opentrons 8.3.2__py2.py3-none-any.whl → 8.4.0__py2.py3-none-any.whl

opentrons/protocol_api/instrument_context.py

@@ -8,7 +8,6 @@ from opentrons_shared_data.errors.exceptions import (
     UnexpectedTipRemovalError,
     UnsupportedHardwareCommand,
 )
-from opentrons_shared_data.robot.types import RobotTypeEnum
 
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -37,12 +36,13 @@ from .config import Clearances
 from .disposal_locations import TrashBin, WasteChute
 from ._nozzle_layout import NozzleLayout
 from ._liquid import LiquidClass
+from ._transfer_liquid_validation import verify_and_normalize_transfer_args
 from . import labware, validation
-from ..config import feature_flags
 from ..protocols.advanced_control.transfers.common import (
     TransferTipPolicyV2,
     TransferTipPolicyV2Type,
 )
+from ..protocol_engine.types import LiquidTrackingType
 
 _DEFAULT_ASPIRATE_CLEARANCE = 1.0
 _DEFAULT_DISPENSE_CLEARANCE = 1.0
@@ -66,6 +66,7 @@ _PARTIAL_NOZZLE_CONFIGURATION_SINGLE_ROW_PARTIAL_COLUMN_ADDED_IN = APIVersion(2,
 _AIR_GAP_TRACKING_ADDED_IN = APIVersion(2, 22)
 """The version after which air gaps should be implemented with a separate call instead of an aspirate for better liquid volume tracking."""
 
+
 AdvancedLiquidHandling = v1_transfer.AdvancedLiquidHandling
 
 
@@ -166,6 +167,11 @@ class InstrumentContext(publisher.CommandPublisher):
     def default_speed(self, speed: float) -> None:
         self._core.set_default_speed(speed)
 
+    @requires_version(2, 21)
+    def get_minimum_liquid_sense_height(self) -> float:
+        """Get the minimum allowed height for liquid-level detection."""
+        return self._core.get_minimum_liquid_sense_height()
+
     @requires_version(2, 0)
     def aspirate(
         self,
@@ -226,7 +232,6 @@ class InstrumentContext(publisher.CommandPublisher):
 
         move_to_location: types.Location
         well: Optional[labware.Well] = None
-        is_meniscus: Optional[bool] = None
         last_location = self._get_last_location_by_api_version()
         try:
             target = validation.validate_location(
@@ -244,7 +249,7 @@ class InstrumentContext(publisher.CommandPublisher):
             raise ValueError(
                 "Trash Bin and Waste Chute are not acceptable location parameters for Aspirate commands."
             )
-        move_to_location, well, is_meniscus = self._handle_aspirate_target(
+        move_to_location, well, meniscus_tracking = self._handle_aspirate_target(
             target=target
         )
         if self.api_version >= APIVersion(2, 11):
@@ -266,6 +271,7 @@ class InstrumentContext(publisher.CommandPublisher):
             and self.liquid_presence_detection
             and self._core.nozzle_configuration_valid_for_lld()
             and self._core.get_current_volume() == 0
+            and self._core.get_has_clean_tip()
         ):
             self._raise_if_pressure_not_supported_by_pipette()
             self.require_liquid_presence(well=well)
@@ -287,13 +293,13 @@ class InstrumentContext(publisher.CommandPublisher):
                 rate=rate,
                 flow_rate=flow_rate,
                 in_place=target.in_place,
-                is_meniscus=is_meniscus,
+                meniscus_tracking=meniscus_tracking,
             )
 
         return self
 
     @requires_version(2, 0)
-    def dispense(  # noqa: C901
+    def dispense(
         self,
         volume: Optional[float] = None,
         location: Optional[
@@ -360,7 +366,10 @@ class InstrumentContext(publisher.CommandPublisher):
         :param push_out: Continue past the plunger bottom to help ensure all liquid
                          leaves the tip. Measured in µL. The default value is ``None``.
 
-                         See :ref:`push-out-dispense` for details.
+                         When not specified or set to ``None``, the plunger moves by a non-zero default amount.
+
+
+                         For a table of default values, see :ref:`push-out-dispense`.
         :type push_out: float
 
         :returns: This instance.
@@ -389,8 +398,6 @@ class InstrumentContext(publisher.CommandPublisher):
                 volume, location if location else "current position", rate
             )
         )
-        well: Optional[labware.Well] = None
-        is_meniscus: Optional[bool] = None
         last_location = self._get_last_location_by_api_version()
 
         try:
@@ -405,29 +412,6 @@ class InstrumentContext(publisher.CommandPublisher):
                 "knows where it is."
             ) from e
 
-        if isinstance(target, validation.WellTarget):
-            well = target.well
-            if target.location:
-                move_to_location = target.location
-                is_meniscus = target.location.is_meniscus
-            elif well.parent._core.is_fixed_trash():
-                move_to_location = target.well.top()
-            else:
-                move_to_location = target.well.bottom(
-                    z=self._well_bottom_clearances.dispense
-                )
-        if isinstance(target, validation.PointTarget):
-            move_to_location = target.location
-
-        if self.api_version >= APIVersion(2, 11) and not isinstance(
-            target, (TrashBin, WasteChute)
-        ):
-            instrument.validate_takes_liquid(
-                location=move_to_location,
-                reject_module=self.api_version >= APIVersion(2, 13),
-                reject_adapter=self.api_version >= APIVersion(2, 15),
-            )
-
         if self.api_version >= APIVersion(2, 16):
             c_vol = self._core.get_current_volume() if volume is None else volume
         else:
@@ -454,9 +438,21 @@ class InstrumentContext(publisher.CommandPublisher):
                     flow_rate=flow_rate,
                     in_place=False,
                     push_out=push_out,
+                    meniscus_tracking=None,
                 )
             return self
 
+        move_to_location, well, meniscus_tracking = self._handle_dispense_target(
+            target=target
+        )
+
+        if self.api_version >= APIVersion(2, 11):
+            instrument.validate_takes_liquid(
+                location=move_to_location,
+                reject_module=self.api_version >= APIVersion(2, 13),
+                reject_adapter=self.api_version >= APIVersion(2, 15),
+            )
+
         with publisher.publish_context(
             broker=self.broker,
             command=cmds.dispense(
@@ -475,7 +471,7 @@ class InstrumentContext(publisher.CommandPublisher):
                 flow_rate=flow_rate,
                 in_place=target.in_place,
                 push_out=push_out,
-                is_meniscus=is_meniscus,
+                meniscus_tracking=meniscus_tracking,
             )
 
         return self
@@ -610,7 +606,20 @@ class InstrumentContext(publisher.CommandPublisher):
                     "Blow_out being performed on a tiprack. "
                     "Please re-check your code"
                 )
-            move_to_location = target.location or target.well.top()
+            if target.location:
+                # because the lower levels of blowout don't handle LiquidHandlingWellLocation and
+                # there is no "operation_volume" for blowout we need to convert the relative location
+                # given with a .meniscus to an absolute point. To maintain the meniscus behavior
+                # we can just add the offset to the current liquid height.
+                if target.location.meniscus_tracking:
+                    move_to_location = target.well.bottom(
+                        target.well.current_liquid_height()  # type: ignore [arg-type]
+                        + target.location.point.z
+                    )
+                else:
+                    move_to_location = target.location
+            else:
+                move_to_location = target.well.top()
             well = target.well
         elif isinstance(target, validation.PointTarget):
             move_to_location = target.location
@@ -756,18 +765,20 @@ class InstrumentContext(publisher.CommandPublisher):
 
         :returns: This instance.
 
-        .. note::
+        Both ``volume`` and ``height`` are optional, but if you want to specify only
+        ``height`` you must do it as a keyword argument:
+        ``pipette.air_gap(height=2)``. If you call ``air_gap`` with a single,
+        unnamed argument, it will always be interpreted as a volume.
 
-            Both ``volume`` and ``height`` are optional, but if you want to specify only
-            ``height`` you must do it as a keyword argument:
-            ``pipette.air_gap(height=2)``. If you call ``air_gap`` with a single,
-            unnamed argument, it will always be interpreted as a volume.
+        .. note::
 
-        .. TODO: restore this as a note block for 2.22 docs
-           Before API version 2.22, this function was implemented as an aspirate, and
+           In API version 2.21 and earlier, this function was implemented as an aspirate, and
            dispensing into a well would add the air gap volume to the liquid tracked in
-           the well. At or above API version 2.22, air gap volume is not counted as liquid
+           the well. In API version 2.22 and later, air gap volume is not tracked as liquid
            when dispensing into a well.
+
+        .. versionchanged:: 2.22
+            No longer implemented as an aspirate.
         """
         if not self._core.has_tip():
             raise UnexpectedTipRemovalError("air_gap", self.name, self.mount)
@@ -780,6 +791,7 @@ class InstrumentContext(publisher.CommandPublisher):
         target = loc.labware.as_well().top(height)
         self.move_to(target, publish=False)
         if self.api_version >= _AIR_GAP_TRACKING_ADDED_IN:
+            self._core.prepare_to_aspirate()
             c_vol = self._core.get_available_volume() if volume is None else volume
             flow_rate = self._core.get_aspirate_flow_rate()
             self._core.air_gap_in_place(c_vol, flow_rate)
@@ -1509,7 +1521,8 @@ class InstrumentContext(publisher.CommandPublisher):
         for cmd in plan:
             getattr(self, cmd["method"])(*cmd["args"], **cmd["kwargs"])
 
-    def transfer_liquid(
+    @requires_version(2, 23)
+    def transfer_with_liquid_class(
         self,
         liquid_class: LiquidClass,
         volume: float,
@@ -1520,96 +1533,335 @@ class InstrumentContext(publisher.CommandPublisher):
             labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]]
         ],
         new_tip: TransferTipPolicyV2Type = "once",
-        tip_drop_location: Optional[
+        trash_location: Optional[
             Union[types.Location, labware.Well, TrashBin, WasteChute]
-        ] = None,  # Maybe call this 'tip_drop_location' which is similar to PD
+        ] = None,
+        return_tip: bool = False,
+        visit_every_well: bool = False,
     ) -> InstrumentContext:
-        """Transfer liquid from source to dest using the specified liquid class properties.
+        """Move a particular type of liquid from one well or group of wells to another.
+
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
+        :param liquid_class: The type of liquid to move. You must specify the liquid class,
+            even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
+            source contains.
+        :type liquid_class: :py:class:`.LiquidClass`
 
-        TODO: Add args description.
+        :param volume: The amount, in µL, to aspirate from each source and dispense to
+                       each destination.
+        :param source: A single well or a list of wells to aspirate liquid from.
+        :param dest: A single well or a list of wells to dispense liquid into.
+        :param new_tip: When to pick up and drop tips during the command.
+            Defaults to ``"once"``.
+
+              - ``"once"``: Use one tip for the entire command.
+              - ``"always"``: Use a new tip for each set of aspirate and dispense steps.
+              - ``"per source"``: Use one tip for each source well, even if
+                :ref:`tip refilling <complex-tip-refilling>` is required.
+              - ``"never"``: Do not pick up or drop tips at all.
+
+            See :ref:`param-tip-handling` for details.
+
+        :param trash_location: A trash container, well, or other location to dispose of
+            tips. Depending on the liquid class, the pipette may also blow out liquid here.
+        :param return_tip: Whether to drop used tips in their original locations
+            in the tip rack, instead of the trash.
+
+        :meta private:
         """
-        if not feature_flags.allow_liquid_classes(
-            robot_type=RobotTypeEnum.robot_literal_to_enum(
-                self._protocol_core.robot_type
+        if volume == 0.0:
+            _log.info(
+                f"Transfer of {liquid_class.name} specified with a volume of 0uL."
+                f" Skipping."
             )
-        ):
-            raise NotImplementedError("This method is not implemented.")
+            return self
 
-        flat_sources_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(
-            source
+        transfer_args = verify_and_normalize_transfer_args(
+            source=source,
+            dest=dest,
+            tip_policy=new_tip,
+            last_tip_picked_up_from=self._last_tip_picked_up_from,
+            tip_racks=self._tip_racks,
+            nozzle_map=self._core.get_nozzle_map(),
+            target_all_wells=visit_every_well,
+            current_volume=self.current_volume,
+            trash_location=(
+                trash_location if trash_location is not None else self.trash_container
+            ),
         )
-        flat_dests_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(dest)
-        for well in flat_sources_list + flat_dests_list:
-            instrument.validate_takes_liquid(
-                location=well.top(),
-                reject_module=True,
-                reject_adapter=True,
-            )
-        if len(flat_sources_list) != len(flat_dests_list):
+        if len(transfer_args.sources_list) != len(transfer_args.destinations_list):
             raise ValueError(
                 "Sources and destinations should be of the same length in order to perform a transfer."
                 " To transfer liquid from one source to many destinations, use 'distribute_liquid',"
                 " to transfer liquid onto one destinations from many sources, use 'consolidate_liquid'."
             )
 
-        valid_new_tip = validation.ensure_new_tip_policy(new_tip)
-        if valid_new_tip == TransferTipPolicyV2.NEVER:
-            if self._last_tip_picked_up_from is None:
-                raise RuntimeError(
-                    "Pipette has no tip attached to perform transfer."
-                    " Either do a pick_up_tip beforehand or specify a new_tip parameter"
-                    " of 'once' or 'always'."
-                )
-            else:
-                tiprack = self._last_tip_picked_up_from.parent
-        else:
-            tiprack, well = labware.next_available_tip(
-                starting_tip=self.starting_tip,
-                tip_racks=self.tip_racks,
-                channels=self.active_channels,
-                nozzle_map=self._core.get_nozzle_map(),
-            )
-        if self.current_volume != 0:
-            raise RuntimeError(
-                "A transfer on a liquid class cannot start with liquid already in the tip."
-                " Ensure that all previously aspirated liquid is dispensed before starting"
-                " a new transfer."
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.transfer_with_liquid_class(
+                instrument=self,
+                liquid_class=liquid_class,
+                volume=volume,
+                source=source,
+                destination=dest,
+            ),
+        ):
+            self._core.transfer_with_liquid_class(
+                liquid_class=liquid_class,
+                volume=volume,
+                source=[
+                    (types.Location(types.Point(), labware=well), well._core)
+                    for well in transfer_args.sources_list
+                ],
+                dest=[
+                    (types.Location(types.Point(), labware=well), well._core)
+                    for well in transfer_args.destinations_list
+                ],
+                new_tip=transfer_args.tip_policy,
+                tip_racks=[
+                    (types.Location(types.Point(), labware=rack), rack._core)
+                    for rack in transfer_args.tip_racks
+                ],
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
+                trash_location=transfer_args.trash_location,
+                return_tip=return_tip,
             )
+        return self
 
-        _trash_location: Union[types.Location, labware.Well, TrashBin, WasteChute]
-        if tip_drop_location is None:
-            saved_trash = self.trash_container
-            if isinstance(saved_trash, labware.Labware):
-                _trash_location = saved_trash.wells()[0]
-            else:
-                _trash_location = saved_trash
-        else:
-            _trash_location = tip_drop_location
+    @requires_version(2, 23)
+    def distribute_with_liquid_class(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: Union[labware.Well, Sequence[labware.Well]],
+        dest: Union[
+            labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]]
+        ],
+        new_tip: TransferTipPolicyV2Type = "once",
+        trash_location: Optional[
+            Union[types.Location, labware.Well, TrashBin, WasteChute]
+        ] = None,
+        return_tip: bool = False,
+        visit_every_well: bool = False,
+    ) -> InstrumentContext:
+        """
+        Distribute a particular type of liquid from one well to a group of wells.
+
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
+        :param liquid_class: The type of liquid to move. You must specify the liquid class,
+            even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
+            source contains.
+        :type liquid_class: :py:class:`.LiquidClass`
+
+        :param volume: The amount, in µL, to aspirate from the source and dispense to
+                       each destination.
+        :param source: A single well to aspirate liquid from.
+        :param dest: A list of wells to dispense liquid into.
+        :param new_tip: When to pick up and drop tips during the command.
+            Defaults to ``"once"``.
+
+              - ``"once"``: Use one tip for the entire command.
+              - ``"never"``: Do not pick up or drop tips at all.
 
-        checked_trash_location = (
-            validation.ensure_valid_tip_drop_location_for_transfer_v2(
-                tip_drop_location=_trash_location
+            See :ref:`param-tip-handling` for details.
+
+        :param trash_location: A trash container, well, or other location to dispose of
+            tips. Depending on the liquid class, the pipette may also blow out liquid here.
+        :param return_tip: Whether to drop used tips in their original locations
+            in the tip rack, instead of the trash.
+
+        :meta private:
+        """
+        if volume == 0.0:
+            _log.info(
+                f"Distribution of {liquid_class.name} specified with a volume of 0uL."
+                f" Skipping."
             )
+            return self
+
+        transfer_args = verify_and_normalize_transfer_args(
+            source=source,
+            dest=dest,
+            tip_policy=new_tip,
+            last_tip_picked_up_from=self._last_tip_picked_up_from,
+            tip_racks=self._tip_racks,
+            nozzle_map=self._core.get_nozzle_map(),
+            target_all_wells=visit_every_well,
+            current_volume=self.current_volume,
+            trash_location=(
+                trash_location if trash_location is not None else self.trash_container
+            ),
         )
-        liquid_class_id = self._core.load_liquid_class(
-            liquid_class=liquid_class,
-            pipette_load_name=self.name,
-            tiprack_uri=tiprack.uri,
-        )
+        if len(transfer_args.sources_list) != 1:
+            raise ValueError(
+                f"Source should be a single well (or resolve to a single transfer for multi-channel) "
+                f"but received {transfer_args.sources_list}."
+            )
+        if transfer_args.tip_policy not in [
+            TransferTipPolicyV2.ONCE,
+            TransferTipPolicyV2.NEVER,
+        ]:
+            raise ValueError(
+                f"Incompatible `new_tip` value of {new_tip}."
+                f" `distribute_with_liquid_class()` only supports `new_tip` values of"
+                f" 'once' and 'never'."
+            )
+
+        verified_source = transfer_args.sources_list[0]
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.distribute_with_liquid_class(
+                instrument=self,
+                liquid_class=liquid_class,
+                volume=volume,
+                source=source,
+                destination=dest,
+            ),
+        ):
+            self._core.distribute_with_liquid_class(
+                liquid_class=liquid_class,
+                volume=volume,
+                source=(
+                    types.Location(types.Point(), labware=verified_source),
+                    verified_source._core,
+                ),
+                dest=[
+                    (types.Location(types.Point(), labware=well), well._core)
+                    for well in transfer_args.destinations_list
+                ],
+                new_tip=transfer_args.tip_policy,  # type: ignore[arg-type]
+                tip_racks=[
+                    (types.Location(types.Point(), labware=rack), rack._core)
+                    for rack in transfer_args.tip_racks
+                ],
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
+                trash_location=transfer_args.trash_location,
+                return_tip=return_tip,
+            )
+        return self
+
+    @requires_version(2, 23)
+    def consolidate_with_liquid_class(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: Union[
+            labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]]
+        ],
+        dest: Union[labware.Well, Sequence[labware.Well]],
+        new_tip: TransferTipPolicyV2Type = "once",
+        trash_location: Optional[
+            Union[types.Location, labware.Well, TrashBin, WasteChute]
+        ] = None,
+        return_tip: bool = False,
+        visit_every_well: bool = False,
+    ) -> InstrumentContext:
+        """
+        Consolidate a particular type of liquid from a group of wells to one well.
+
+        ..
+            This is intended for Opentrons internal use only and is not a guaranteed API.
+
+        :param liquid_class: The type of liquid to move. You must specify the liquid class,
+            even if you have used :py:meth:`.Labware.load_liquid` to indicate what liquid the
+            source contains.
+        :type liquid_class: :py:class:`.LiquidClass`
+
+        :param volume: The amount, in µL, to aspirate from the source and dispense to
+                       each destination.
+        :param source: A list of wells to aspirate liquid from.
+        :param dest: A single well to dispense liquid into.
+        :param new_tip: When to pick up and drop tips during the command.
+            Defaults to ``"once"``.
+
+              - ``"once"``: Use one tip for the entire command.
+              - ``"never"``: Do not pick up or drop tips at all.
+
+            See :ref:`param-tip-handling` for details.
+
+        :param trash_location: A trash container, well, or other location to dispose of
+            tips. Depending on the liquid class, the pipette may also blow out liquid here.
+        :param return_tip: Whether to drop used tips in their original locations
+            in the tip rack, instead of the trash.
+
+        :meta private:
+        """
+        if volume == 0.0:
+            _log.info(
+                f"Consolidation of {liquid_class.name} specified with a volume of 0uL."
+                f" Skipping."
+            )
+            return self
 
-        self._core.transfer_liquid(
-            liquid_class_id=liquid_class_id,
-            volume=volume,
-            source=[well._core for well in flat_sources_list],
-            dest=[well._core for well in flat_dests_list],
-            new_tip=valid_new_tip,
+        transfer_args = verify_and_normalize_transfer_args(
+            source=source,
+            dest=dest,
+            tip_policy=new_tip,
+            last_tip_picked_up_from=self._last_tip_picked_up_from,
+            tip_racks=self._tip_racks,
+            nozzle_map=self._core.get_nozzle_map(),
+            target_all_wells=visit_every_well,
+            current_volume=self.current_volume,
             trash_location=(
-                checked_trash_location._core
-                if isinstance(checked_trash_location, labware.Well)
-                else checked_trash_location
+                trash_location if trash_location is not None else self.trash_container
             ),
         )
+        if len(transfer_args.destinations_list) != 1:
+            raise ValueError(
+                f"Destination should be a single well (or resolve to a single transfer for multi-channel) "
+                f"but received {transfer_args.destinations_list}."
+            )
+        if transfer_args.tip_policy not in [
+            TransferTipPolicyV2.ONCE,
+            TransferTipPolicyV2.NEVER,
+        ]:
+            raise ValueError(
+                f"Incompatible `new_tip` value of {new_tip}."
+                f" `consolidate_with_liquid_class()` only supports `new_tip` values of"
+                f" 'once' and 'never'."
+            )
 
+        verified_dest = transfer_args.destinations_list[0]
+        with publisher.publish_context(
+            broker=self.broker,
+            command=cmds.consolidate_with_liquid_class(
+                instrument=self,
+                liquid_class=liquid_class,
+                volume=volume,
+                source=source,
+                destination=dest,
+            ),
+        ):
+            self._core.consolidate_with_liquid_class(
+                liquid_class=liquid_class,
+                volume=volume,
+                source=[
+                    (types.Location(types.Point(), labware=well), well._core)
+                    for well in transfer_args.sources_list
+                ],
+                dest=(
+                    types.Location(types.Point(), labware=verified_dest),
+                    verified_dest._core,
+                ),
+                new_tip=transfer_args.tip_policy,  # type: ignore[arg-type]
+                tip_racks=[
+                    (types.Location(types.Point(), labware=rack), rack._core)
+                    for rack in transfer_args.tip_racks
+                ],
+                starting_tip=(
+                    self.starting_tip._core if self.starting_tip is not None else None
+                ),
+                trash_location=transfer_args.trash_location,
+                return_tip=return_tip,
+            )
         return self
 
     @requires_version(2, 0)
@@ -1690,6 +1942,7 @@ class InstrumentContext(publisher.CommandPublisher):
                     force_direct=force_direct,
                     minimum_z_height=minimum_z_height,
                     speed=speed,
+                    check_for_movement_conflicts=False,
                 )
             else:
                 if publish:
@@ -1708,23 +1961,24 @@ class InstrumentContext(publisher.CommandPublisher):
                     force_direct=force_direct,
                     minimum_z_height=minimum_z_height,
                     speed=speed,
+                    check_for_movement_conflicts=False,
                 )
 
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_seal(
         self,
         location: Union[labware.Well, labware.Labware],
     ) -> InstrumentContext:
         """Seal resin tips onto the pipette.
 
-        The location provided should contain resin tips. Sealing the
-        tip will perform a `pick up` action but there will be no tip tracking
-        associated with the pipette.
+        The location provided should contain resin tips. The pipette will attach itself
+        to the resin tips but does not check any tip presence sensors. Before the pipette
+        seals to the tips, the plunger will rise to the top of its working range so that
+        it can perform a :py:func:`resin_tip_dispense` immediately.
 
         :param location: A location containing resin tips, must be a Labware or a Well.
-
         :type location: :py:class:`~.types.Location`
         """
         if isinstance(location, labware.Labware):
@@ -1744,7 +1998,7 @@ class InstrumentContext(publisher.CommandPublisher):
             )
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_unseal(
         self,
         location: Union[labware.Well, labware.Labware],
@@ -1778,35 +2032,64 @@ class InstrumentContext(publisher.CommandPublisher):
                 location=well,
             ),
         ):
-            self._core.resin_tip_unseal(location=well.top(), well_core=well._core)
+            self._core.resin_tip_unseal(location=None, well_core=well._core)
 
         return self
 
-    @requires_version(2, 22)
+    @requires_version(2, 23)
     def resin_tip_dispense(
         self,
         location: types.Location,
         volume: Optional[float] = None,
         rate: Optional[float] = None,
     ) -> InstrumentContext:
-        """Dispense a volume from resin tips into a labware.
+        """Push liquid out of resin tips that are currently sealed to a pipette.
+
+        The volume and rate parameters for this function control the motion of the plunger
+        to create a desired pressure profile inside the pipette chamber. Unlike a regular
+        dispense action, the volume and rate do not correspond to liquid volume or flow rate
+        dispensed from the resin tips. Select your values for volume and flow rate based on
+        experimentation with the resin tips to create a pressure profile.
+
+        The common way to use this function is as follows:
+
+        #. Seal resin tips to the pipette using :py:meth:`InstrumentContext.resin_tip_seal`.
+
+        #. Use :py:meth:`InstrumentContext.resin_tip_dispense` to displace an experimentally
+           derived volume at an experimentally derived rate to create an experimentally derived
+           target pressure inside the pipette.
+
+        #. Use :py:meth:`ProtocolContext.delay` to wait an experimentally derived amount of
+           time for the pressure inside the pipette to push liquid into and through the resin tip
+           and out the other side.
+
+        #. As liquid passes through the resin tip, the pressure inside the pipette will
+           fall. If not all liquid has been dispensed from the resin tip, repeat steps 2
+           and 3.
 
-        The location provided should contain resin tips labware as well as a
-        receptical for dispensed liquid. Dispensing from tip will perform a
-        `dispense` action of the specified volume at a desired flow rate.
+        #. Unseal resin tips from the pipette using :py:meth:`InstrumentContext.resin_tip_unseal`.
 
-        :param location: A location containing resin tips.
+        Flex pipette pressure sensors will raise an overpressure when a differential pressure
+        inside the pipette chamber above sensor limits is detected. You may need to disable the
+        pressure sensor to create the required pressure profile.
+
+        .. warning::
+            Building excessive pressure inside the pipette chamber (significantly above the sensor
+            limit) with the pressure sensors disabled can damage the pipette.
+
+
+        :param location: Tells the robot where to dispense.
         :type location: :py:class:`~.types.Location`
 
-        :param volume: Will default to maximum, recommended to use the default.
-                       The volume, in µL, that the pipette will prepare to handle.
+        :param volume: The volume that the plunger should displace, in µL. Does not directly relate
+                       to the volume of liquid that will be dispensed.
         :type volume: float
 
-        :param rate: Will default to 10.0, recommended to use the default. How quickly
-                     a pipette dispenses liquid. The speed in µL/s is calculated as
-                     ``rate`` multiplied by :py:attr:`flow_rate.dispense<flow_rate>`.
-        :type rate: float
+        :param rate: How quickly the plunger moves to displace the commanded volume, in µL/s. This rate does not directly relate to
+                     the flow rate of liquid out of the resin tip.
 
+                     Defaults to ``10.0`` µL/s.
+        :type rate: float
         """
         well: Optional[labware.Well] = None
         last_location = self._get_last_location_by_api_version()
@@ -1998,7 +2281,15 @@ class InstrumentContext(publisher.CommandPublisher):
     @requires_version(2, 0)
     def name(self) -> str:
         """
-        The name string for the pipette (e.g., ``"p300_single"``).
+        The name string for the pipette.
+
+        From API version 2.15 to 2.22, this property returned an internal name for Flex
+        pipettes. (e.g., ``"p1000_single_flex"``).
+
+        .. TODO uncomment when 2.23 is ready
+          In API version 2.23 and later, this property returns the Python Protocol API
+          :ref:`load name <new-pipette-models>` of Flex pipettes (e.g.,
+          ``"flex_1channel_1000"``).
         """
         return self._core.get_pipette_name()
 
@@ -2411,19 +2702,15 @@ class InstrumentContext(publisher.CommandPublisher):
         self._core.liquid_probe_with_recovery(well._core, loc)
 
     @requires_version(2, 20)
-    def measure_liquid_height(self, well: labware.Well) -> float:
+    def measure_liquid_height(self, well: labware.Well) -> LiquidTrackingType:
         """Check the height of the liquid within a well.
 
-        :returns: The height, in mm, of the liquid from the deck.
-
-        :meta private:
-
-        This is intended for Opentrons internal use only and is not a guaranteed API.
+        :returns: The height, in mm, of the liquid from the bottom of the well.
         """
         self._raise_if_pressure_not_supported_by_pipette()
         loc = well.top()
-        height = self._core.liquid_probe_without_recovery(well._core, loc)
-        return height
+        self._core.liquid_probe_with_recovery(well._core, loc)
+        return well.current_liquid_height()
 
     def _raise_if_configuration_not_supported_by_pipette(
         self, style: NozzleLayout
@@ -2448,24 +2735,41 @@ class InstrumentContext(publisher.CommandPublisher):
             )
 
     def _handle_aspirate_target(
-        self, target: validation.ValidTarget
-    ) -> tuple[types.Location, Optional[labware.Well], Optional[bool]]:
-        move_to_location: types.Location
-        well: Optional[labware.Well] = None
-        is_meniscus: Optional[bool] = None
+        self, target: Union[validation.WellTarget, validation.PointTarget]
+    ) -> tuple[
+        types.Location, Optional[labware.Well], Optional[types.MeniscusTrackingTarget]
+    ]:
         if isinstance(target, validation.WellTarget):
-            well = target.well
             if target.location:
-                move_to_location = target.location
-                is_meniscus = target.location.is_meniscus
+                return target.location, target.well, target.location.meniscus_tracking
 
             else:
-                move_to_location = target.well.bottom(
-                    z=self._well_bottom_clearances.aspirate
+                return (
+                    target.well.bottom(z=self._well_bottom_clearances.aspirate),
+                    target.well,
+                    None,
                 )
         if isinstance(target, validation.PointTarget):
-            move_to_location = target.location
-        return (move_to_location, well, is_meniscus)
+            return target.location, None, None
+
+    def _handle_dispense_target(
+        self, target: Union[validation.WellTarget, validation.PointTarget]
+    ) -> tuple[
+        types.Location, Optional[labware.Well], Optional[types.MeniscusTrackingTarget]
+    ]:
+        if isinstance(target, validation.WellTarget):
+            if target.location:
+                return target.location, target.well, target.location.meniscus_tracking
+            elif target.well.parent._core.is_fixed_trash():
+                return target.well.top(), target.well, None
+            else:
+                return (
+                    target.well.bottom(z=self._well_bottom_clearances.dispense),
+                    target.well,
+                    None,
+                )
+        if isinstance(target, validation.PointTarget):
+            return target.location, None, None
 
 
 class AutoProbeDisable: