Us(r,e.moduleId);if(n===null)return{errors:[Q()]};if(n.currentBlockActivity.type==="profile")return{errors:[Ub()]};const{lidOpen:a,lidClosed:s,setBlockTemperature:o,deactivateBlockTemperature:i,setLidTemperature:l,deactivateLidTemperature:u}=uA(n,e),{blockTargetTemp:p,lidTargetTemp:d}=e,f=[];return a&&f.push(O(V_,{moduleId:e.moduleId})),s&&f.push(O(Fc,{moduleId:e.moduleId})),i&&f.push(O(U_,{moduleId:e.moduleId})),p!==null&&o&&f.push(O(B_,{moduleId:e.moduleId,celsius:p})),u&&f.push(O($_,{moduleId:e.moduleId})),d!==null&&l&&f.push(O(qc,{moduleId:e.moduleId,celsius:d})),ae(f,t,r)};var Fu,bh;function cA(){if(bh)return Fu;bh=1;var e=La(),t=by(),r=Ty();function n(a,s){return r(t(a,s,e),a+"")}return Fu=n,Fu}var qu,Th;function pA(){if(Th)return qu;Th=1;var e=xr(),t=nr();function r(n){return t(n)&&e(n)}return qu=r,qu}var Uu,gh;function dA(){if(gh)return Uu;gh=1;var e=n_(),t=va(),r=f_(),n=s_(),a=pA(),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 Uu=o,Uu}var $u,Ih;function fA(){if(Ih)return $u;Ih=1;var e=cA(),t=dA(),r=e(t);return $u=r,$u}var mA=fA();const hA=xe(mA),bb=(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:h,aspirateSubmergePositionReference:m,aspirateSubmergeSpeed:_,aspirateSubmergeXOffset:b,aspirateSubmergeYOffset:T,aspirateSubmergeZOffset:y,aspirateXOffset:A,aspirateYOffset:w,aspirateZOffset:I,blowoutFlowRateUlSec:S,blowoutLocation:L,changeTip:g,destLabware:E,destWells:k,dispenseAirGapVolume:v,dispenseDelay:$,dispenseFlowRateUlSec:U,dispensePositionReference:ee,dispenseRetractDelay:de,dispenseRetractPositionReference:Te,dispenseRetractSpeed:ue,dispenseRetractXOffset:Ie,dispenseRetractYOffset:Pe,dispenseRetractZOffset:He,dispenseSubmergeDelay:Ve,dispenseSubmergePositionReference:te,dispenseSubmergeSpeed:Se,dispenseSubmergeXOffset:ze,dispenseSubmergeYOffset:Ce,dispenseSubmergeZOffset:Ee,dispenseXOffset:X,dispenseYOffset:W,dispenseZOffset:C,dropTipLocation:P,liquidClass:V,mixBeforeAspirate:M,mixInDestination:se,pipette:q,preWetTip:z,primaryNozzle:x,pushOut:F,sourceLabware:H,nozzles:ce,sourceWells:qe,tipRack:Je,tipTracking:Be,tiprackSelected:pe,tipsSelected:et,touchTipAfterAspirate:ht,touchTipAfterAspirateMmFromEdge:Rt,touchTipAfterAspirateOffsetMmFromTop:_t,touchTipAfterAspirateSpeed:Re,touchTipAfterDispense:tt,touchTipAfterDispenseMmFromEdge:ge,touchTipAfterDispenseOffsetMmFromTop:ke,touchTipAfterDispenseSpeed:Ne,volume:re,stepNumber:ne}=e,{pipetteEntities:kt,trashBinEntities:Ge,wasteChuteEntities:Y,labwareEntities:he}=t,_r=Fn(he,Y,Ge,E),rt=he[H]?.def.parameters.quirks?.includes("touchTipDisabled");if(!(_r==="labware"&&k!=null&&qe.length===k.length||(_r==="wasteChute"||_r==="trashBin")&&k==null&&qe.length>=1))throw new Error(`Transfer command creator expected N:N source-to-dest wells ratio. Got ${qe.length}:${k?.length} in labware`);const Ue="transfer",_e=[];(!r.pipettes[q]||!kt[q])&&_e.push(ct({pipette:q})),(!H||!r.labware[H])&&_e.push(pt({actionName:Ue,labware:H}));const nt=r.labware[E]!=null?G(r.labware[E].stack):"",Wr=G(r.labware[H]?.stack),vt=Object.keys(Y).length>0,Ka=Y[P]!=null,Yr=Ge[P]!=null;vt&&(nt===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA||Wr===c.GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA)&&_e.push(wa());const sr=[...Object.keys(t.trashBinEntities),...Object.keys(t.wasteChuteEntities)],We=sr.length>0?sr[0]:null,J=Object.values(t.labwareEntities).find(({labwareDefURI:oe})=>oe===P),Pt=J!=null&&c.getIsTiprack(J.def),we=r.tipState.pipettes[q]?.hasTip;if(P==null||Pt&&We==null&&g!=="never"&&we||!Pt&&!Ka&&!Yr)return{errors:[Rn()]};(!E||!he[E]&&!Y[E]&&!Ge[E])&&_e.push(Oh());let it,Z;if(g==="never"){const oe=r.tipState.pipettes[q]?.tiprackURI;it=t.labwareEntities[oe??""],Z=it?.labwareDefURI}else it=Object.values(he).find(({labwareDefURI:oe})=>oe===Je),Z=Je;if(it==null&&(g==="never"?_e.push(xt({actionName:Ue,pipette:q})):_e.push(pt({actionName:Ue,labware:Z}))),_e.length>0)return{errors:_e};const j=n||0,lt=v||0,fe=qs(q,t,Z)-j;if(fe<=0||!isFinite(fe))return _e.push(os({volume:re,maxVolume:fe,actionName:Ue})),{errors:_e};const at=Math.ceil(re/fe);if(!isFinite(at)||at<=0)return _e.push(os({volume:re,maxVolume:at,actionName:Ue})),{errors:_e};const zt=re/at,Ct=Array(at).fill(zt),Kr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[m],offset:{x:b,y:T,z:y}},or={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[l],offset:{x:p,y:d,z:f}},yr={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[te],offset:{x:ze,y:Ce,z:Ee}},ir={origin:c.POSITION_REFERENCE_MAPPED_TO_WELL_ORIGIN[Te],offset:{x:Ie,y:Pe,z:He}},{spec:Ae,name:Nt,pythonName:br}=kt[q],{tipracks:Tr}=Wa(q,Z,t,r,x,ce),Xr=c.getAllLiquidClassDefs()[V===c.NONE_LIQUID_CLASS_NAME||V==null?c.WATER_LIQUID_CLASS_NAME:V].byPipette?.find(({pipetteModel:oe})=>oe===c.getFlexNameConversion(Ae))?.byTipType.find(({tiprack:oe})=>oe===Z)??null,gr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:zt,liquidHandlingAction:"singleDispense",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Zr=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Ae,tiprackDefUri:Z,targetVolume:zt,liquidHandlingAction:"aspirate",byVolumeProperty:"correctionByVolume",defaultValue:0})??0,Qr=Ge[E]?.pythonName??Y[E]?.pythonName,Jr=Ge[P]?.pythonName??Y[P]?.pythonName,en=L==null?null:Ge[L]?.pythonName??Y[L]?.pythonName,Gn=he[H].pythonName,tn=he[E]?.pythonName,jt=ce===c.PARTIAL_COLUMN?tr({labwareDef:he[H].def,wells:qe,primaryNozzle:x}):qe,rn=ce===c.PARTIAL_COLUMN&&k!=null&&he[E]!=null?tr({labwareDef:he[E].def,wells:k,primaryNozzle:x}):k,nn=jt.map(oe=>`${Gn}[${N(oe)}]`).join(", "),an=rn!=null&&tn!=null?rn.map(oe=>`${tn}[${N(oe)}]`).join(", "):null,Wn=[`name=${N(`${e.commandCreatorFnName}_step_${ne}`)}`,...V!=null?[`base_liquid_class=${ja(V,!0)}`]:[],`properties=${Ds({args:e,pipetteName:c.isFlexPipette(Nt)?c.getFlexNameConversion(Ae):Nt,tiprackUri:Z,liquidClassValuesForTip:Xr})}`],Yn=`${be}.define_liquid_class(
+${K(Wn.join(`,
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-)`,or=Be===St&&ce!=null&&Je!=null&&Je.length>0?Ba({wellSets:Je,nozzles:ye,channels:Se.channels,primaryNozzle:z}):null,zn=ce!=null?we[ce]?.pythonName:null,zt=or?.map(se=>`${zn}[${N(se)}]`).join(", "),Er=[`volume=${ue}`,`source=[${xn}]`,`dest=${en!=null?`[${en}]`:Jr}`,`new_tip=${N(Cs(w))}`,...Pt?["return_tip=True",...Bn!=null?[`trash_location=${Bn}`]:[]]:[`trash_location=${Vn}`,"keep_last_tip=True"],...Se.channels>1?["group_wells=False"]:[],...br.filteredSortedTiprackIds.length>0?[Ps({labwareEntities:we,tiprackIds:br.filteredSortedTiprackIds})]:[],`liquid_class=${Ir}`,...or!=null&&zn!=null?[`tips=[${zt}]`]:[]],wr=()=>({commands:[],python:`${yr}.transfer_with_liquid_class(
-${K(Er.join(`,
+)`,Gt=Be===St&&pe!=null&&et!=null&&et.length>0?Ga({wellSets:et,nozzles:ce,channels:Ae.channels,primaryNozzle:x}):null,Kn=Gt!=null&&it!=null&&ce===c.PARTIAL_COLUMN?tr({labwareDef:it?.def,wells:Gt,primaryNozzle:x}):Gt,Dt=pe!=null?he[pe]?.pythonName:null,lr=Kn?.map(oe=>`${Dt}[${N(oe)}]`).join(", "),Xn=[`volume=${re}`,`source=[${nn}]`,`dest=${an!=null?`[${an}]`:Qr}`,`new_tip=${N(Fs(g))}`,...Pt?["return_tip=True",...en!=null?[`trash_location=${en}`]:[]]:[`trash_location=${Jr}`,"keep_last_tip=True"],...Ae.channels>1?["group_wells=False"]:[],...Tr.filteredSortedTiprackIds.length>0?[Ms({labwareEntities:he,tiprackIds:Tr.filteredSortedTiprackIds})]:[],`liquid_class=${Yn}`,...Gt!=null&&Dt!=null?[`tips=[${lr}]`]:[]],Ir=()=>({commands:[],python:`${br}.transfer_with_liquid_class(
+${K(Xn.join(`,
 `))},
-)`}),jn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,tn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:j,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??q,Gn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"aspirate",byVolumeProperty:"flowRateByVolume",defaultValue:null})??s,rn=c.getByVolumeValue({liquidClass:V,pipetteSpecs:Se,tiprackDefUri:J,targetVolume:it,liquidHandlingAction:"singleDispense",byVolumeProperty:"flowRateByVolume",defaultValue:null})??q,ir=iA(Ve,v);let Sr=null,Wn=null;const he=[...ir.reduce((se,_t,yt)=>{const[Ae,Ne]=_t,Yn=Nt.reduce((oe,Ye,lr)=>{const Ar=yt===0&&lr===0,Lr=yt+1===ir.length,Xn=lr+1===Nt.length&&Lr;let bt=!1;w==="always"?bt=!0:w==="once"?bt=Ar:w==="perSource"?bt=Ae!==Sr:w==="perDest"&&(bt=Ar||Ne!==Wn);const Zn=c.LOW_VOLUME_PIPETTES.includes(Dt)?[O(gn,{pipetteId:U,volume:Ye})]:[];let ur=[];if(bt){const It=or?.shift();ur=[R(Ha,{pipette:U,primaryNozzle:z,nozzles:ye,dropTipLocation:Pt&&ot!=null?ot:P,tipRack:J,...ye!=null?{nozzles:ye}:{},...Be===St&&It!=null&&ce!=null?{tipSelectionArgs:{tipRackId:ce,tipWell:It}}:{}})]}const Or=we[x]?.def.wells[Ae]?.depth??null,jt=c.getMmFromBottom(g,o,Or),Gt=c.getMmFromBottom(y,m,Or),nn=c.getMmFromBottom(f,l,Or);jt!=null&&Gt!=null&&jt>Gt&&me.push(Eh());const 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=$_;exports.getIsRetractSafeForAirGap=Ur;exports.getIsSafePickupWithinTiprack=ep;exports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gA=xe(TA),Sb=["A1","B1","C1","D1","E1","F1","G1","H1","A2","B2","C2","D2","E2","F2","G2","H2","A3","B3","C3","D3","E3","F3","G3","H3","A4","B4","C4","D4","E4","F4","G4","H4","A5","B5","C5","D5","E5","F5","G5","H5","A6","B6","C6","D6","E6","F6","G6","H6","A7","B7","C7","D7","E7","F7","G7","H7","A8","B8","C8","D8","E8","F8","G8","H8","A9","B9","C9","D9","E9","F9","G9","H9","A10","B10","C10","D10","E10","F10","G10","H10","A11","B11","C11","D11","E11","F11","G11","H11","A12","B12","C12","D12","E12","F12","G12","H12"],Vr="p300SingleId",ba="p300MultiId",nc="p100096Id",ac="sourcePlateId",sc="destPlateId",oc="troughId",IA="A1",EA="tiprack1Id",wA={isAirGap:!0},rs=c.fixture96Plate,wh=c.fixture12Trough,ns=c.fixtureTiprack10ul,Ut=c.fixtureTiprack300ul,yn=c.fixtureTiprack1000ul,as=c.fixtureTiprackAdapter,Ab={OT_PD_DISABLE_MODULE_RESTRICTIONS:!1};function Lb(e){return Sb.reduce((t,r)=>({...t,[r]:e?Ra:le}),{})}function SA(e,t){return Array.from("ABCDEFGH").map(r=>`${r}${e}`).reduce((r,n)=>({...r,[n]:t}),{})}function Ob(){const e={[ac]:{id:ac,pythonName:"mock_source_plate",labwareDefURI:c.getLabwareDefURI(rs),def:rs},[sc]:{id:sc,pythonName:"mock_dest_plate",labwareDefURI:c.getLabwareDefURI(rs),def:rs},[oc]:{id:oc,pythonName:"mock_trough",labwareDefURI:c.getLabwareDefURI(wh),def:wh},tiprack1Id:{id:"tiprack1Id",pythonName:"mock_tip_rack_1",labwareDefURI:c.getLabwareDefURI(Ut),def:Ut},tiprack2Id:{id:"tiprack2Id",pythonName:"mock_tip_rack_2",labwareDefURI:c.getLabwareDefURI(Ut),def:Ut},tiprack3Id:{id:"tiprack3Id",pythonName:"mock_tip_rack_3",labwareDefURI:c.getLabwareDefURI(Ut),def:Ut},tiprack4AdapterId:{id:"tiprack4AdapterId",pythonName:"mock_adapter_4",labwareDefURI:c.getLabwareDefURI(as),def:as},tiprack5AdapterId:{id:"tiprack5AdapterId",pythonName:"mock_adapter_5",labwareDefURI:c.getLabwareDefURI(as),def:as},tiprack4Id:{id:"tiprack4Id",pythonName:"mock_tip_rack_4",labwareDefURI:c.getLabwareDefURI(yn),def:yn},tiprack5Id:{id:"tiprack5Id",pythonName:"mock_tip_rack_5",labwareDefURI:c.getLabwareDefURI(yn),def:yn}},t={},r={[xu]:{id:xu,location:"cutoutA3",pythonName:"trash_bin_1"}},n={p10SingleId:{name:"p10_single",id:"p10SingleId",pythonName:"mock_pipette_p10",tiprackDefURI:[c.getLabwareDefURI(ns)],tiprackLabwareDef:[ns],spec:c.fixtureP10SingleV2Specs},p10MultiId:{name:"p10_multi",id:"p10MultiId",tiprackDefURI:[c.getLabwareDefURI(ns)],tiprackLabwareDef:[ns],spec:c.fixtureP10MultiV2Specs,pythonName:"mock_pipette_p10_multi"},[Vr]:{name:"p300_single",id:Vr,tiprackDefURI:[c.getLabwareDefURI(Ut)],tiprackLabwareDef:[Ut],spec:c.fixtureP300SingleV2Specs,pythonName:"mock_pipette"},[ba]:{name:"p300_multi",id:ba,tiprackDefURI:[c.getLabwareDefURI(Ut)],tiprackLabwareDef:[Ut],spec:c.fixtureP300MultiV2Specs,pythonName:"mock_pipette_p300_multi"},[nc]:{name:"p1000_96",id:nc,tiprackDefURI:[c.getLabwareDefURI(yn)],tiprackLabwareDef:[yn],spec:c.fixtureP100096V2Specs,pythonName:"mock_pipette_p1000_96"}};return{labwareEntities:e,moduleEntities:t,pipetteEntities:n,trashBinEntities:r,wasteChuteEntities:{},stagingAreaEntities:{},gripperEntities:{},liquidEntities:{},config:Ab}}const Gr=e=>{const{invariantContext:t,labwareLocations:r,moduleLocations:n,pipetteLocations:a,tiprackSetting:s}=e,o=Vc({invariantContext:t,labwareLocations:r,moduleLocations:n||{},pipetteLocations:a});return o.tipState.tipracks=rr(s,i=>Lb(i)),o},jn=()=>({pipetteLocations:{[Vr]:{mount:"left",tiprackId:"tiprack1Id"},[ba]:{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:{}}),Rb=()=>({pipetteLocations:{[Vr]:{mount:"left"},[ba]:{mount:"right"}},labwareLocations:{tiprack1Id:{stack:["tiprack1Id","B1"]},tiprack2Id:{stack:["tiprack2Id","A2"]},sourcePlateId:{stack:["sourcePlateId","offDeck"]},destPlateId:{stack:["destPlateId","C2"]}},moduleLocations:{}}),kb=e=>Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),AA=e=>Gr({...Rb(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}}),LA=e=>({robotState:kb(e),warnings:[]}),OA=e=>{const t=Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0,tiprack2Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t},RA=e=>{const t=Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!0}});return t.tipState.pipettes[Vr]={hasTip:!0,tiprackURI:"tiprack1Id"},t.tipState.tipracks.tiprack1Id.A1=le,t},kA=e=>Gr({...jn(),invariantContext:e,tiprackSetting:{tiprack1Id:!1,tiprack2Id:!1}}),vA=({temperatureModuleId:e,thermocyclerId:t})=>{const r=Ob();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=Gr({...jn(),invariantContext:r,tiprackSetting:{tiprack1Id:!0}});return n.modules={[e]:{slot:"3",moduleState:{type:c.TEMPERATURE_MODULE_TYPE,status:Oa,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}},PA=(e,t,r,n)=>{const a=gA(e);return a.modules[t].moduleState={type:c.TEMPERATURE_MODULE_TYPE,targetTemperature:n,status:r},a};exports.ABSORBANCE_READER_INITIAL_STATE=qh;exports.AIR=je;exports.AIR_GAP_META=wA;exports.AIR_GAP_OFFSET_FROM_TOP=Bu;exports.AUTOMATIC=uc;exports.BOTTOM_UP_LABWARE_POOL_KEYS=Jt;exports.BOTTOM_UP_STORED_LABWARE_URI_KEYS=yT;exports.CLEAN=Ra;exports.COLUMN_4_SLOTS=ve;exports.CUSTOM_LABWARE_DICT_NAME=As;exports.DEFAULT_BLOWOUT_WELL=IA;exports.DEFAULT_CONFIG=Ab;exports.DEFAULT_PIPETTE=Vr;exports.DEST_LABWARE=sc;exports.DEST_WELL_BLOWOUT_DESTINATION=Mn;exports.DIRTY=Qt;exports.EMPTY=le;exports.FAKE_HOPPER_LOCATION_MAP=jh;exports.FIXED_TRASH_ID=xu;exports.FLEX_STACKER_MODULE_INITIAL_STATE=$h;exports.FLEX_TRASH_DEF_URI=hT;exports.GRIPPER_LOCATION=xh;exports.HEATERSHAKER_MODULE_INITIAL_STATE=Fh;exports.HOPPER_FAKE_LOCATIONS=zh;exports.HOPPER_STACKER_LOCATION=Ze;exports.INDENT=Ma;exports.MAGNETIC_BLOCK_INITIAL_STATE=Uh;exports.MAGNETIC_MODULE_INITIAL_STATE=Nh;exports.MANUAL=St;exports.MIXED_WELL_COLOR=qy;exports.MODULES_WITH_COLLISION_ISSUES=Ch;exports.MODULE_INITIAL_STATE_BY_TYPE=Bh;exports.MULTI_PIPETTE=ba;exports.OFF_DECK=Ln;exports.OT2_TC_SLOTS=_T;exports.OT_2_TRASH_DEF_URI=mT;exports.PAPI_VERSION=$y;exports.PD_APPLICATION_VERSION=LS;exports.PIPETTE_96=nc;exports.PROTOCOL_CONTEXT_NAME=be;exports.SLOT_LOCATIONS_TO_FAKE_HOPPER_LOCATIONS=bT;exports.SOURCE_LABWARE=ac;exports.SOURCE_WELL_BLOWOUT_DESTINATION=zr;exports.STAGING_AREA_SLOTS=Hh;exports.TEMPERATURE_APPROACHING_TARGET=lc;exports.TEMPERATURE_AT_TARGET=ic;exports.TEMPERATURE_DEACTIVATED=Oa;exports.TEMPERATURE_MODULE_INITIAL_STATE=Dh;exports.THERMOCYCLER_MODULE_INITIAL_STATE=Mh;exports.TIPRACK_1=EA;exports.TOUCHED_PIPETTABLE_LABWARE=tc;exports.TROUGH_LABWARE=oc;exports.VACUUM_AT_TARGET=OT;exports.VACUUM_DEACTIVATED=LT;exports.VACUUM_DOCK_ADDRESSABLE_AREA=Gh;exports.VACUUM_DOCK_LOCATION=cc;exports.VACUUM_MODE_POWER=Hu;exports.VACUUM_MODE_PRESSURE=zu;exports.VACUUM_MODULE_INITIAL_STATE=Vh;exports.VACUUM_PROGRAM_PROFILE=gT;exports.VACUUM_PROGRAM_STATE=TT;exports.VACUUM_SPACER_LOAD_NAMES=Wh;exports.VACUUM_STATE_PUMP_OFF=IT;exports.VACUUM_STATE_PUMP_ON=ET;exports.VACUUM_STATE_VENT=wT;exports.VACUUM_VENT_CLOSED=ka;exports.VACUUM_VENT_OPEN=pc;exports.VACUUM_VENT_SET_CLOSED=AT;exports.VACUUM_VENT_SET_OPEN=ST;exports.ZERO_OFFSET=wt;exports._getNextTip=ab;exports._wellContentsForLabware=_S;exports.absorbanceReaderCloseInitialize=sb;exports.absorbanceReaderCloseLid=ws;exports.absorbanceReaderCloseRead=ob;exports.absorbanceReaderCollision=qa;exports.absorbanceReaderInitialize=y_;exports.absorbanceReaderOpenLid=b_;exports.absorbanceReaderRead=T_;exports.absorbanceReaderStateGetter=zn;exports.airGapLocationHelper=TI;exports.aspirate=eI;exports.assignContainsAmongSiblings=sp;exports.blowOutInWell=Oc;exports.captureImage=g_;exports.column4StagingSlotIdFromFlexStackerShuttleAddressableArea=ey;exports.commandCreatorsTimeline=Kw;exports.comment=I_;exports.consolidate=fb;exports.constructInvariantContextFromAnalysis=tS;exports.createEmptyLiquidState=Y_;exports.createStagingAreaForInvariantContext=Yu;exports.createTipLiquidState=K_;exports.curryCommandCreator=O;exports.curryWithoutPython=R;exports.deactivateTemperature=w_;exports.deckSlotKeyForFlexStackerShuttleAddressableArea=II;exports.delay=me;exports.delayLocationHelper=gI;exports.disengageMagnet=S_;exports.dispense=Rc;exports.dispenseLocationHelper=yI;exports.distribute=mb;exports.dropTip=Hr;exports.dropTipInPlace=Ss;exports.dropTipInTrash=cb;exports.dropTipInWasteChute=pb;exports.engageMagnet=A_;exports.enrichRobotStateForStackGraphTraversals=rw;exports.flexStackerEmpty=L_;exports.flexStackerFillItems=O_;exports.flexStackerRetrieve=R_;exports.flexStackerStateGetter=mt;exports.flexStackerStore=k_;exports.formatChangeTipArg=Fs;exports.formatPyDict=Fr;exports.formatPyList=Ls;exports.formatPyStr=N;exports.formatPyTuple=Pc;exports.formatPyValue=dt;exports.formatPyWellLocation=Bt;exports.getAddressableAreaFromModule=ap;exports.getAddressableAreaNameFromLabwareLocation=XE;exports.getAllLargestStacks=Ey;exports.getAllProvidedAddressableAreasFromDeckConfig=wy;exports.getAllWellsForLabware=Fy;exports.getChunkForIndentingLists=Os;exports.getCommandCreatorFromStepArgs=KS;exports.getCustomLiquidClassProperties=Ds;exports.getCutoutFromSlot=Qy;exports.getCutoutIdByAddressableArea=H_;exports.getDefaultPrimaryNozzle=cs;exports.getDefineLiquids=jy;exports.getDispenseAirGapLocation=X_;exports.getFlexStackerCutoutBaseDeckSlotId=xc;exports.getFlexStackerShuttleAddressableArea=Rs;exports.getFullStackFromLabwares=Hc;exports.getFullStackFromNodeTopDownRecursive=Ns;exports.getHasNoWellsFromCCArgs=Zw;exports.getInitialRobotStateStandard=kb;exports.getInitialRobotStateWithOffDeckLabwareStandard=AA;exports.getIsHeaterShakerEastWestMultiChannelPipette=xn;exports.getIsHeaterShakerEastWestWithLatchOpen=Bn;exports.getIsHeaterShakerNorthSouthOfNonTiprackWithMultiChannelPipette=xa;exports.getIsInPipettableLocation=sy;exports.getIsLabwareCompatibleWithStack=ry;exports.getIsRetractSafeForAirGap=qr;exports.getIsSafePickupWithinTiprack=lp;exports.getIsSlotAHopper=ny;exports.getIsSlotAVacuumDock=ma;exports.getIsSpaceInHopper=Wc;exports.getIsTallLabwareEastWestOfHeaterShaker=Dy;exports.getIsVacuumSpacer=x_;exports.getLabwareHasLid=ay;exports.getLabwareHasLiquid=Q_;exports.getLabwareIdOnShuttle=jc;exports.getLabwareSlot=Un;exports.getLargestStackContainingLabware=Iy;exports.getLargestStackInSlot=fa;exports.getLiquidClassName=ja;exports.getLiquidIdsOnLabware=TS;exports.getLiquidIdsOnLabwareStack=bS;exports.getLoadAdapters=By;exports.getLoadLabware=Hy;exports.getLoadLidStacks=xy;exports.getLoadLiquidClasses=Wy;exports.getLoadLiquids=Gy;exports.getLoadModules=Vy;exports.getLoadPipettes=zy;exports.getLoadTrashBins=Yy;exports.getLoadWasteChute=Ky;exports.getLocationTotalVolume=mr;exports.getModuleHasLiveTask=$n;exports.getModuleIdFromRobotStateStack=Fa;exports.getModuleState=Ot;exports.getNearestParentInStack=J_;exports.getNextRobotStateAndWarnings=op;exports.getNextRobotStateAndWarningsSingleCommand=Ny;exports.getNextTiprack=Wa;exports.getNodeParentModuleId=YE;exports.getNozzleConfig=ip;exports.getPipetteCenteringFullOffset=tb;exports.getPipetteIdFromCCArgs=Xw;exports.getPipetteMovementSafetyStatus=ft;exports.getPipetteWithTipMaxVol=qs;exports.getProvidedAddressableAreasExposed=ZE;exports.getPythonAssignTipRacksString=Ms;exports.getResultingTimelineFrameFromRunCommands=nS;exports.getRobotInitialStateNoTipsRemain=kA;exports.getRobotStateAndWarningsStandard=LA;exports.getRobotStatePickedUpTipStandard=RA;exports.getRobotStateWithTipStandard=OA;exports.getSetStoredLabware=Zy;exports.getSlotInLocationStack=G;exports.getStackForLabwareLocation=Wu;exports.getStackedOnNodeFromPdStack=Sy;exports.getStateAndContextTempTCModules=vA;exports.getTargetTipsFromWellSets=Ga;exports.getThermocyclerProfileRepetitionsForPython=rb;exports.getTipColumn=SA;exports.getTipColumnIndex=rc;exports.getTipColumnName=up;exports.getTipRowName=gn;exports.getTiprackHasTips=Z_;exports.getTiprackTipstate=Lb;exports.getTopLocationInStack=Bc;exports.getTopmostLabwareOnModuleFromStackRobotState=wI;exports.getTransferPlanAndReferenceVolumes=zc;exports.getTrashBinAddressableAreaName=Uc;exports.getTrashLocationFromAddressableAreaName=j_;exports.getTrashOrLabware=Fn;exports.getVolumesPerLiquid=yS;exports.getWasteChuteAddressableAreaNamePip=z_;exports.getWellsForTips=$c;exports.heaterShaker=hb;exports.indentPyLines=K;exports.labwareMatchesLabwareInHopper=Gc;exports.makeContext=Ob;exports.makeInitialRobotState=Vc;exports.makeState=Gr;exports.makeStateArgsLabwareOffDeck=Rb;exports.makeStateArgsStandard=jn;exports.mergeLiquid=hr;exports.mix=db;exports.mixBlowoutLocationHelper=W_;exports.modulePipetteCollision=Vn;exports.moveHelper=bI;exports.moveLabware=v_;exports.moveToAddressableArea=Fe;exports.moveToAddressableAreaForDropTip=kc;exports.pipetteAdjacentHeaterShakerWhileShaking=Hn;exports.pipetteIntoHeaterShakerLatchOpen=Ha;exports.pipetteIntoHeaterShakerWhileShaking=za;exports.pythonCustomLabwareDict=DS;exports.pythonDefRun=NS;exports.pythonImports=OS;exports.pythonMetadata=RS;exports.pythonRequirements=kS;exports.reduceCommandCreators=ae;exports.repeatArray=G_;exports.replaceTip=Ya;exports.resolveDeckSlotKeyForLabwareStackInSlot=ty;exports.robotWithStatusAndTemp=PA;exports.setTemperature=vc;exports.sortLabwareBySlot=nb;exports.splitLiquid=er;exports.stepCommands=Xy;exports.swatchColors=Uy;exports.thermocyclerPipetteCollision=Va;exports.thermocyclerProfileStep=_b;exports.thermocyclerStateGetter=Us;exports.thermocyclerStateStep=yb;exports.tiprackWellNamesFlat=Sb;exports.touchTip=Et;exports.transfer=bb;exports.unrollThermocyclerProfile=cp;exports.uuid=D;exports.vacuumCloseVent=Da;exports.vacuumCloseVentSetPumpPower=Tb;exports.vacuumCloseVentSetPumpPressure=gb;exports.vacuumCloseVentStartProfile=Ib;exports.vacuumModuleStateGetter=ot;exports.vacuumOpenVent=C_;exports.vacuumSetPumpPower=Cc;exports.vacuumSetPumpPressure=Nc;exports.vacuumStartRunProfile=Dc;exports.vacuumStopPump=D_;exports.waitForModuleTask=wb;exports.waitForTemperature=Mc;exports.wellFillFromWellContents=IS;