opentrons 8.6.0a1__py3-none-any.whl

opentrons/protocol_engine/commands/command_unions.py

@@ -0,0 +1,974 @@
+"""Union types of concrete command definitions."""
+
+from collections.abc import Collection
+from typing import Annotated, Type, Union, get_type_hints
+
+from pydantic import Field, TypeAdapter
+
+from opentrons.util.get_union_elements import get_union_elements
+
+from .command import DefinedErrorData
+from .pipetting_common import (
+    OverpressureError,
+    LiquidNotFoundError,
+    TipPhysicallyAttachedError,
+)
+from .movement_common import StallOrCollisionError
+from .flex_stacker.common import (
+    FlexStackerStallOrCollisionError,
+    FlexStackerShuttleError,
+    FlexStackerHopperError,
+    FlexStackerLabwareRetrieveError,
+    FlexStackerShuttleOccupiedError,
+)
+
+from . import absorbance_reader
+from . import flex_stacker
+from . import heater_shaker
+from . import magnetic_module
+from . import temperature_module
+from . import thermocycler
+
+from . import calibration
+from . import unsafe
+from . import robot
+
+from .set_rail_lights import (
+    SetRailLights,
+    SetRailLightsCommandType,
+    SetRailLightsCreate,
+    SetRailLightsParams,
+    SetRailLightsResult,
+)
+
+from .air_gap_in_place import (
+    AirGapInPlace,
+    AirGapInPlaceParams,
+    AirGapInPlaceCreate,
+    AirGapInPlaceResult,
+    AirGapInPlaceCommandType,
+)
+
+from .aspirate import (
+    Aspirate,
+    AspirateParams,
+    AspirateCreate,
+    AspirateResult,
+    AspirateCommandType,
+)
+
+from .aspirate_in_place import (
+    AspirateInPlace,
+    AspirateInPlaceParams,
+    AspirateInPlaceCreate,
+    AspirateInPlaceResult,
+    AspirateInPlaceCommandType,
+)
+
+from .aspirate_while_tracking import (
+    AspirateWhileTracking,
+    AspirateWhileTrackingParams,
+    AspirateWhileTrackingCreate,
+    AspirateWhileTrackingResult,
+    AspirateWhileTrackingCommandType,
+)
+
+from .comment import (
+    Comment,
+    CommentParams,
+    CommentCreate,
+    CommentResult,
+    CommentCommandType,
+)
+
+from .custom import (
+    Custom,
+    CustomParams,
+    CustomCreate,
+    CustomResult,
+    CustomCommandType,
+)
+
+from .dispense import (
+    Dispense,
+    DispenseParams,
+    DispenseCreate,
+    DispenseResult,
+    DispenseCommandType,
+)
+
+from .dispense_while_tracking import (
+    DispenseWhileTracking,
+    DispenseWhileTrackingParams,
+    DispenseWhileTrackingCreate,
+    DispenseWhileTrackingResult,
+    DispenseWhileTrackingCommandType,
+)
+
+from .dispense_in_place import (
+    DispenseInPlace,
+    DispenseInPlaceParams,
+    DispenseInPlaceCreate,
+    DispenseInPlaceResult,
+    DispenseInPlaceCommandType,
+)
+
+from .drop_tip import (
+    DropTip,
+    DropTipParams,
+    DropTipCreate,
+    DropTipResult,
+    DropTipCommandType,
+)
+
+from .drop_tip_in_place import (
+    DropTipInPlace,
+    DropTipInPlaceParams,
+    DropTipInPlaceCreate,
+    DropTipInPlaceResult,
+    DropTipInPlaceCommandType,
+)
+
+from .home import (
+    Home,
+    HomeParams,
+    HomeCreate,
+    HomeResult,
+    HomeCommandType,
+)
+
+from .load_labware import (
+    LoadLabware,
+    LoadLabwareParams,
+    LoadLabwareCreate,
+    LoadLabwareResult,
+    LoadLabwareCommandType,
+)
+
+from .reload_labware import (
+    ReloadLabware,
+    ReloadLabwareParams,
+    ReloadLabwareCreate,
+    ReloadLabwareResult,
+    ReloadLabwareCommandType,
+)
+
+from .load_liquid import (
+    LoadLiquid,
+    LoadLiquidParams,
+    LoadLiquidCreate,
+    LoadLiquidResult,
+    LoadLiquidCommandType,
+)
+
+from .load_liquid_class import (
+    LoadLiquidClass,
+    LoadLiquidClassParams,
+    LoadLiquidClassCreate,
+    LoadLiquidClassResult,
+    LoadLiquidClassCommandType,
+)
+
+from .load_module import (
+    LoadModule,
+    LoadModuleParams,
+    LoadModuleCreate,
+    LoadModuleResult,
+    LoadModuleCommandType,
+)
+
+from .load_pipette import (
+    LoadPipette,
+    LoadPipetteParams,
+    LoadPipetteCreate,
+    LoadPipetteResult,
+    LoadPipetteCommandType,
+)
+
+from .load_lid_stack import (
+    LoadLidStack,
+    LoadLidStackParams,
+    LoadLidStackCreate,
+    LoadLidStackResult,
+    LoadLidStackCommandType,
+)
+
+from .load_lid import (
+    LoadLid,
+    LoadLidParams,
+    LoadLidCreate,
+    LoadLidResult,
+    LoadLidCommandType,
+)
+
+from .move_labware import (
+    GripperMovementError,
+    MoveLabware,
+    MoveLabwareParams,
+    MoveLabwareCreate,
+    MoveLabwareResult,
+    MoveLabwareCommandType,
+)
+
+from .move_relative import (
+    MoveRelative,
+    MoveRelativeParams,
+    MoveRelativeCreate,
+    MoveRelativeResult,
+    MoveRelativeCommandType,
+)
+
+from .move_to_coordinates import (
+    MoveToCoordinates,
+    MoveToCoordinatesParams,
+    MoveToCoordinatesCreate,
+    MoveToCoordinatesResult,
+    MoveToCoordinatesCommandType,
+)
+
+from .move_to_well import (
+    MoveToWell,
+    MoveToWellParams,
+    MoveToWellCreate,
+    MoveToWellResult,
+    MoveToWellCommandType,
+)
+
+from .move_to_addressable_area import (
+    MoveToAddressableArea,
+    MoveToAddressableAreaParams,
+    MoveToAddressableAreaCreate,
+    MoveToAddressableAreaResult,
+    MoveToAddressableAreaCommandType,
+)
+
+from .move_to_addressable_area_for_drop_tip import (
+    MoveToAddressableAreaForDropTip,
+    MoveToAddressableAreaForDropTipParams,
+    MoveToAddressableAreaForDropTipCreate,
+    MoveToAddressableAreaForDropTipResult,
+    MoveToAddressableAreaForDropTipCommandType,
+)
+
+from .wait_for_resume import (
+    WaitForResume,
+    WaitForResumeParams,
+    WaitForResumeCreate,
+    WaitForResumeResult,
+    WaitForResumeCommandType,
+)
+
+from .wait_for_duration import (
+    WaitForDuration,
+    WaitForDurationParams,
+    WaitForDurationCreate,
+    WaitForDurationResult,
+    WaitForDurationCommandType,
+)
+
+from .pick_up_tip import (
+    PickUpTip,
+    PickUpTipParams,
+    PickUpTipCreate,
+    PickUpTipResult,
+    PickUpTipCommandType,
+    TipPhysicallyMissingError,
+)
+
+from .touch_tip import (
+    TouchTip,
+    TouchTipParams,
+    TouchTipCreate,
+    TouchTipResult,
+    TouchTipCommandType,
+)
+
+from .save_position import (
+    SavePosition,
+    SavePositionParams,
+    SavePositionCreate,
+    SavePositionResult,
+    SavePositionCommandType,
+)
+
+from .blow_out import (
+    BlowOutParams,
+    BlowOut,
+    BlowOutCreate,
+    BlowOutCommandType,
+    BlowOutResult,
+)
+
+from .blow_out_in_place import (
+    BlowOutInPlaceParams,
+    BlowOutInPlace,
+    BlowOutInPlaceCreate,
+    BlowOutInPlaceCommandType,
+    BlowOutInPlaceResult,
+)
+
+from .set_status_bar import (
+    SetStatusBar,
+    SetStatusBarParams,
+    SetStatusBarCreate,
+    SetStatusBarResult,
+    SetStatusBarCommandType,
+)
+
+from .retract_axis import (
+    RetractAxis,
+    RetractAxisParams,
+    RetractAxisCreate,
+    RetractAxisResult,
+    RetractAxisCommandType,
+)
+
+from .configure_for_volume import (
+    ConfigureForVolume,
+    ConfigureForVolumeParams,
+    ConfigureForVolumeCreate,
+    ConfigureForVolumeResult,
+    ConfigureForVolumeCommandType,
+)
+
+from .prepare_to_aspirate import (
+    PrepareToAspirate,
+    PrepareToAspirateParams,
+    PrepareToAspirateCreate,
+    PrepareToAspirateResult,
+    PrepareToAspirateCommandType,
+)
+
+from .configure_nozzle_layout import (
+    ConfigureNozzleLayout,
+    ConfigureNozzleLayoutCreate,
+    ConfigureNozzleLayoutParams,
+    ConfigureNozzleLayoutResult,
+    ConfigureNozzleLayoutCommandType,
+)
+
+from .verify_tip_presence import (
+    VerifyTipPresence,
+    VerifyTipPresenceCreate,
+    VerifyTipPresenceParams,
+    VerifyTipPresenceResult,
+    VerifyTipPresenceCommandType,
+)
+
+from .get_tip_presence import (
+    GetTipPresence,
+    GetTipPresenceCreate,
+    GetTipPresenceParams,
+    GetTipPresenceResult,
+    GetTipPresenceCommandType,
+)
+
+from .get_next_tip import (
+    GetNextTip,
+    GetNextTipCreate,
+    GetNextTipParams,
+    GetNextTipResult,
+    GetNextTipCommandType,
+)
+
+from .liquid_probe import (
+    LiquidProbe,
+    LiquidProbeParams,
+    LiquidProbeCreate,
+    LiquidProbeResult,
+    LiquidProbeCommandType,
+    TryLiquidProbe,
+    TryLiquidProbeParams,
+    TryLiquidProbeCreate,
+    TryLiquidProbeResult,
+    TryLiquidProbeCommandType,
+)
+
+from .seal_pipette_to_tip import (
+    SealPipetteToTip,
+    SealPipetteToTipParams,
+    SealPipetteToTipCreate,
+    SealPipetteToTipResult,
+    SealPipetteToTipCommandType,
+)
+
+from .pressure_dispense import (
+    PressureDispense,
+    PressureDispenseParams,
+    PressureDispenseCreate,
+    PressureDispenseResult,
+    PressureDispenseCommandType,
+)
+
+from .unseal_pipette_from_tip import (
+    UnsealPipetteFromTip,
+    UnsealPipetteFromTipParams,
+    UnsealPipetteFromTipCreate,
+    UnsealPipetteFromTipResult,
+    UnsealPipetteFromTipCommandType,
+)
+
+from .identify_module import (
+    IdentifyModule,
+    IdentifyModuleParams,
+    IdentifyModuleCreate,
+    IdentifyModuleResult,
+    IdentifyModuleCommandType,
+)
+
+Command = Annotated[
+    Union[
+        AirGapInPlace,
+        Aspirate,
+        AspirateInPlace,
+        AspirateWhileTracking,
+        Comment,
+        Custom,
+        Dispense,
+        DispenseInPlace,
+        DispenseWhileTracking,
+        BlowOut,
+        BlowOutInPlace,
+        ConfigureForVolume,
+        ConfigureNozzleLayout,
+        DropTip,
+        DropTipInPlace,
+        Home,
+        RetractAxis,
+        LoadLabware,
+        ReloadLabware,
+        LoadLiquid,
+        LoadLiquidClass,
+        LoadModule,
+        IdentifyModule,
+        LoadPipette,
+        LoadLidStack,
+        LoadLid,
+        MoveLabware,
+        MoveRelative,
+        MoveToCoordinates,
+        MoveToWell,
+        MoveToAddressableArea,
+        MoveToAddressableAreaForDropTip,
+        PrepareToAspirate,
+        WaitForResume,
+        WaitForDuration,
+        PickUpTip,
+        SavePosition,
+        SetRailLights,
+        TouchTip,
+        SetStatusBar,
+        VerifyTipPresence,
+        GetTipPresence,
+        GetNextTip,
+        LiquidProbe,
+        TryLiquidProbe,
+        SealPipetteToTip,
+        PressureDispense,
+        UnsealPipetteFromTip,
+        heater_shaker.WaitForTemperature,
+        heater_shaker.SetTargetTemperature,
+        heater_shaker.DeactivateHeater,
+        heater_shaker.SetAndWaitForShakeSpeed,
+        heater_shaker.DeactivateShaker,
+        heater_shaker.OpenLabwareLatch,
+        heater_shaker.CloseLabwareLatch,
+        magnetic_module.Disengage,
+        magnetic_module.Engage,
+        temperature_module.SetTargetTemperature,
+        temperature_module.WaitForTemperature,
+        temperature_module.DeactivateTemperature,
+        thermocycler.SetTargetBlockTemperature,
+        thermocycler.WaitForBlockTemperature,
+        thermocycler.SetTargetLidTemperature,
+        thermocycler.WaitForLidTemperature,
+        thermocycler.DeactivateBlock,
+        thermocycler.DeactivateLid,
+        thermocycler.OpenLid,
+        thermocycler.CloseLid,
+        thermocycler.RunProfile,
+        thermocycler.RunExtendedProfile,
+        absorbance_reader.CloseLid,
+        absorbance_reader.OpenLid,
+        absorbance_reader.Initialize,
+        absorbance_reader.ReadAbsorbance,
+        flex_stacker.Retrieve,
+        flex_stacker.Store,
+        flex_stacker.SetStoredLabware,
+        flex_stacker.Fill,
+        flex_stacker.Empty,
+        calibration.CalibrateGripper,
+        calibration.CalibratePipette,
+        calibration.CalibrateModule,
+        calibration.MoveToMaintenancePosition,
+        unsafe.UnsafeBlowOutInPlace,
+        unsafe.UnsafeDropTipInPlace,
+        unsafe.UpdatePositionEstimators,
+        unsafe.UnsafeEngageAxes,
+        unsafe.UnsafeUngripLabware,
+        unsafe.UnsafePlaceLabware,
+        unsafe.UnsafeFlexStackerManualRetrieve,
+        unsafe.UnsafeFlexStackerCloseLatch,
+        unsafe.UnsafeFlexStackerOpenLatch,
+        unsafe.UnsafeFlexStackerPrepareShuttle,
+        robot.MoveTo,
+        robot.MoveAxesRelative,
+        robot.MoveAxesTo,
+        robot.OpenGripperJaw,
+        robot.CloseGripperJaw,
+    ],
+    Field(discriminator="commandType"),
+]
+
+CommandParams = Union[
+    AirGapInPlaceParams,
+    AspirateParams,
+    AspirateWhileTrackingParams,
+    AspirateInPlaceParams,
+    CommentParams,
+    ConfigureForVolumeParams,
+    ConfigureNozzleLayoutParams,
+    CustomParams,
+    DispenseParams,
+    DispenseInPlaceParams,
+    DispenseWhileTrackingParams,
+    BlowOutParams,
+    BlowOutInPlaceParams,
+    DropTipParams,
+    DropTipInPlaceParams,
+    HomeParams,
+    RetractAxisParams,
+    LoadLabwareParams,
+    LoadLidStackParams,
+    LoadLidParams,
+    ReloadLabwareParams,
+    LoadLiquidParams,
+    LoadLiquidClassParams,
+    LoadModuleParams,
+    IdentifyModuleParams,
+    LoadPipetteParams,
+    MoveLabwareParams,
+    MoveRelativeParams,
+    MoveToCoordinatesParams,
+    MoveToWellParams,
+    MoveToAddressableAreaParams,
+    MoveToAddressableAreaForDropTipParams,
+    PrepareToAspirateParams,
+    WaitForResumeParams,
+    WaitForDurationParams,
+    PickUpTipParams,
+    SavePositionParams,
+    SetRailLightsParams,
+    TouchTipParams,
+    SetStatusBarParams,
+    VerifyTipPresenceParams,
+    GetTipPresenceParams,
+    GetNextTipParams,
+    LiquidProbeParams,
+    TryLiquidProbeParams,
+    SealPipetteToTipParams,
+    PressureDispenseParams,
+    UnsealPipetteFromTipParams,
+    heater_shaker.WaitForTemperatureParams,
+    heater_shaker.SetTargetTemperatureParams,
+    heater_shaker.DeactivateHeaterParams,
+    heater_shaker.SetAndWaitForShakeSpeedParams,
+    heater_shaker.DeactivateShakerParams,
+    heater_shaker.OpenLabwareLatchParams,
+    heater_shaker.CloseLabwareLatchParams,
+    magnetic_module.DisengageParams,
+    magnetic_module.EngageParams,
+    temperature_module.SetTargetTemperatureParams,
+    temperature_module.WaitForTemperatureParams,
+    temperature_module.DeactivateTemperatureParams,
+    thermocycler.SetTargetBlockTemperatureParams,
+    thermocycler.WaitForBlockTemperatureParams,
+    thermocycler.SetTargetLidTemperatureParams,
+    thermocycler.WaitForLidTemperatureParams,
+    thermocycler.DeactivateBlockParams,
+    thermocycler.DeactivateLidParams,
+    thermocycler.OpenLidParams,
+    thermocycler.CloseLidParams,
+    thermocycler.RunProfileParams,
+    thermocycler.RunExtendedProfileParams,
+    absorbance_reader.CloseLidParams,
+    absorbance_reader.OpenLidParams,
+    absorbance_reader.InitializeParams,
+    absorbance_reader.ReadAbsorbanceParams,
+    flex_stacker.RetrieveParams,
+    flex_stacker.StoreParams,
+    flex_stacker.SetStoredLabwareParams,
+    flex_stacker.FillParams,
+    flex_stacker.EmptyParams,
+    calibration.CalibrateGripperParams,
+    calibration.CalibratePipetteParams,
+    calibration.CalibrateModuleParams,
+    calibration.MoveToMaintenancePositionParams,
+    unsafe.UnsafeBlowOutInPlaceParams,
+    unsafe.UnsafeDropTipInPlaceParams,
+    unsafe.UpdatePositionEstimatorsParams,
+    unsafe.UnsafeEngageAxesParams,
+    unsafe.UnsafeUngripLabwareParams,
+    unsafe.UnsafePlaceLabwareParams,
+    unsafe.UnsafeFlexStackerManualRetrieveParams,
+    unsafe.UnsafeFlexStackerCloseLatchParams,
+    unsafe.UnsafeFlexStackerOpenLatchParams,
+    unsafe.UnsafeFlexStackerPrepareShuttleParams,
+    robot.MoveAxesRelativeParams,
+    robot.MoveAxesToParams,
+    robot.MoveToParams,
+    robot.OpenGripperJawParams,
+    robot.CloseGripperJawParams,
+]
+
+CommandType = Union[
+    AirGapInPlaceCommandType,
+    AspirateCommandType,
+    AspirateWhileTrackingCommandType,
+    AspirateInPlaceCommandType,
+    CommentCommandType,
+    ConfigureForVolumeCommandType,
+    ConfigureNozzleLayoutCommandType,
+    CustomCommandType,
+    DispenseCommandType,
+    DispenseInPlaceCommandType,
+    DispenseWhileTrackingCommandType,
+    BlowOutCommandType,
+    BlowOutInPlaceCommandType,
+    DropTipCommandType,
+    DropTipInPlaceCommandType,
+    HomeCommandType,
+    RetractAxisCommandType,
+    LoadLabwareCommandType,
+    ReloadLabwareCommandType,
+    LoadLiquidCommandType,
+    LoadLiquidClassCommandType,
+    LoadModuleCommandType,
+    IdentifyModuleCommandType,
+    LoadPipetteCommandType,
+    LoadLidStackCommandType,
+    LoadLidCommandType,
+    MoveLabwareCommandType,
+    MoveRelativeCommandType,
+    MoveToCoordinatesCommandType,
+    MoveToWellCommandType,
+    MoveToAddressableAreaCommandType,
+    MoveToAddressableAreaForDropTipCommandType,
+    PrepareToAspirateCommandType,
+    WaitForResumeCommandType,
+    WaitForDurationCommandType,
+    PickUpTipCommandType,
+    SavePositionCommandType,
+    SetRailLightsCommandType,
+    TouchTipCommandType,
+    SetStatusBarCommandType,
+    VerifyTipPresenceCommandType,
+    GetTipPresenceCommandType,
+    GetNextTipCommandType,
+    LiquidProbeCommandType,
+    TryLiquidProbeCommandType,
+    SealPipetteToTipCommandType,
+    PressureDispenseCommandType,
+    UnsealPipetteFromTipCommandType,
+    heater_shaker.WaitForTemperatureCommandType,
+    heater_shaker.SetTargetTemperatureCommandType,
+    heater_shaker.DeactivateHeaterCommandType,
+    heater_shaker.SetAndWaitForShakeSpeedCommandType,
+    heater_shaker.DeactivateShakerCommandType,
+    heater_shaker.OpenLabwareLatchCommandType,
+    heater_shaker.CloseLabwareLatchCommandType,
+    magnetic_module.DisengageCommandType,
+    magnetic_module.EngageCommandType,
+    temperature_module.SetTargetTemperatureCommandType,
+    temperature_module.WaitForTemperatureCommandType,
+    temperature_module.DeactivateTemperatureCommandType,
+    thermocycler.SetTargetBlockTemperatureCommandType,
+    thermocycler.WaitForBlockTemperatureCommandType,
+    thermocycler.SetTargetLidTemperatureCommandType,
+    thermocycler.WaitForLidTemperatureCommandType,
+    thermocycler.DeactivateBlockCommandType,
+    thermocycler.DeactivateLidCommandType,
+    thermocycler.OpenLidCommandType,
+    thermocycler.CloseLidCommandType,
+    thermocycler.RunProfileCommandType,
+    thermocycler.RunExtendedProfileCommandType,
+    absorbance_reader.CloseLidCommandType,
+    absorbance_reader.OpenLidCommandType,
+    absorbance_reader.InitializeCommandType,
+    absorbance_reader.ReadAbsorbanceCommandType,
+    flex_stacker.RetrieveCommandType,
+    flex_stacker.StoreCommandType,
+    flex_stacker.SetStoredLabwareCommandType,
+    flex_stacker.FillCommandType,
+    flex_stacker.EmptyCommandType,
+    calibration.CalibrateGripperCommandType,
+    calibration.CalibratePipetteCommandType,
+    calibration.CalibrateModuleCommandType,
+    calibration.MoveToMaintenancePositionCommandType,
+    unsafe.UnsafeBlowOutInPlaceCommandType,
+    unsafe.UnsafeDropTipInPlaceCommandType,
+    unsafe.UpdatePositionEstimatorsCommandType,
+    unsafe.UnsafeEngageAxesCommandType,
+    unsafe.UnsafeUngripLabwareCommandType,
+    unsafe.UnsafePlaceLabwareCommandType,
+    unsafe.UnsafeFlexStackerManualRetrieveCommandType,
+    unsafe.UnsafeFlexStackerCloseLatchCommandType,
+    unsafe.UnsafeFlexStackerOpenLatchCommandType,
+    unsafe.UnsafeFlexStackerPrepareShuttleCommandType,
+    robot.MoveAxesRelativeCommandType,
+    robot.MoveAxesToCommandType,
+    robot.MoveToCommandType,
+    robot.OpenGripperJawCommandType,
+    robot.CloseGripperJawCommandType,
+]
+
+CommandCreate = Annotated[
+    Union[
+        AirGapInPlaceCreate,
+        AspirateCreate,
+        AspirateWhileTrackingCreate,
+        AspirateInPlaceCreate,
+        CommentCreate,
+        ConfigureForVolumeCreate,
+        ConfigureNozzleLayoutCreate,
+        CustomCreate,
+        DispenseCreate,
+        DispenseInPlaceCreate,
+        DispenseWhileTrackingCreate,
+        BlowOutCreate,
+        BlowOutInPlaceCreate,
+        DropTipCreate,
+        DropTipInPlaceCreate,
+        HomeCreate,
+        RetractAxisCreate,
+        LoadLabwareCreate,
+        ReloadLabwareCreate,
+        LoadLiquidCreate,
+        LoadLiquidClassCreate,
+        LoadModuleCreate,
+        IdentifyModuleCreate,
+        LoadPipetteCreate,
+        LoadLidStackCreate,
+        LoadLidCreate,
+        MoveLabwareCreate,
+        MoveRelativeCreate,
+        MoveToCoordinatesCreate,
+        MoveToWellCreate,
+        MoveToAddressableAreaCreate,
+        MoveToAddressableAreaForDropTipCreate,
+        PrepareToAspirateCreate,
+        WaitForResumeCreate,
+        WaitForDurationCreate,
+        PickUpTipCreate,
+        SavePositionCreate,
+        SetRailLightsCreate,
+        TouchTipCreate,
+        SetStatusBarCreate,
+        VerifyTipPresenceCreate,
+        GetTipPresenceCreate,
+        GetNextTipCreate,
+        LiquidProbeCreate,
+        TryLiquidProbeCreate,
+        SealPipetteToTipCreate,
+        PressureDispenseCreate,
+        UnsealPipetteFromTipCreate,
+        heater_shaker.WaitForTemperatureCreate,
+        heater_shaker.SetTargetTemperatureCreate,
+        heater_shaker.DeactivateHeaterCreate,
+        heater_shaker.SetAndWaitForShakeSpeedCreate,
+        heater_shaker.DeactivateShakerCreate,
+        heater_shaker.OpenLabwareLatchCreate,
+        heater_shaker.CloseLabwareLatchCreate,
+        magnetic_module.DisengageCreate,
+        magnetic_module.EngageCreate,
+        temperature_module.SetTargetTemperatureCreate,
+        temperature_module.WaitForTemperatureCreate,
+        temperature_module.DeactivateTemperatureCreate,
+        thermocycler.SetTargetBlockTemperatureCreate,
+        thermocycler.WaitForBlockTemperatureCreate,
+        thermocycler.SetTargetLidTemperatureCreate,
+        thermocycler.WaitForLidTemperatureCreate,
+        thermocycler.DeactivateBlockCreate,
+        thermocycler.DeactivateLidCreate,
+        thermocycler.OpenLidCreate,
+        thermocycler.CloseLidCreate,
+        thermocycler.RunProfileCreate,
+        thermocycler.RunExtendedProfileCreate,
+        absorbance_reader.CloseLidCreate,
+        absorbance_reader.OpenLidCreate,
+        absorbance_reader.InitializeCreate,
+        absorbance_reader.ReadAbsorbanceCreate,
+        flex_stacker.RetrieveCreate,
+        flex_stacker.StoreCreate,
+        flex_stacker.SetStoredLabwareCreate,
+        flex_stacker.FillCreate,
+        flex_stacker.EmptyCreate,
+        calibration.CalibrateGripperCreate,
+        calibration.CalibratePipetteCreate,
+        calibration.CalibrateModuleCreate,
+        calibration.MoveToMaintenancePositionCreate,
+        unsafe.UnsafeBlowOutInPlaceCreate,
+        unsafe.UnsafeDropTipInPlaceCreate,
+        unsafe.UpdatePositionEstimatorsCreate,
+        unsafe.UnsafeEngageAxesCreate,
+        unsafe.UnsafeUngripLabwareCreate,
+        unsafe.UnsafePlaceLabwareCreate,
+        unsafe.UnsafeFlexStackerManualRetrieveCreate,
+        unsafe.UnsafeFlexStackerCloseLatchCreate,
+        unsafe.UnsafeFlexStackerOpenLatchCreate,
+        unsafe.UnsafeFlexStackerPrepareShuttleCreate,
+        robot.MoveAxesRelativeCreate,
+        robot.MoveAxesToCreate,
+        robot.MoveToCreate,
+        robot.OpenGripperJawCreate,
+        robot.CloseGripperJawCreate,
+    ],
+    Field(discriminator="commandType"),
+]
+
+# Each time a TypeAdapter is instantiated, it will construct a new validator and
+# serializer. To improve performance, TypeAdapters are instantiated once.
+# See https://docs.pydantic.dev/latest/concepts/performance/#typeadapter-instantiated-once
+CommandCreateAdapter: TypeAdapter[CommandCreate] = TypeAdapter(CommandCreate)
+
+CommandAdapter: TypeAdapter[Command] = TypeAdapter(Command)
+
+CommandResult = Union[
+    AirGapInPlaceResult,
+    AspirateResult,
+    AspirateWhileTrackingResult,
+    AspirateInPlaceResult,
+    CommentResult,
+    ConfigureForVolumeResult,
+    ConfigureNozzleLayoutResult,
+    CustomResult,
+    DispenseResult,
+    DispenseInPlaceResult,
+    DispenseWhileTrackingResult,
+    BlowOutResult,
+    BlowOutInPlaceResult,
+    DropTipResult,
+    DropTipInPlaceResult,
+    HomeResult,
+    RetractAxisResult,
+    LoadLabwareResult,
+    ReloadLabwareResult,
+    LoadLiquidResult,
+    LoadLiquidClassResult,
+    LoadModuleResult,
+    IdentifyModuleResult,
+    LoadPipetteResult,
+    LoadLidStackResult,
+    LoadLidResult,
+    MoveLabwareResult,
+    MoveRelativeResult,
+    MoveToCoordinatesResult,
+    MoveToWellResult,
+    MoveToAddressableAreaResult,
+    MoveToAddressableAreaForDropTipResult,
+    PrepareToAspirateResult,
+    WaitForResumeResult,
+    WaitForDurationResult,
+    PickUpTipResult,
+    SavePositionResult,
+    SetRailLightsResult,
+    TouchTipResult,
+    SetStatusBarResult,
+    VerifyTipPresenceResult,
+    GetTipPresenceResult,
+    GetNextTipResult,
+    LiquidProbeResult,
+    TryLiquidProbeResult,
+    SealPipetteToTipResult,
+    PressureDispenseResult,
+    UnsealPipetteFromTipResult,
+    heater_shaker.WaitForTemperatureResult,
+    heater_shaker.SetTargetTemperatureResult,
+    heater_shaker.DeactivateHeaterResult,
+    heater_shaker.SetAndWaitForShakeSpeedResult,
+    heater_shaker.DeactivateShakerResult,
+    heater_shaker.OpenLabwareLatchResult,
+    heater_shaker.CloseLabwareLatchResult,
+    magnetic_module.DisengageResult,
+    magnetic_module.EngageResult,
+    temperature_module.SetTargetTemperatureResult,
+    temperature_module.WaitForTemperatureResult,
+    temperature_module.DeactivateTemperatureResult,
+    thermocycler.SetTargetBlockTemperatureResult,
+    thermocycler.WaitForBlockTemperatureResult,
+    thermocycler.SetTargetLidTemperatureResult,
+    thermocycler.WaitForLidTemperatureResult,
+    thermocycler.DeactivateBlockResult,
+    thermocycler.DeactivateLidResult,
+    thermocycler.OpenLidResult,
+    thermocycler.CloseLidResult,
+    thermocycler.RunProfileResult,
+    thermocycler.RunExtendedProfileResult,
+    absorbance_reader.CloseLidResult,
+    absorbance_reader.OpenLidResult,
+    absorbance_reader.InitializeResult,
+    absorbance_reader.ReadAbsorbanceResult,
+    flex_stacker.RetrieveResult,
+    flex_stacker.StoreResult,
+    flex_stacker.SetStoredLabwareResult,
+    flex_stacker.FillResult,
+    flex_stacker.EmptyResult,
+    calibration.CalibrateGripperResult,
+    calibration.CalibratePipetteResult,
+    calibration.CalibrateModuleResult,
+    calibration.MoveToMaintenancePositionResult,
+    unsafe.UnsafeBlowOutInPlaceResult,
+    unsafe.UnsafeDropTipInPlaceResult,
+    unsafe.UpdatePositionEstimatorsResult,
+    unsafe.UnsafeEngageAxesResult,
+    unsafe.UnsafeUngripLabwareResult,
+    unsafe.UnsafePlaceLabwareResult,
+    unsafe.UnsafeFlexStackerManualRetrieveResult,
+    unsafe.UnsafeFlexStackerCloseLatchResult,
+    unsafe.UnsafeFlexStackerOpenLatchResult,
+    unsafe.UnsafeFlexStackerPrepareShuttleResult,
+    robot.MoveAxesRelativeResult,
+    robot.MoveAxesToResult,
+    robot.MoveToResult,
+    robot.OpenGripperJawResult,
+    robot.CloseGripperJawResult,
+]
+
+
+# All `DefinedErrorData`s that implementations will actually return in practice.
+CommandDefinedErrorData = Union[
+    DefinedErrorData[TipPhysicallyMissingError],
+    DefinedErrorData[TipPhysicallyAttachedError],
+    DefinedErrorData[OverpressureError],
+    DefinedErrorData[LiquidNotFoundError],
+    DefinedErrorData[GripperMovementError],
+    DefinedErrorData[StallOrCollisionError],
+    DefinedErrorData[FlexStackerStallOrCollisionError],
+    DefinedErrorData[FlexStackerShuttleError],
+    DefinedErrorData[FlexStackerHopperError],
+    DefinedErrorData[FlexStackerLabwareRetrieveError],
+    DefinedErrorData[FlexStackerShuttleOccupiedError],
+]
+
+
+def _map_create_types_by_params_type(
+    create_types: Collection[Type[CommandCreate]],
+) -> dict[Type[CommandParams], Type[CommandCreate]]:
+    def get_params_type(create_type: Type[CommandCreate]) -> Type[CommandParams]:
+        return get_type_hints(create_type)["params"]  # type: ignore[no-any-return]
+
+    result = {get_params_type(create_type): create_type for create_type in create_types}
+
+    # This isn't an inherent requirement of opentrons.protocol_engine,
+    # but this mapping is only useful to higher-level code if this holds true.
+    assert len(result) == len(
+        create_types
+    ), "Param models should map to create models 1:1."
+
+    return result
+
+
+CREATE_TYPES_BY_PARAMS_TYPE = _map_create_types_by_params_type(
+    get_union_elements(CommandCreate)
+)
+"""A "reverse" mapping from each CommandParams type to its parent CommandCreate type."""