opentrons 8.3.2a0__py2.py3-none-any.whl → 8.4.0__py2.py3-none-any.whl

opentrons/protocol_api/core/engine/instrument.py

@@ -1,14 +1,35 @@
 """ProtocolEngine-based InstrumentContext core implementation."""
 
 from __future__ import annotations
-
-from typing import Optional, TYPE_CHECKING, cast, Union, List
-from opentrons.types import Location, Mount, NozzleConfigurationType, NozzleMapInterface
+from contextlib import contextmanager
+from itertools import dropwhile
+from typing import (
+    Optional,
+    TYPE_CHECKING,
+    cast,
+    Union,
+    List,
+    Tuple,
+    NamedTuple,
+    Generator,
+    Literal,
+)
+from opentrons.types import (
+    Location,
+    Mount,
+    NozzleConfigurationType,
+    NozzleMapInterface,
+    MeniscusTrackingTarget,
+)
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocols.api_support.util import FlowRates, find_value_for_api_version
 from opentrons.protocols.api_support.types import APIVersion
-from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
+from opentrons.protocols.advanced_control.transfers.common import (
+    TransferTipPolicyV2,
+    NoLiquidClassPropertyError,
+)
+from opentrons.protocols.advanced_control.transfers import common as tx_commons
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine import (
     DeckPoint,
@@ -28,31 +49,58 @@ from opentrons.protocol_engine.types import (
     NozzleLayoutConfigurationType,
     AddressableOffsetVector,
     LiquidClassRecord,
+    NextTipInfo,
+    PickUpTipWellLocation,
+    LiquidHandlingWellLocation,
+)
+from opentrons.protocol_engine.types import (
+    LiquidTrackingType,
+    WellLocationFunction,
+)
+from opentrons.protocol_engine.types.automatic_tip_selection import (
+    NoTipAvailable,
+    NoTipReason,
 )
 from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
-from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.pipette.types import (
+    PIPETTE_API_NAMES_MAP,
+    LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP,
+)
 from opentrons_shared_data.errors.exceptions import (
     UnsupportedHardwareCommand,
+    CommandPreconditionViolated,
 )
+from opentrons_shared_data.liquid_classes.liquid_class_definition import BlowoutLocation
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from . import overlap_versions, pipette_movement_conflict
+from . import transfer_components_executor as tx_comps_executor
 
 from .well import WellCore
+from .labware import LabwareCore
 from ..instrument import AbstractInstrument
 from ...disposal_locations import TrashBin, WasteChute
 
 if TYPE_CHECKING:
     from .protocol import ProtocolCore
     from opentrons.protocol_api._liquid import LiquidClass
+    from opentrons.protocol_api._liquid_properties import (
+        TransferProperties,
+        MultiDispenseProperties,
+    )
 
 _DISPENSE_VOLUME_VALIDATION_ADDED_IN = APIVersion(2, 17)
 _RESIN_TIP_DEFAULT_VOLUME = 400
 _RESIN_TIP_DEFAULT_FLOW_RATE = 10.0
 
+_FLEX_PIPETTE_NAMES_FIXED_IN = APIVersion(2, 23)
+"""The version after which InstrumentContext.name returns the correct API-specific names of Flex pipettes."""
+_RETURN_TIP_SCRAPE_ADDED_IN = APIVersion(2, 23)
+"""The version after which return-tip for 1/8 channels will scrape off."""
+
 
-class InstrumentCore(AbstractInstrument[WellCore]):
+class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
     """Instrument API core using a ProtocolEngine.
 
     Args:
@@ -115,7 +163,9 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             pipette_id=self._pipette_id, speed=speed
         )
 
-    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+    def air_gap_in_place(
+        self, volume: float, flow_rate: float, correction_volume: Optional[float] = None
+    ) -> None:
         """Aspirate a given volume of air from the current location of the pipette.
 
         Args:
@@ -124,7 +174,10 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         """
         self._engine_client.execute_command(
             cmd.AirGapInPlaceParams(
-                pipetteId=self._pipette_id, volume=volume, flowRate=flow_rate
+                pipetteId=self._pipette_id,
+                volume=volume,
+                flowRate=flow_rate,
+                correctionVolume=correction_volume,
             )
         )
 
@@ -136,7 +189,8 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         rate: float,
         flow_rate: float,
         in_place: bool,
-        is_meniscus: Optional[bool] = None,
+        meniscus_tracking: Optional[MeniscusTrackingTarget] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Aspirate a given volume of liquid from the specified location.
         Args:
@@ -146,7 +200,10 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             rate: Not used in this core.
             flow_rate: The flow rate in µL/s to aspirate at.
             in_place: whether this is a in-place command.
+            meniscus_tracking: Optional data about where to aspirate from.
         """
+        if meniscus_tracking == MeniscusTrackingTarget.START:
+            raise ValueError("Cannot aspirate at the starting liquid height.")
         if well_core is None:
             if not in_place:
                 self._engine_client.execute_command(
@@ -163,7 +220,10 @@ class InstrumentCore(AbstractInstrument[WellCore]):
 
             self._engine_client.execute_command(
                 cmd.AspirateInPlaceParams(
-                    pipetteId=self._pipette_id, volume=volume, flowRate=flow_rate
+                    pipetteId=self._pipette_id,
+                    volume=volume,
+                    flowRate=flow_rate,
+                    correctionVolume=correction_volume,
                 )
             )
 
@@ -171,14 +231,16 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_name = well_core.get_name()
             labware_id = well_core.labware_id
 
-            well_location = self._engine_client.state.geometry.get_relative_liquid_handling_well_location(
+            (
+                well_location,
+                dynamic_liquid_tracking,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
                 labware_id=labware_id,
                 well_name=well_name,
                 absolute_point=location.point,
-                is_meniscus=is_meniscus,
+                location_type=WellLocationFunction.LIQUID_HANDLING,
+                meniscus_tracking=meniscus_tracking,
             )
-            if well_location.origin == WellOrigin.MENISCUS:
-                well_location.volumeOffset = "operationVolume"
             pipette_movement_conflict.check_safe_for_pipette_movement(
                 engine_state=self._engine_client.state,
                 pipette_id=self._pipette_id,
@@ -186,16 +248,31 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 well_name=well_name,
                 well_location=well_location,
             )
-            self._engine_client.execute_command(
-                cmd.AspirateParams(
-                    pipetteId=self._pipette_id,
-                    labwareId=labware_id,
-                    wellName=well_name,
-                    wellLocation=well_location,
-                    volume=volume,
-                    flowRate=flow_rate,
+            assert isinstance(well_location, LiquidHandlingWellLocation)
+            if dynamic_liquid_tracking:
+                self._engine_client.execute_command(
+                    cmd.AspirateWhileTrackingParams(
+                        pipetteId=self._pipette_id,
+                        labwareId=labware_id,
+                        wellName=well_name,
+                        wellLocation=well_location,
+                        volume=volume,
+                        flowRate=flow_rate,
+                        correctionVolume=correction_volume,
+                    )
+                )
+            else:
+                self._engine_client.execute_command(
+                    cmd.AspirateParams(
+                        pipetteId=self._pipette_id,
+                        labwareId=labware_id,
+                        wellName=well_name,
+                        wellLocation=well_location,
+                        volume=volume,
+                        flowRate=flow_rate,
+                        correctionVolume=correction_volume,
+                    )
                 )
-            )
 
         self._protocol_core.set_last_location(location=location, mount=self.get_mount())
 
@@ -208,7 +285,8 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         flow_rate: float,
         in_place: bool,
         push_out: Optional[float],
-        is_meniscus: Optional[bool] = None,
+        meniscus_tracking: Optional[MeniscusTrackingTarget] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Dispense a given volume of liquid into the specified location.
         Args:
@@ -219,6 +297,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             flow_rate: The flow rate in µL/s to dispense at.
             in_place: whether this is a in-place command.
             push_out: The amount to push the plunger below bottom position.
+            meniscus_tracking: Optional data about where to dispense from.
         """
         if self._protocol_core.api_version < _DISPENSE_VOLUME_VALIDATION_ADDED_IN:
             # In older API versions, when you try to dispense more than you can,
@@ -256,6 +335,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                     volume=volume,
                     flowRate=flow_rate,
                     pushOut=push_out,
+                    correctionVolume=correction_volume,
                 )
             )
         else:
@@ -264,12 +344,17 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_name = well_core.get_name()
             labware_id = well_core.labware_id
 
-            well_location = self._engine_client.state.geometry.get_relative_liquid_handling_well_location(
+            (
+                well_location,
+                dynamic_liquid_tracking,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
                 labware_id=labware_id,
                 well_name=well_name,
                 absolute_point=location.point,
-                is_meniscus=is_meniscus,
+                location_type=WellLocationFunction.LIQUID_HANDLING,
+                meniscus_tracking=meniscus_tracking,
             )
+            assert isinstance(well_location, LiquidHandlingWellLocation)
             pipette_movement_conflict.check_safe_for_pipette_movement(
                 engine_state=self._engine_client.state,
                 pipette_id=self._pipette_id,
@@ -277,17 +362,32 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 well_name=well_name,
                 well_location=well_location,
             )
-            self._engine_client.execute_command(
-                cmd.DispenseParams(
-                    pipetteId=self._pipette_id,
-                    labwareId=labware_id,
-                    wellName=well_name,
-                    wellLocation=well_location,
-                    volume=volume,
-                    flowRate=flow_rate,
-                    pushOut=push_out,
+            if dynamic_liquid_tracking:
+                self._engine_client.execute_command(
+                    cmd.DispenseWhileTrackingParams(
+                        pipetteId=self._pipette_id,
+                        labwareId=labware_id,
+                        wellName=well_name,
+                        wellLocation=well_location,
+                        volume=volume,
+                        flowRate=flow_rate,
+                        pushOut=push_out,
+                        correctionVolume=correction_volume,
+                    )
+                )
+            else:
+                self._engine_client.execute_command(
+                    cmd.DispenseParams(
+                        pipetteId=self._pipette_id,
+                        labwareId=labware_id,
+                        wellName=well_name,
+                        wellLocation=well_location,
+                        volume=volume,
+                        flowRate=flow_rate,
+                        pushOut=push_out,
+                        correctionVolume=correction_volume,
+                    )
                 )
-            )
 
         if isinstance(location, (TrashBin, WasteChute)):
             self._protocol_core.set_last_location(location=None, mount=self.get_mount())
@@ -340,13 +440,16 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_name = well_core.get_name()
             labware_id = well_core.labware_id
 
-            well_location = (
-                self._engine_client.state.geometry.get_relative_well_location(
-                    labware_id=labware_id,
-                    well_name=well_name,
-                    absolute_point=location.point,
-                )
+            (
+                well_location,
+                _,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
+                labware_id=labware_id,
+                well_name=well_name,
+                absolute_point=location.point,
+                location_type=WellLocationFunction.BASE,
             )
+
             pipette_movement_conflict.check_safe_for_pipette_movement(
                 engine_state=self._engine_client.state,
                 pipette_id=self._pipette_id,
@@ -354,6 +457,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 well_name=well_name,
                 well_location=well_location,
             )
+            assert isinstance(well_location, WellLocation)
             self._engine_client.execute_command(
                 cmd.BlowOutParams(
                     pipetteId=self._pipette_id,
@@ -380,6 +484,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         radius: float,
         z_offset: float,
         speed: float,
+        mm_from_edge: Optional[float] = None,
     ) -> None:
         """Touch pipette tip to edges of the well
 
@@ -389,7 +494,11 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             radius: Percentage modifier for well radius to touch.
             z_offset: Vertical offset for pipette tip during touch tip.
             speed: Speed for the touch tip movements.
+            mm_from_edge: Offset from the edge of the well to move to. Requires a radius of 1.
         """
+        if mm_from_edge is not None and radius != 1.0:
+            raise ValueError("radius must be set to 1.0 if mm_from_edge is provided.")
+
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
@@ -411,6 +520,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 wellName=well_name,
                 wellLocation=well_location,
                 radius=radius,
+                mmFromEdge=mm_from_edge,
                 speed=speed,
             )
         )
@@ -442,12 +552,14 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
-        well_location = (
-            self._engine_client.state.geometry.get_relative_pick_up_tip_well_location(
-                labware_id=labware_id,
-                well_name=well_name,
-                absolute_point=location.point,
-            )
+        (
+            well_location,
+            _,
+        ) = self._engine_client.state.geometry.get_relative_well_location(
+            labware_id=labware_id,
+            well_name=well_name,
+            absolute_point=location.point,
+            location_type=WellLocationFunction.PICK_UP_TIP,
         )
         pipette_movement_conflict.check_safe_for_tip_pickup_and_return(
             engine_state=self._engine_client.state,
@@ -461,7 +573,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_name=well_name,
             well_location=well_location,
         )
-
+        assert isinstance(well_location, PickUpTipWellLocation)
         self._engine_client.execute_command(
             cmd.PickUpTipParams(
                 pipetteId=self._pipette_id,
@@ -496,14 +608,17 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         """
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
+        scrape_tips = False
 
         if location is not None:
-            relative_well_location = (
-                self._engine_client.state.geometry.get_relative_well_location(
-                    labware_id=labware_id,
-                    well_name=well_name,
-                    absolute_point=location.point,
-                )
+            (
+                relative_well_location,
+                _,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
+                labware_id=labware_id,
+                well_name=well_name,
+                absolute_point=location.point,
+                location_type=WellLocationFunction.DROP_TIP,
             )
 
             well_location = DropTipWellLocation(
@@ -519,6 +634,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 pipette_id=self._pipette_id,
                 labware_id=labware_id,
             )
+            scrape_tips = self.get_channels() <= 8
         pipette_movement_conflict.check_safe_for_pipette_movement(
             engine_state=self._engine_client.state,
             pipette_id=self._pipette_id,
@@ -534,6 +650,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
                 wellLocation=well_location,
                 homeAfter=home_after,
                 alternateDropLocation=alternate_drop_location,
+                scrape_tips=scrape_tips,
             )
         )
 
@@ -631,20 +748,33 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         force_direct: bool,
         minimum_z_height: Optional[float],
         speed: Optional[float],
+        check_for_movement_conflicts: bool = True,
     ) -> None:
         if well_core is not None:
             if isinstance(location, (TrashBin, WasteChute)):
                 raise ValueError("Trash Bin and Waste Chute have no Wells.")
             labware_id = well_core.labware_id
             well_name = well_core.get_name()
-            well_location = (
-                self._engine_client.state.geometry.get_relative_well_location(
+            (
+                well_location,
+                _,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
+                labware_id=labware_id,
+                well_name=well_name,
+                absolute_point=location.point,
+                location_type=WellLocationFunction.LIQUID_HANDLING,
+            )
+            assert isinstance(well_location, LiquidHandlingWellLocation)
+            if well_location.volumeOffset and well_location.volumeOffset != 0:
+                raise ValueError("volume offset not supported with move_to")
+            if check_for_movement_conflicts:
+                pipette_movement_conflict.check_safe_for_pipette_movement(
+                    engine_state=self._engine_client.state,
+                    pipette_id=self._pipette_id,
                     labware_id=labware_id,
                     well_name=well_name,
-                    absolute_point=location.point,
+                    well_location=well_location,
                 )
-            )
-
             self._engine_client.execute_command(
                 cmd.MoveToWellParams(
                     pipetteId=self._pipette_id,
@@ -685,16 +815,18 @@ class InstrumentCore(AbstractInstrument[WellCore]):
     ) -> None:
         labware_id = well_core.labware_id
         well_name = well_core.get_name()
-        well_location = (
-            self._engine_client.state.geometry.get_relative_pick_up_tip_well_location(
-                labware_id=labware_id,
-                well_name=well_name,
-                absolute_point=location.point,
-            )
+        (
+            well_location,
+            _,
+        ) = self._engine_client.state.geometry.get_relative_well_location(
+            labware_id=labware_id,
+            well_name=well_name,
+            absolute_point=location.point,
+            location_type=WellLocationFunction.PICK_UP_TIP,
         )
-
+        assert isinstance(well_location, PickUpTipWellLocation)
         self._engine_client.execute_command(
-            cmd.EvotipSealPipetteParams(
+            cmd.SealPipetteToTipParams(
                 pipetteId=self._pipette_id,
                 labwareId=labware_id,
                 wellName=well_name,
@@ -702,17 +834,19 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             )
         )
 
-    def resin_tip_unseal(self, location: Location, well_core: WellCore) -> None:
+    def resin_tip_unseal(self, location: Location | None, well_core: WellCore) -> None:
         well_name = well_core.get_name()
         labware_id = well_core.labware_id
 
         if location is not None:
-            relative_well_location = (
-                self._engine_client.state.geometry.get_relative_well_location(
-                    labware_id=labware_id,
-                    well_name=well_name,
-                    absolute_point=location.point,
-                )
+            (
+                relative_well_location,
+                _,
+            ) = self._engine_client.state.geometry.get_relative_well_location(
+                labware_id=labware_id,
+                well_name=well_name,
+                absolute_point=location.point,
+                location_type=WellLocationFunction.BASE,
             )
 
             well_location = DropTipWellLocation(
@@ -730,7 +864,7 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_location=well_location,
         )
         self._engine_client.execute_command(
-            cmd.EvotipUnsealPipetteParams(
+            cmd.UnsealPipetteFromTipParams(
                 pipetteId=self._pipette_id,
                 labwareId=labware_id,
                 wellName=well_name,
@@ -763,11 +897,14 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         if flow_rate is None:
             flow_rate = _RESIN_TIP_DEFAULT_FLOW_RATE
 
-        well_location = self._engine_client.state.geometry.get_relative_liquid_handling_well_location(
+        (
+            well_location,
+            dynamic_tracking,
+        ) = self._engine_client.state.geometry.get_relative_well_location(
             labware_id=labware_id,
             well_name=well_name,
             absolute_point=location.point,
-            is_meniscus=None,
+            location_type=WellLocationFunction.LIQUID_HANDLING,
         )
         pipette_movement_conflict.check_safe_for_pipette_movement(
             engine_state=self._engine_client.state,
@@ -776,8 +913,9 @@ class InstrumentCore(AbstractInstrument[WellCore]):
             well_name=well_name,
             well_location=well_location,
         )
+        assert isinstance(well_location, LiquidHandlingWellLocation)
         self._engine_client.execute_command(
-            cmd.EvotipDispenseParams(
+            cmd.PressureDispenseParams(
                 pipetteId=self._pipette_id,
                 labwareId=labware_id,
                 wellName=well_name,
@@ -794,19 +932,33 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         ).mount.to_hw_mount()
 
     def get_pipette_name(self) -> str:
-        """Get the pipette's load name as a string.
+        """Get the pipette's name as a string.
 
         Will match the load name of the actually loaded pipette,
         which may differ from the requested load name.
+
+        From API v2.15 to v2.22, this property returned an internal, engine-specific,
+         name for Flex pipettes (eg, "p50_multi_flex" instead of "flex_8channel_50").
+
+        From API v2.23 onwards, this behavior is fixed so that this property returns
+        the API-specific names of Flex pipettes.
         """
         # TODO (tz, 11-23-22): revert this change when merging
         # https://opentrons.atlassian.net/browse/RLIQ-251
         pipette = self._engine_client.state.pipettes.get(self._pipette_id)
-        return (
-            pipette.pipetteName.value
-            if isinstance(pipette.pipetteName, PipetteNameType)
-            else pipette.pipetteName
-        )
+        if self._protocol_core.api_version < _FLEX_PIPETTE_NAMES_FIXED_IN:
+            return pipette.pipetteName.value
+        else:
+            name = next(
+                (
+                    pip_api_name
+                    for pip_api_name, pip_name in PIPETTE_API_NAMES_MAP.items()
+                    if pip_name == pipette.pipetteName
+                ),
+                None,
+            )
+            assert name, "Pipette name not found."
+            return name
 
     def get_model(self) -> str:
         return self._engine_client.state.pipettes.get_model_name(self._pipette_id)
@@ -833,6 +985,16 @@ class InstrumentCore(AbstractInstrument[WellCore]):
 
         return current_volume or 0
 
+    def get_has_clean_tip(self) -> bool:
+        try:
+            clean_tip = self._engine_client.state.pipettes.get_has_clean_tip(
+                self._pipette_id
+            )
+        except TipNotAttachedError:
+            clean_tip = False
+
+        return clean_tip
+
     def get_available_volume(self) -> float:
         try:
             available_volume = self._engine_client.state.pipettes.get_available_volume(
@@ -975,24 +1137,31 @@ class InstrumentCore(AbstractInstrument[WellCore]):
 
     def load_liquid_class(
         self,
-        liquid_class: LiquidClass,
-        pipette_load_name: str,
+        name: str,
+        transfer_properties: TransferProperties,
         tiprack_uri: str,
     ) -> str:
-        """Load a liquid class into the engine and return its ID."""
-        transfer_props = liquid_class.get_for(
-            pipette=pipette_load_name, tiprack=tiprack_uri
-        )
+        """Load a liquid class into the engine and return its ID.
+
+        Args:
+            name: Name of the liquid class
+            transfer_properties: Liquid class properties for a specific pipette & tiprack combination
+            tiprack_uri: URI of the tiprack whose transfer properties we will be using.
 
+        Returns:
+            Liquid class record's ID, as generated by the protocol engine.
+        """
         liquid_class_record = LiquidClassRecord(
-            liquidClassName=liquid_class.name,
-            pipetteModel=self.get_model(),  # TODO: verify this is the correct 'model' to use
+            liquidClassName=name,
+            pipetteModel=self.get_pipette_name(),
             tiprack=tiprack_uri,
-            aspirate=transfer_props.aspirate.as_shared_data_model(),
-            singleDispense=transfer_props.dispense.as_shared_data_model(),
-            multiDispense=transfer_props.multi_dispense.as_shared_data_model()
-            if transfer_props.multi_dispense
-            else None,
+            aspirate=transfer_properties.aspirate.as_shared_data_model(),
+            singleDispense=transfer_properties.dispense.as_shared_data_model(),
+            multiDispense=(
+                transfer_properties.multi_dispense.as_shared_data_model()
+                if transfer_properties.multi_dispense
+                else None
+            ),
         )
         result = self._engine_client.execute_command_without_recovery(
             cmd.LoadLiquidClassParams(
@@ -1001,16 +1170,1042 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         )
         return result.liquidClassId
 
-    def transfer_liquid(
+    def get_next_tip(
+        self, tip_racks: List[LabwareCore], starting_well: Optional[WellCore]
+    ) -> Optional[NextTipInfo]:
+        """Get the next tip to pick up."""
+        if starting_well is not None:
+            # Drop tip racks until the one with the starting tip is reached (if any)
+            valid_tip_racks = list(
+                dropwhile(
+                    lambda tr: starting_well.labware_id != tr.labware_id, tip_racks
+                )
+            )
+        else:
+            valid_tip_racks = tip_racks
+
+        result = self._engine_client.execute_command_without_recovery(
+            cmd.GetNextTipParams(
+                pipetteId=self._pipette_id,
+                labwareIds=[tip_rack.labware_id for tip_rack in valid_tip_racks],
+                startingTipWell=(
+                    starting_well.get_name() if starting_well is not None else None
+                ),
+            )
+        )
+        next_tip_info = result.nextTipInfo
+        if isinstance(next_tip_info, NoTipAvailable):
+            if next_tip_info.noTipReason == NoTipReason.STARTING_TIP_WITH_PARTIAL:
+                raise CommandPreconditionViolated(
+                    "Automatic tip tracking is not available when using a partial pipette"
+                    " nozzle configuration and InstrumentContext.starting_tip."
+                    " Switch to a full configuration or set starting_tip to None."
+                )
+            return None
+        else:
+            return next_tip_info
+
+    def transfer_with_liquid_class(  # noqa: C901
         self,
-        liquid_class_id: str,
+        liquid_class: LiquidClass,
         volume: float,
-        source: List[WellCore],
-        dest: List[WellCore],
+        source: List[Tuple[Location, WellCore]],
+        dest: List[Tuple[Location, WellCore]],
         new_tip: TransferTipPolicyV2,
-        trash_location: Union[WellCore, Location, TrashBin, WasteChute],
+        tip_racks: List[Tuple[Location, LabwareCore]],
+        starting_tip: Optional[WellCore],
+        trash_location: Union[Location, TrashBin, WasteChute],
+        return_tip: bool,
+    ) -> None:
+        """Execute transfer using liquid class properties.
+
+        Args:
+            liquid_class: The liquid class to use for transfer properties.
+            volume: Volume to transfer per well.
+            source: List of source wells, with each well represented as a tuple of
+                    types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            dest: List of destination wells, with each well represented as a tuple of
+                    types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            new_tip: Whether the transfer should use a new tip 'once', 'never', 'always',
+                     or 'per source'.
+            tiprack_uri: The URI of the tiprack that the transfer settings are for.
+            tip_drop_location: Location where the tip will be dropped (if appropriate).
+        """
+        if not tip_racks:
+            raise RuntimeError(
+                "No tipracks found for pipette in order to perform transfer"
+            )
+        tiprack_uri_for_transfer_props = tip_racks[0][1].get_uri()
+        try:
+            transfer_props = liquid_class.get_for(
+                pipette=self.get_pipette_name(), tip_rack=tiprack_uri_for_transfer_props
+            )
+        except NoLiquidClassPropertyError:
+            if self._protocol_core.robot_type == "OT-2 Standard":
+                raise NoLiquidClassPropertyError(
+                    "Default liquid classes are not supported with OT-2 pipettes and tip racks."
+                ) from None
+            raise
+
+        # TODO: use the ID returned by load_liquid_class in command annotations
+        self.load_liquid_class(
+            name=liquid_class.name,
+            transfer_properties=transfer_props,
+            tiprack_uri=tiprack_uri_for_transfer_props,
+        )
+
+        source_dest_per_volume_step = (
+            tx_commons.expand_for_volume_constraints_for_liquid_classes(
+                volumes=[volume for _ in range(len(source))],
+                targets=zip(source, dest),
+                max_volume=min(
+                    self.get_max_volume(),
+                    self._engine_client.state.geometry.get_nominal_tip_geometry(
+                        pipette_id=self.pipette_id,
+                        labware_id=tip_racks[0][1].labware_id,
+                        well_name=None,
+                    ).volume,
+                ),
+            )
+        )
+
+        last_tip_picked_up_from: Optional[WellCore] = None
+
+        def _drop_tip() -> None:
+            if return_tip:
+                assert last_tip_picked_up_from is not None
+                self.drop_tip(
+                    location=None,
+                    well_core=last_tip_picked_up_from,
+                    home_after=False,
+                    alternate_drop_location=False,
+                )
+            elif isinstance(trash_location, (TrashBin, WasteChute)):
+                self.drop_tip_in_disposal_location(
+                    disposal_location=trash_location,
+                    home_after=False,
+                    alternate_tip_drop=True,
+                )
+            elif isinstance(trash_location, Location):
+                self.drop_tip(
+                    location=trash_location,
+                    well_core=trash_location.labware.as_well()._core,  # type: ignore[arg-type]
+                    home_after=False,
+                    alternate_drop_location=True,
+                )
+
+        def _pick_up_tip() -> WellCore:
+            next_tip = self.get_next_tip(
+                tip_racks=[core for loc, core in tip_racks],
+                starting_well=starting_tip,
+            )
+            if next_tip is None:
+                raise RuntimeError(
+                    f"No tip available among the tipracks assigned for {self.get_pipette_name()}:"
+                    f" {[f'{tip_rack[1].get_display_name()} in {tip_rack[1].get_deck_slot()}' for tip_rack in tip_racks]}"
+                )
+            (
+                tiprack_loc,
+                tiprack_uri,
+                tip_well,
+            ) = self._get_location_and_well_core_from_next_tip_info(next_tip, tip_racks)
+            if tiprack_uri != tiprack_uri_for_transfer_props:
+                raise RuntimeError(
+                    f"Tiprack {tiprack_uri} does not match the tiprack designated "
+                    f"for this transfer- {tiprack_uri_for_transfer_props}."
+                )
+            self.pick_up_tip(
+                location=tiprack_loc,
+                well_core=tip_well,
+                presses=None,
+                increment=None,
+            )
+            return tip_well
+
+        if new_tip == TransferTipPolicyV2.ONCE:
+            last_tip_picked_up_from = _pick_up_tip()
+
+        prev_src: Optional[Tuple[Location, WellCore]] = None
+        post_disp_tip_contents = [
+            tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        ]
+        next_step_volume, next_src_dest_combo = next(source_dest_per_volume_step)
+        is_last_step = False
+        while not is_last_step:
+            step_volume = next_step_volume
+            src_dest_combo = next_src_dest_combo
+            step_source, step_destination = src_dest_combo
+            try:
+                next_step_volume, next_src_dest_combo = next(
+                    source_dest_per_volume_step
+                )
+            except StopIteration:
+                is_last_step = True
+
+            if new_tip == TransferTipPolicyV2.ALWAYS or (
+                new_tip == TransferTipPolicyV2.PER_SOURCE and step_source != prev_src
+            ):
+                if prev_src is not None:
+                    _drop_tip()
+                last_tip_picked_up_from = _pick_up_tip()
+                post_disp_tip_contents = [
+                    tx_comps_executor.LiquidAndAirGapPair(
+                        liquid=0,
+                        air_gap=0,
+                    )
+                ]
+                # Enable LPD only if all of these apply:
+                # - LPD is globally enabled for this pipette
+                # - it is the first time visiting this well
+                # - pipette tip is unused
+                enable_lpd = (
+                    self.get_liquid_presence_detection() and step_source != prev_src
+                )
+            elif new_tip == TransferTipPolicyV2.ONCE:
+                # Enable LPD only if:
+                # - LPD is globally enabled for this pipette
+                # - this is the first source well of the entire transfer, which means
+                #   that the current tip is unused
+                enable_lpd = self.get_liquid_presence_detection() and prev_src is None
+            else:
+                enable_lpd = False
+
+            with self.lpd_for_transfer(enable_lpd):
+                post_asp_tip_contents = self.aspirate_liquid_class(
+                    volume=step_volume,
+                    source=step_source,
+                    transfer_properties=transfer_props,
+                    transfer_type=tx_comps_executor.TransferType.ONE_TO_ONE,
+                    tip_contents=post_disp_tip_contents,
+                    volume_for_pipette_mode_configuration=step_volume,
+                )
+                post_disp_tip_contents = self.dispense_liquid_class(
+                    volume=step_volume,
+                    dest=step_destination,
+                    source=step_source,
+                    transfer_properties=transfer_props,
+                    transfer_type=tx_comps_executor.TransferType.ONE_TO_ONE,
+                    tip_contents=post_asp_tip_contents,
+                    add_final_air_gap=(
+                        False
+                        if is_last_step and new_tip == TransferTipPolicyV2.NEVER
+                        else True
+                    ),
+                    trash_location=trash_location,
+                )
+            prev_src = step_source
+        if new_tip != TransferTipPolicyV2.NEVER:
+            _drop_tip()
+
+    # TODO(spp, 2025-02-25): wire up return tip
+    def distribute_with_liquid_class(  # noqa: C901
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: Tuple[Location, WellCore],
+        dest: List[Tuple[Location, WellCore]],
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
+        tip_racks: List[Tuple[Location, LabwareCore]],
+        starting_tip: Optional[WellCore],
+        trash_location: Union[Location, TrashBin, WasteChute],
+        return_tip: bool,
     ) -> None:
-        """Execute transfer using liquid class properties."""
+        """Execute a distribution using liquid class properties.
+
+        Args:
+            liquid_class: The liquid class to use for transfer properties.
+            volume: The amount of liquid in uL, to dispense into each destination well.
+            source: Source well represented as a tuple of types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            dest: List of destination wells, with each well represented as a tuple of
+                    types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            new_tip: Whether the transfer should use a new tip 'once' or 'never'.
+            tiprack_uri: The URI of the tiprack that the transfer settings are for.
+            tip_drop_location: Location where the tip will be dropped (if appropriate).
+
+        This method distributes the liquid in the source well into multiple destinations.
+        It can accomplish this by either doing a multi-dispense (aspirate once and then
+        dispense multiple times consecutively) or by doing multiple single-dispenses
+        (going back to aspirate after each dispense). Whether it does a multi-dispense or
+        multiple single dispenses is determined by whether multi-dispense properties
+        are available in the liquid class and whether the tip in use can hold multiple
+        volumes to be dispensed whithout having to refill.
+        """
+        if not tip_racks:
+            raise RuntimeError(
+                "No tipracks found for pipette in order to perform transfer"
+            )
+        assert new_tip in [TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE]
+
+        tiprack_uri_for_transfer_props = tip_racks[0][1].get_uri()
+        working_volume = min(
+            self.get_max_volume(),
+            self._engine_client.state.geometry.get_nominal_tip_geometry(
+                pipette_id=self.pipette_id,
+                labware_id=tip_racks[0][1].labware_id,
+                well_name=None,
+            ).volume,
+        )
+
+        try:
+            transfer_props = liquid_class.get_for(
+                pipette=self.get_pipette_name(), tip_rack=tiprack_uri_for_transfer_props
+            )
+        except NoLiquidClassPropertyError:
+            if self._protocol_core.robot_type == "OT-2 Standard":
+                raise NoLiquidClassPropertyError(
+                    "Default liquid classes are not supported with OT-2 pipettes and tip racks."
+                ) from None
+            raise
+
+        # If the volume to dispense into a well is less than threashold for low volume mode,
+        # then set the max working volume to the max volume of low volume mode.
+        # NOTE: this logic will need to be updated once we support list of volumes
+        # TODO (spp): refactor this to use the volume thresholds from shared data
+        has_low_volume_mode = self.get_pipette_name() in [
+            "flex_1channel_50",
+            "flex_8channel_50",
+        ]
+        if has_low_volume_mode and volume < 5:
+            working_volume = 30
+        # If there are no multi-dispense properties or if the volume to distribute
+        # per destination well is so large that the tip cannot hold enough liquid
+        # to consecutively distribute to at least two wells, then we resort to using
+        # a regular, one-to-one transfer to carry out the distribution.
+        min_asp_vol_for_multi_dispense = 2 * volume
+        if transfer_props.multi_dispense is None or (
+            transfer_props.multi_dispense is not None
+            and not self._tip_can_hold_volume_for_multi_dispensing(
+                transfer_volume=min_asp_vol_for_multi_dispense,
+                multi_dispense_properties=transfer_props.multi_dispense,
+                tip_working_volume=working_volume,
+            )
+        ):
+            self.transfer_with_liquid_class(
+                liquid_class=liquid_class,
+                volume=volume,
+                source=[source for _ in range(len(dest))],
+                dest=dest,
+                new_tip=new_tip,
+                tip_racks=tip_racks,
+                starting_tip=starting_tip,
+                trash_location=trash_location,
+                return_tip=return_tip,
+            )
+            return
+
+        # TODO: use the ID returned by load_liquid_class in command annotations
+        self.load_liquid_class(
+            name=liquid_class.name,
+            transfer_properties=transfer_props,
+            tiprack_uri=tiprack_uri_for_transfer_props,
+        )
+
+        # This will return a generator that provides pairs of destination well and
+        # the volume to dispense into it
+        dest_per_volume_step = (
+            tx_commons.expand_for_volume_constraints_for_liquid_classes(
+                volumes=[volume for _ in range(len(dest))],
+                targets=dest,
+                max_volume=working_volume,
+            )
+        )
+
+        last_tip_picked_up_from: Optional[WellCore] = None
+
+        def _drop_tip() -> None:
+            if return_tip:
+                assert last_tip_picked_up_from is not None
+                self.drop_tip(
+                    location=None,
+                    well_core=last_tip_picked_up_from,
+                    home_after=False,
+                    alternate_drop_location=False,
+                )
+            elif isinstance(trash_location, (TrashBin, WasteChute)):
+                self.drop_tip_in_disposal_location(
+                    disposal_location=trash_location,
+                    home_after=False,
+                    alternate_tip_drop=True,
+                )
+            elif isinstance(trash_location, Location):
+                self.drop_tip(
+                    location=trash_location,
+                    well_core=trash_location.labware.as_well()._core,  # type: ignore[arg-type]
+                    home_after=False,
+                    alternate_drop_location=True,
+                )
+
+        def _pick_up_tip() -> WellCore:
+            next_tip = self.get_next_tip(
+                tip_racks=[core for loc, core in tip_racks],
+                starting_well=starting_tip,
+            )
+            if next_tip is None:
+                raise RuntimeError(
+                    f"No tip available among the tipracks assigned for {self.get_pipette_name()}:"
+                    f" {[f'{tip_rack[1].get_display_name()} in {tip_rack[1].get_deck_slot()}' for tip_rack in tip_racks]}"
+                )
+            (
+                tiprack_loc,
+                tiprack_uri,
+                tip_well,
+            ) = self._get_location_and_well_core_from_next_tip_info(next_tip, tip_racks)
+            if tiprack_uri != tiprack_uri_for_transfer_props:
+                raise RuntimeError(
+                    f"Tiprack {tiprack_uri} does not match the tiprack designated "
+                    f"for this transfer- {tiprack_uri_for_transfer_props}."
+                )
+            self.pick_up_tip(
+                location=tiprack_loc,
+                well_core=tip_well,
+                presses=None,
+                increment=None,
+            )
+            return tip_well
+
+        if new_tip != TransferTipPolicyV2.NEVER:
+            last_tip_picked_up_from = _pick_up_tip()
+
+        tip_contents = [
+            tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        ]
+        next_step_volume, next_dest = next(dest_per_volume_step)
+        is_last_step = False
+        is_first_step = True
+
+        # This loop will run until the last step has been executed
+        while not is_last_step:
+            total_aspirate_volume = 0.0
+            vol_dest_combo = []
+
+            # This loop looks at the next volumes to dispense and calculates how many
+            # dispense volumes plus their conditioning & disposal volumes can fit into
+            # the tip. It then collects these volumes and their destinations in a list.
+            while not is_last_step and self._tip_can_hold_volume_for_multi_dispensing(
+                transfer_volume=total_aspirate_volume + next_step_volume,
+                multi_dispense_properties=transfer_props.multi_dispense,
+                tip_working_volume=working_volume,
+            ):
+                total_aspirate_volume += next_step_volume
+                vol_dest_combo.append((next_step_volume, next_dest))
+                try:
+                    next_step_volume, next_dest = next(dest_per_volume_step)
+                except StopIteration:
+                    is_last_step = True
+
+            conditioning_vol = (
+                transfer_props.multi_dispense.conditioning_by_volume.get_for_volume(
+                    total_aspirate_volume
+                )
+            )
+            disposal_vol = (
+                transfer_props.multi_dispense.disposal_by_volume.get_for_volume(
+                    total_aspirate_volume
+                )
+            )
+
+            use_single_dispense = False
+            if total_aspirate_volume == volume and len(vol_dest_combo) == 1:
+                # We are only doing a single transfer. Either because this is the last
+                # remaining volume to dispense or, once this function accepts a list of
+                # volumes, the next pair of volumes is too large to be multi-dispensed.
+                # So we won't use conditioning volume or disposal volume
+                conditioning_vol = 0
+                disposal_vol = 0
+                use_single_dispense = True
+
+            if (
+                not use_single_dispense
+                and disposal_vol > 0
+                and not transfer_props.multi_dispense.retract.blowout.enabled
+            ):
+                raise RuntimeError(
+                    "Distribute uses a disposal volume but location for disposing of"
+                    " the disposal volume cannot be found when blowout is disabled."
+                    " Specify a blowout location and enable blowout when using a disposal volume."
+                )
+
+            if (
+                self.get_liquid_presence_detection()
+                and new_tip != TransferTipPolicyV2.NEVER
+                and is_first_step
+            ):
+                enable_lpd = True
+            else:
+                enable_lpd = False
+            with self.lpd_for_transfer(enable=enable_lpd):
+                # Aspirate the total volume determined by the loop above
+                tip_contents = self.aspirate_liquid_class(
+                    volume=total_aspirate_volume + conditioning_vol + disposal_vol,
+                    source=source,
+                    transfer_properties=transfer_props,
+                    transfer_type=tx_comps_executor.TransferType.ONE_TO_MANY,
+                    tip_contents=tip_contents,
+                    # We configure the mode based on the last dispense volume and disposal volume
+                    # since the mode is only used to determine the dispense push out volume
+                    # and we can do a push out only at the last dispense, that too if there is no disposal volume.
+                    volume_for_pipette_mode_configuration=vol_dest_combo[-1][0],
+                    conditioning_volume=conditioning_vol,
+                )
+
+            # If the tip has volumes correspoinding to multiple destinations, then
+            # multi-dispense in those destinations.
+            # If the tip has a volume corresponding to a single destination, then
+            # do a single-dispense into that destination.
+            for next_vol, next_dest in vol_dest_combo:
+                if use_single_dispense:
+                    tip_contents = self.dispense_liquid_class(
+                        volume=next_vol,
+                        dest=next_dest,
+                        source=source,
+                        transfer_properties=transfer_props,
+                        transfer_type=tx_comps_executor.TransferType.ONE_TO_MANY,
+                        tip_contents=tip_contents,
+                        add_final_air_gap=(
+                            False
+                            if is_last_step and new_tip == TransferTipPolicyV2.NEVER
+                            else True
+                        ),
+                        trash_location=trash_location,
+                    )
+                else:
+                    tip_contents = self.dispense_liquid_class_during_multi_dispense(
+                        volume=next_vol,
+                        dest=next_dest,
+                        source=source,
+                        transfer_properties=transfer_props,
+                        transfer_type=tx_comps_executor.TransferType.ONE_TO_MANY,
+                        tip_contents=tip_contents,
+                        add_final_air_gap=(
+                            False
+                            if is_last_step and new_tip == TransferTipPolicyV2.NEVER
+                            else True
+                        ),
+                        trash_location=trash_location,
+                        conditioning_volume=conditioning_vol,
+                        disposal_volume=disposal_vol,
+                    )
+                is_first_step = False
+
+        if new_tip != TransferTipPolicyV2.NEVER:
+            _drop_tip()
+
+    def _tip_can_hold_volume_for_multi_dispensing(
+        self,
+        transfer_volume: float,
+        multi_dispense_properties: MultiDispenseProperties,
+        tip_working_volume: float,
+    ) -> bool:
+        """
+        Whether the tip can hold the volume plus the conditioning and disposal volumes
+        required for multi-dispensing.
+        """
+        return (
+            transfer_volume
+            + multi_dispense_properties.conditioning_by_volume.get_for_volume(
+                transfer_volume
+            )
+            + multi_dispense_properties.disposal_by_volume.get_for_volume(
+                transfer_volume
+            )
+            <= tip_working_volume
+        )
+
+    def consolidate_with_liquid_class(  # noqa: C901
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: List[Tuple[Location, WellCore]],
+        dest: Tuple[Location, WellCore],
+        new_tip: Literal[TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE],
+        tip_racks: List[Tuple[Location, LabwareCore]],
+        starting_tip: Optional[WellCore],
+        trash_location: Union[Location, TrashBin, WasteChute],
+        return_tip: bool,
+    ) -> None:
+        if not tip_racks:
+            raise RuntimeError(
+                "No tipracks found for pipette in order to perform transfer"
+            )
+        assert new_tip in [TransferTipPolicyV2.NEVER, TransferTipPolicyV2.ONCE]
+        tiprack_uri_for_transfer_props = tip_racks[0][1].get_uri()
+        try:
+            transfer_props = liquid_class.get_for(
+                pipette=self.get_pipette_name(), tip_rack=tiprack_uri_for_transfer_props
+            )
+        except NoLiquidClassPropertyError:
+            if self._protocol_core.robot_type == "OT-2 Standard":
+                raise NoLiquidClassPropertyError(
+                    "Default liquid classes are not supported with OT-2 pipettes and tip racks."
+                ) from None
+            raise
+
+        blow_out_properties = transfer_props.dispense.retract.blowout
+        if (
+            blow_out_properties.enabled
+            and blow_out_properties.location == BlowoutLocation.SOURCE
+        ):
+            raise RuntimeError(
+                'Blowout location "source" incompatible with consolidate liquid.'
+                ' Please choose "destination" or "trash".'
+            )
+
+        # TODO: use the ID returned by load_liquid_class in command annotations
+        self.load_liquid_class(
+            name=liquid_class.name,
+            transfer_properties=transfer_props,
+            tiprack_uri=tiprack_uri_for_transfer_props,
+        )
+
+        max_volume = min(
+            self.get_max_volume(),
+            self._engine_client.state.geometry.get_nominal_tip_geometry(
+                pipette_id=self.pipette_id,
+                labware_id=tip_racks[0][1].labware_id,
+                well_name=None,
+            ).volume,
+        )
+
+        source_per_volume_step = (
+            tx_commons.expand_for_volume_constraints_for_liquid_classes(
+                volumes=[volume for _ in range(len(source))],
+                targets=source,
+                max_volume=max_volume,
+            )
+        )
+
+        last_tip_picked_up_from: Optional[WellCore] = None
+
+        def _drop_tip() -> None:
+            if return_tip:
+                assert last_tip_picked_up_from is not None
+                self.drop_tip(
+                    location=None,
+                    well_core=last_tip_picked_up_from,
+                    home_after=False,
+                    alternate_drop_location=False,
+                )
+            elif isinstance(trash_location, (TrashBin, WasteChute)):
+                self.drop_tip_in_disposal_location(
+                    disposal_location=trash_location,
+                    home_after=False,
+                    alternate_tip_drop=True,
+                )
+            elif isinstance(trash_location, Location):
+                self.drop_tip(
+                    location=trash_location,
+                    well_core=trash_location.labware.as_well()._core,  # type: ignore[arg-type]
+                    home_after=False,
+                    alternate_drop_location=True,
+                )
+
+        def _pick_up_tip() -> WellCore:
+            next_tip = self.get_next_tip(
+                tip_racks=[core for loc, core in tip_racks],
+                starting_well=starting_tip,
+            )
+            if next_tip is None:
+                raise RuntimeError(
+                    f"No tip available among the tipracks assigned for {self.get_pipette_name()}:"
+                    f" {[ f'{tip_rack[1].get_display_name()} in {tip_rack[1].get_deck_slot()}' for tip_rack in tip_racks]}"
+                )
+            (
+                tiprack_loc,
+                tiprack_uri,
+                tip_well,
+            ) = self._get_location_and_well_core_from_next_tip_info(next_tip, tip_racks)
+            if tiprack_uri != tiprack_uri_for_transfer_props:
+                raise RuntimeError(
+                    f"Tiprack {tiprack_uri} does not match the tiprack designated "
+                    f"for this transfer- {tiprack_uri_for_transfer_props}."
+                )
+            self.pick_up_tip(
+                location=tiprack_loc,
+                well_core=tip_well,
+                presses=None,
+                increment=None,
+            )
+            return tip_well
+
+        if new_tip == TransferTipPolicyV2.ONCE:
+            last_tip_picked_up_from = _pick_up_tip()
+
+        tip_contents = [
+            tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        ]
+        next_step_volume, next_source = next(source_per_volume_step)
+        is_first_step = True
+        is_last_step = False
+        while not is_last_step:
+            total_dispense_volume = 0.0
+            vol_aspirate_combo = []
+            # Take air gap into account because there will be a final air gap before the dispense
+            while total_dispense_volume + next_step_volume <= max_volume:
+                total_dispense_volume += next_step_volume
+                vol_aspirate_combo.append((next_step_volume, next_source))
+                try:
+                    next_step_volume, next_source = next(source_per_volume_step)
+                except StopIteration:
+                    is_last_step = True
+                    break
+
+            if (
+                self.get_liquid_presence_detection()
+                and new_tip != TransferTipPolicyV2.NEVER
+                and is_first_step
+            ):
+                enable_lpd = True
+            else:
+                enable_lpd = False
+
+            for step_num, (step_volume, step_source) in enumerate(vol_aspirate_combo):
+                with self.lpd_for_transfer(enable=enable_lpd):
+                    tip_contents = self.aspirate_liquid_class(
+                        volume=step_volume,
+                        source=step_source,
+                        transfer_properties=transfer_props,
+                        transfer_type=tx_comps_executor.TransferType.MANY_TO_ONE,
+                        tip_contents=tip_contents,
+                        volume_for_pipette_mode_configuration=(
+                            total_dispense_volume if step_num == 0 else None
+                        ),
+                    )
+                is_first_step = False
+                enable_lpd = False
+            tip_contents = self.dispense_liquid_class(
+                volume=total_dispense_volume,
+                dest=dest,
+                source=None,  # Cannot have source as location for blowout so hardcoded to None
+                transfer_properties=transfer_props,
+                transfer_type=tx_comps_executor.TransferType.MANY_TO_ONE,
+                tip_contents=tip_contents,
+                add_final_air_gap=(
+                    False
+                    if is_last_step and new_tip == TransferTipPolicyV2.NEVER
+                    else True
+                ),
+                trash_location=trash_location,
+            )
+        if new_tip != TransferTipPolicyV2.NEVER:
+            _drop_tip()
+
+    def _get_location_and_well_core_from_next_tip_info(
+        self,
+        tip_info: NextTipInfo,
+        tip_racks: List[Tuple[Location, LabwareCore]],
+    ) -> _TipInfo:
+        tiprack_labware_core = self._protocol_core._labware_cores_by_id[
+            tip_info.labwareId
+        ]
+        tip_well = tiprack_labware_core.get_well_core(tip_info.tipStartingWell)
+
+        tiprack_loc = [
+            loc for loc, lw_core in tip_racks if lw_core == tiprack_labware_core
+        ]
+
+        return _TipInfo(
+            Location(tip_well.get_top(0), tiprack_loc[0].labware),
+            tiprack_labware_core.get_uri(),
+            tip_well,
+        )
+
+    def aspirate_liquid_class(
+        self,
+        volume: float,
+        source: Tuple[Location, WellCore],
+        transfer_properties: TransferProperties,
+        transfer_type: tx_comps_executor.TransferType,
+        tip_contents: List[tx_comps_executor.LiquidAndAirGapPair],
+        volume_for_pipette_mode_configuration: Optional[float],
+        conditioning_volume: Optional[float] = None,
+    ) -> List[tx_comps_executor.LiquidAndAirGapPair]:
+        """Execute aspiration steps.
+
+        1. Submerge
+        2. Mix
+        3. pre-wet
+        4. Aspirate
+        5. Delay- wait inside the liquid
+        6. Aspirate retract
+
+        Return: List of liquid and air gap pairs in tip.
+        """
+        aspirate_props = transfer_properties.aspirate
+        tx_commons.check_valid_liquid_class_volume_parameters(
+            aspirate_volume=volume,
+            air_gap=(
+                aspirate_props.retract.air_gap_by_volume.get_for_volume(volume)
+                if conditioning_volume is None
+                else 0
+            ),
+            disposal_volume=0,  # Disposal volume is accounted for in aspirate vol
+            max_volume=self.get_working_volume(),
+        )
+        source_loc, source_well = source
+        aspirate_point = (
+            tx_comps_executor.absolute_point_from_position_reference_and_offset(
+                well=source_well,
+                position_reference=aspirate_props.position_reference,
+                offset=aspirate_props.offset,
+            )
+        )
+        aspirate_location = Location(aspirate_point, labware=source_loc.labware)
+        last_liquid_and_airgap_in_tip = (
+            tip_contents[-1]
+            if tip_contents
+            else tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        )
+        components_executor = tx_comps_executor.TransferComponentsExecutor(
+            instrument_core=self,
+            transfer_properties=transfer_properties,
+            target_location=aspirate_location,
+            target_well=source_well,
+            transfer_type=transfer_type,
+            tip_state=tx_comps_executor.TipState(
+                last_liquid_and_air_gap_in_tip=last_liquid_and_airgap_in_tip
+            ),
+        )
+        components_executor.submerge(
+            submerge_properties=aspirate_props.submerge,
+            post_submerge_action="aspirate",
+            volume_for_pipette_mode_configuration=volume_for_pipette_mode_configuration,
+        )
+        # Do not do a pre-aspirate mix or pre-wet if consolidating
+        if transfer_type != tx_comps_executor.TransferType.MANY_TO_ONE:
+            # TODO: check if we want to do a mix only once when we're splitting a transfer
+            #  and coming back to the source multiple times.
+            #  We will have to do pre-wet always even for split volumes
+            components_executor.mix(
+                mix_properties=aspirate_props.mix, last_dispense_push_out=False
+            )
+            # TODO: check if pre-wet needs to be enabled for first well of consolidate
+            components_executor.pre_wet(
+                volume=volume,
+            )
+        components_executor.aspirate_and_wait(volume=volume)
+        if (
+            transfer_type == tx_comps_executor.TransferType.ONE_TO_MANY
+            and conditioning_volume not in [None, 0.0]
+            and transfer_properties.multi_dispense is not None
+        ):
+            # Dispense the conditioning volume
+            components_executor.dispense_and_wait(
+                dispense_properties=transfer_properties.multi_dispense,
+                volume=conditioning_volume or 0.0,
+                push_out_override=0,
+            )
+            components_executor.retract_after_aspiration(
+                volume=volume, add_air_gap=False
+            )
+        else:
+            components_executor.retract_after_aspiration(
+                volume=volume, add_air_gap=True
+            )
+
+        # return copy of tip_contents with last entry replaced by tip state from executor
+        last_contents = components_executor.tip_state.last_liquid_and_air_gap_in_tip
+        new_tip_contents = tip_contents[0:-1] + [last_contents]
+        return new_tip_contents
+
+    def dispense_liquid_class(
+        self,
+        volume: float,
+        dest: Tuple[Location, WellCore],
+        source: Optional[Tuple[Location, WellCore]],
+        transfer_properties: TransferProperties,
+        transfer_type: tx_comps_executor.TransferType,
+        tip_contents: List[tx_comps_executor.LiquidAndAirGapPair],
+        add_final_air_gap: bool,
+        trash_location: Union[Location, TrashBin, WasteChute],
+    ) -> List[tx_comps_executor.LiquidAndAirGapPair]:
+        """Execute single-dispense steps.
+        1. Move pipette to the ‘submerge’ position with normal speed.
+            - The pipette will move in an arc- move to max z height of labware
+              (if asp & disp are in same labware)
+              or max z height of all labware (if asp & disp are in separate labware)
+        2. Air gap removal:
+            - If dispense location is above the meniscus, DO NOT remove air gap
+              (it will be dispensed along with rest of the liquid later).
+              All other scenarios, remove the air gap by doing a dispense
+            - Flow rate = min(dispenseFlowRate, (airGapByVolume)/sec)
+            - Use the post-dispense delay
+        4. Move to the dispense position at the specified ‘submerge’ speed
+           (even if we might not be moving into the liquid)
+           - Do a delay (submerge delay)
+        6. Dispense:
+            - Dispense at the specified flow rate.
+            - Do a push out as specified ONLY IF there is no mix following the dispense AND the tip is empty.
+            Volume for push out is the volume being dispensed. So if we are dispensing 50uL, use pushOutByVolume[50] as push out volume.
+        7. Delay
+        8. Mix using the same flow rate and delays as specified for asp+disp,
+           with the volume and the number of repetitions specified. Use the delays in asp & disp.
+            - If the dispense position is outside the liquid, then raise error if mix is enabled.
+              Can only be checked if using liquid level detection/ meniscus-based positioning.
+            - If the user wants to perform a mix then they should specify a dispense position that’s inside the liquid OR do mix() on the wells after transfer.
+            - Do push out at the last dispense.
+        9. Retract
+
+        Return:
+            List of liquid and air gap pairs in tip.
+        """
+        dispense_props = transfer_properties.dispense
+        dest_loc, dest_well = dest
+        dispense_point = (
+            tx_comps_executor.absolute_point_from_position_reference_and_offset(
+                well=dest_well,
+                position_reference=dispense_props.position_reference,
+                offset=dispense_props.offset,
+            )
+        )
+        dispense_location = Location(dispense_point, labware=dest_loc.labware)
+        last_liquid_and_airgap_in_tip = (
+            tip_contents[-1]
+            if tip_contents
+            else tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        )
+        components_executor = tx_comps_executor.TransferComponentsExecutor(
+            instrument_core=self,
+            transfer_properties=transfer_properties,
+            target_location=dispense_location,
+            target_well=dest_well,
+            transfer_type=transfer_type,
+            tip_state=tx_comps_executor.TipState(
+                last_liquid_and_air_gap_in_tip=last_liquid_and_airgap_in_tip
+            ),
+        )
+        components_executor.submerge(
+            submerge_properties=dispense_props.submerge,
+            post_submerge_action="dispense",
+            volume_for_pipette_mode_configuration=None,
+        )
+        push_out_vol = (
+            0.0
+            if dispense_props.mix.enabled
+            else dispense_props.push_out_by_volume.get_for_volume(volume)
+        )
+        components_executor.dispense_and_wait(
+            dispense_properties=dispense_props,
+            volume=volume,
+            push_out_override=push_out_vol,
+        )
+        components_executor.mix(
+            mix_properties=dispense_props.mix,
+            last_dispense_push_out=True,
+        )
+        components_executor.retract_after_dispensing(
+            trash_location=trash_location,
+            source_location=source[0] if source else None,
+            source_well=source[1] if source else None,
+            add_final_air_gap=add_final_air_gap,
+        )
+        last_contents = components_executor.tip_state.last_liquid_and_air_gap_in_tip
+        new_tip_contents = tip_contents[0:-1] + [last_contents]
+        return new_tip_contents
+
+    def dispense_liquid_class_during_multi_dispense(
+        self,
+        volume: float,
+        dest: Tuple[Location, WellCore],
+        source: Optional[Tuple[Location, WellCore]],
+        transfer_properties: TransferProperties,
+        transfer_type: tx_comps_executor.TransferType,
+        tip_contents: List[tx_comps_executor.LiquidAndAirGapPair],
+        add_final_air_gap: bool,
+        trash_location: Union[Location, TrashBin, WasteChute],
+        conditioning_volume: float,
+        disposal_volume: float,
+    ) -> List[tx_comps_executor.LiquidAndAirGapPair]:
+        """Execute a dispense step that's part of a multi-dispense.
+
+        This executes a dispense step very similar to a single dispense except that:
+        - it uses the multi-dispense properties from the liquid class
+        - handles push-out based on disposal volume in addition to the existing conditions
+        - delegates the retraction steps to a different, multi-dispense retract function
+
+        Return:
+            List of liquid and air gap pairs in tip.
+        """
+        assert transfer_properties.multi_dispense is not None
+        dispense_props = transfer_properties.multi_dispense
+
+        dest_loc, dest_well = dest
+        dispense_point = (
+            tx_comps_executor.absolute_point_from_position_reference_and_offset(
+                well=dest_well,
+                position_reference=dispense_props.position_reference,
+                offset=dispense_props.offset,
+            )
+        )
+        dispense_location = Location(dispense_point, labware=dest_loc.labware)
+        last_liquid_and_airgap_in_tip = (
+            tip_contents[-1]
+            if tip_contents
+            else tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        )
+        components_executor = tx_comps_executor.TransferComponentsExecutor(
+            instrument_core=self,
+            transfer_properties=transfer_properties,
+            target_location=dispense_location,
+            target_well=dest_well,
+            transfer_type=transfer_type,
+            tip_state=tx_comps_executor.TipState(
+                last_liquid_and_air_gap_in_tip=last_liquid_and_airgap_in_tip
+            ),
+        )
+        components_executor.submerge(
+            submerge_properties=dispense_props.submerge,
+            post_submerge_action="dispense",
+            volume_for_pipette_mode_configuration=None,
+        )
+        tip_starting_volume = self.get_current_volume()
+        is_last_dispense_without_disposal_vol = (
+            disposal_volume == 0 and tip_starting_volume == volume
+        )
+        push_out_vol = (
+            # TODO (spp): verify if it's okay to use push_out_by_volume of single dispense
+            transfer_properties.dispense.push_out_by_volume.get_for_volume(volume)
+            if is_last_dispense_without_disposal_vol
+            else 0.0
+        )
+
+        components_executor.dispense_and_wait(
+            dispense_properties=dispense_props,
+            volume=volume,
+            push_out_override=push_out_vol,
+        )
+        components_executor.retract_during_multi_dispensing(
+            trash_location=trash_location,
+            source_location=source[0] if source else None,
+            source_well=source[1] if source else None,
+            conditioning_volume=conditioning_volume,
+            add_final_air_gap=add_final_air_gap,
+            is_last_retract=tip_starting_volume - volume == disposal_volume,
+        )
+        last_contents = components_executor.tip_state.last_liquid_and_air_gap_in_tip
+        new_tip_contents = tip_contents[0:-1] + [last_contents]
+        return new_tip_contents
 
     def retract(self) -> None:
         """Retract this instrument to the top of the gantry."""
@@ -1060,11 +2255,40 @@ class InstrumentCore(AbstractInstrument[WellCore]):
 
         return result.z_position is not None
 
+    def get_minimum_liquid_sense_height(self) -> float:
+        attached_tip = self._engine_client.state.pipettes.get_attached_tip(
+            self._pipette_id
+        )
+        if attached_tip:
+            tip_volume = attached_tip.volume
+        else:
+            raise TipNotAttachedError(
+                "Need to have a tip attached for liquid-sense operations."
+            )
+        lld_settings = self._engine_client.state.pipettes.get_pipette_lld_settings(
+            pipette_id=self.pipette_id
+        )
+        if lld_settings:
+            lld_min_height_for_tip_attached = lld_settings[f"t{tip_volume}"][
+                "minHeight"
+            ]
+            return lld_min_height_for_tip_attached
+        else:
+            raise ValueError("liquid-level detection settings not found.")
+
     def liquid_probe_with_recovery(self, well_core: WellCore, loc: Location) -> None:
         labware_id = well_core.labware_id
         well_name = well_core.get_name()
+        offset = LIQUID_PROBE_START_OFFSET_FROM_WELL_TOP
         well_location = WellLocation(
-            origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=2)
+            origin=WellOrigin.TOP, offset=WellOffset(x=offset.x, y=offset.y, z=offset.z)
+        )
+        pipette_movement_conflict.check_safe_for_pipette_movement(
+            engine_state=self._engine_client.state,
+            pipette_id=self._pipette_id,
+            labware_id=labware_id,
+            well_name=well_name,
+            well_location=well_location,
         )
         self._engine_client.execute_command(
             cmd.LiquidProbeParams(
@@ -1077,14 +2301,22 @@ class InstrumentCore(AbstractInstrument[WellCore]):
 
         self._protocol_core.set_last_location(location=loc, mount=self.get_mount())
 
+    # TODO(cm, 3.4.25): decide whether to allow users to try and do math on a potential SimulatedProbeResult
     def liquid_probe_without_recovery(
         self, well_core: WellCore, loc: Location
-    ) -> float:
+    ) -> LiquidTrackingType:
         labware_id = well_core.labware_id
         well_name = well_core.get_name()
         well_location = WellLocation(
             origin=WellOrigin.TOP, offset=WellOffset(x=0, y=0, z=2)
         )
+        pipette_movement_conflict.check_safe_for_pipette_movement(
+            engine_state=self._engine_client.state,
+            pipette_id=self._pipette_id,
+            labware_id=labware_id,
+            well_name=well_name,
+            well_location=well_location,
+        )
         result = self._engine_client.execute_command_without_recovery(
             cmd.LiquidProbeParams(
                 labwareId=labware_id,
@@ -1095,7 +2327,6 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         )
 
         self._protocol_core.set_last_location(location=loc, mount=self.get_mount())
-
         return result.z_position
 
     def nozzle_configuration_valid_for_lld(self) -> bool:
@@ -1103,3 +2334,21 @@ class InstrumentCore(AbstractInstrument[WellCore]):
         return self._engine_client.state.pipettes.get_nozzle_configuration_supports_lld(
             self.pipette_id
         )
+
+    def delay(self, seconds: float) -> None:
+        """Call a protocol delay."""
+        self._protocol_core.delay(seconds=seconds, msg=None)
+
+    @contextmanager
+    def lpd_for_transfer(self, enable: bool) -> Generator[None, None, None]:
+        """Context manager for the instrument's LPD state during a transfer."""
+        global_lpd_enabled = self.get_liquid_presence_detection()
+        self.set_liquid_presence_detection(enable=enable)
+        yield
+        self.set_liquid_presence_detection(enable=global_lpd_enabled)
+
+
+class _TipInfo(NamedTuple):
+    tiprack_location: Location
+    tiprack_uri: str
+    tip_well: WellCore