opentrons 8.6.0a1__py3-none-any.whl

opentrons/legacy_commands/types.py

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+from __future__ import annotations
+
+from typing_extensions import Literal, Final, TypedDict
+from typing import Optional, List, Sequence, TYPE_CHECKING, Union
+from opentrons.hardware_control.modules import ThermocyclerStep
+
+if TYPE_CHECKING:
+    from opentrons.protocol_api import InstrumentContext
+    from opentrons.protocol_api.labware import Well
+    from opentrons.protocol_api.disposal_locations import TrashBin, WasteChute
+    from opentrons.protocol_api._liquid import LiquidClass
+    from opentrons.protocol_api._nozzle_layout import NozzleLayout
+
+from opentrons.types import Location, Mount, AxisMapType
+
+
+# type for subscriptions
+COMMAND: Final = "command"
+
+# Robot #
+
+DELAY: Final = "command.DELAY"
+HOME: Final = "command.HOME"
+PAUSE: Final = "command.PAUSE"
+RESUME: Final = "command.RESUME"
+COMMENT: Final = "command.COMMENT"
+MOVE_LABWARE: Final = "command.MOVE_LABWARE"
+
+# Pipette #
+
+ASPIRATE: Final = "command.ASPIRATE"
+DISPENSE: Final = "command.DISPENSE"
+DISPENSE_IN_DISPOSAL_LOCATION: Final = "command.DISPENSE_IN_DISPOSAL_LOCATION"
+MIX: Final = "command.MIX"
+CONSOLIDATE: Final = "command.CONSOLIDATE"
+DISTRIBUTE: Final = "command.DISTRIBUTE"
+TRANSFER: Final = "command.TRANSFER"
+PICK_UP_TIP: Final = "command.PICK_UP_TIP"
+DROP_TIP: Final = "command.DROP_TIP"
+DROP_TIP_IN_DISPOSAL_LOCATION: Final = "command.DROP_TIP_IN_DISPOSAL_LOCATION"
+BLOW_OUT: Final = "command.BLOW_OUT"
+BLOW_OUT_IN_DISPOSAL_LOCATION: Final = "command.BLOW_OUT_IN_DISPOSAL_LOCATION"
+AIR_GAP: Final = "command.AIR_GAP"
+TOUCH_TIP: Final = "command.TOUCH_TIP"
+RETURN_TIP: Final = "command.RETURN_TIP"
+MOVE_TO: Final = "command.MOVE_TO"
+MOVE_TO_DISPOSAL_LOCATION: Final = "command.MOVE_TO_DISPOSAL_LOCATION"
+TRANSFER_WITH_LIQUID_CLASS: Final = "command.TRANSFER_WITH_LIQUID_CLASS"
+DISTRIBUTE_WITH_LIQUID_CLASS: Final = "command.DISTRIBUTE_WITH_LIQUID_CLASS"
+CONSOLIDATE_WITH_LIQUID_CLASS: Final = "command.CONSOLIDATE_WITH_LIQUID_CLASS"
+SEAL: Final = "command.SEAL"
+UNSEAL: Final = "command.UNSEAL"
+PRESSURIZE: Final = "command.PRESSURIZE"
+CONFIGURE_FOR_VOLUME: Final = "command.CONFIGURE_FOR_VOLUME"
+CONFIGURE_NOZZLE_LAYOUT: Final = "command.CONFIGURE_NOZZLE_LAYOUT"
+
+
+# Modules #
+
+HEATER_SHAKER_SET_TARGET_TEMPERATURE: Final = (
+    "command.HEATER_SHAKER_SET_TARGET_TEMPERATURE"
+)
+HEATER_SHAKER_WAIT_FOR_TEMPERATURE: Final = "command.HEATER_SHAKER_WAIT_FOR_TEMPERATURE"
+HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED: Final = (
+    "command.HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED"
+)
+HEATER_SHAKER_OPEN_LABWARE_LATCH: Final = "command.HEATER_SHAKER_OPEN_LABWARE_LATCH"
+HEATER_SHAKER_CLOSE_LABWARE_LATCH: Final = "command.HEATER_SHAKER_CLOSE_LABWARE_LATCH"
+HEATER_SHAKER_DEACTIVATE_SHAKER: Final = "command.HEATER_SHAKER_DEACTIVATE_SHAKER"
+HEATER_SHAKER_DEACTIVATE_HEATER: Final = "command.HEATER_SHAKER_DEACTIVATE_HEATER"
+
+MAGDECK_CALIBRATE: Final = "command.MAGDECK_CALIBRATE"
+MAGDECK_DISENGAGE: Final = "command.MAGDECK_DISENGAGE"
+MAGDECK_ENGAGE: Final = "command.MAGDECK_ENGAGE"
+
+TEMPDECK_DEACTIVATE: Final = "command.TEMPDECK_DEACTIVATE"
+TEMPDECK_SET_TEMP: Final = "command.TEMPDECK_SET_TEMP"
+TEMPDECK_AWAIT_TEMP: Final = "command.TEMPDECK_AWAIT_TEMP"
+
+THERMOCYCLER_OPEN: Final = "command.THERMOCYCLER_OPEN"
+THERMOCYCLER_CLOSE: Final = "command.THERMOCYCLER_CLOSE"
+THERMOCYCLER_SET_BLOCK_TEMP: Final = "command.THERMOCYCLER_SET_BLOCK_TEMP"
+THERMOCYCLER_EXECUTE_PROFILE: Final = "command.THERMOCYCLER_EXECUTE_PROFILE"
+THERMOCYCLER_DEACTIVATE: Final = "command.THERMOCYCLER_DEACTIVATE"
+THERMOCYCLER_WAIT_FOR_HOLD: Final = "command.THERMOCYCLER_WAIT_FOR_HOLD"
+THERMOCYCLER_WAIT_FOR_TEMP: Final = "command.THERMOCYCLER_WAIT_FOR_TEMP"
+THERMOCYCLER_WAIT_FOR_LID_TEMP: Final = "command.THERMOCYCLER_WAIT_FOR_LID_TEMP"
+THERMOCYCLER_SET_LID_TEMP: Final = "command.THERMOCYCLER_SET_LID_TEMP"
+THERMOCYCLER_DEACTIVATE_LID: Final = "command.THERMOCYCLER_DEACTIVATE_LID"
+THERMOCYCLER_DEACTIVATE_BLOCK: Final = "command.THERMOCYCLER_DEACTIVATE_BLOCK"
+
+# Robot #
+ROBOT_MOVE_TO: Final = "command.ROBOT_MOVE_TO"
+ROBOT_MOVE_AXES_TO: Final = "command.ROBOT_MOVE_AXES_TO"
+ROBOT_MOVE_RELATIVE_TO: Final = "command.ROBOT_MOVE_RELATIVE_TO"
+ROBOT_OPEN_GRIPPER_JAW: Final = "command.ROBOT_OPEN_GRIPPER_JAW"
+ROBOT_CLOSE_GRIPPER_JAW: Final = "command.ROBOT_CLOSE_GRIPPER_JAW"
+
+
+class TextOnlyPayload(TypedDict):
+    text: str
+
+
+class MultiLocationPayload(TypedDict):
+    locations: Sequence[Union[Location, Well]]
+
+
+class OptionalMultiLocationPayload(TypedDict):
+    locations: Optional[Sequence[Union[Location, Well]]]
+
+
+class SingleInstrumentPayload(TypedDict):
+    instrument: InstrumentContext
+
+
+class MultiInstrumentPayload(TypedDict):
+    instruments: Sequence[InstrumentContext]
+
+
+class CommentCommandPayload(TextOnlyPayload):
+    pass
+
+
+class CommentCommand(TypedDict):
+    name: Literal["command.COMMENT"]
+    payload: CommentCommandPayload
+
+
+class DelayCommandPayload(TextOnlyPayload):
+    minutes: float
+    seconds: float
+
+
+class DelayCommand(TypedDict):
+    name: Literal["command.DELAY"]
+    payload: DelayCommandPayload
+
+
+class PauseCommandPayload(TextOnlyPayload):
+    userMessage: Optional[str]
+
+
+class PauseCommand(TypedDict):
+    name: Literal["command.PAUSE"]
+    payload: PauseCommandPayload
+
+
+class ResumeCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ResumeCommand(TypedDict):
+    name: Literal["command.RESUME"]
+    payload: ResumeCommandPayload
+
+
+class HeaterShakerSetTargetTemperaturePayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerSetTargetTemperatureCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_SET_TARGET_TEMPERATURE"]
+    payload: HeaterShakerSetTargetTemperaturePayload
+
+
+class HeaterShakerWaitForTemperaturePayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerWaitForTemperatureCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_WAIT_FOR_TEMPERATURE"]
+    payload: HeaterShakerWaitForTemperaturePayload
+
+
+class HeaterShakerSetAndWaitForShakeSpeedPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerSetAndWaitForShakeSpeedCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED"]
+    payload: HeaterShakerSetAndWaitForShakeSpeedPayload
+
+
+class HeaterShakerOpenLabwareLatchPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerOpenLabwareLatchCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_OPEN_LABWARE_LATCH"]
+    payload: HeaterShakerOpenLabwareLatchPayload
+
+
+class HeaterShakerCloseLabwareLatchPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerCloseLabwareLatchCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_CLOSE_LABWARE_LATCH"]
+    payload: HeaterShakerCloseLabwareLatchPayload
+
+
+class HeaterShakerDeactivateShakerPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerDeactivateShakerCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_DEACTIVATE_SHAKER"]
+    payload: HeaterShakerDeactivateShakerPayload
+
+
+class HeaterShakerDeactivateHeaterPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerDeactivateHeaterCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_DEACTIVATE_HEATER"]
+    payload: HeaterShakerDeactivateHeaterPayload
+
+
+class MagdeckEngageCommandPayload(TextOnlyPayload):
+    pass
+
+
+class MagdeckEngageCommand(TypedDict):
+    name: Literal["command.MAGDECK_ENGAGE"]
+    payload: MagdeckEngageCommandPayload
+
+
+class MagdeckDisengageCommandPayload(TextOnlyPayload):
+    pass
+
+
+class MagdeckDisengageCommand(TypedDict):
+    name: Literal["command.MAGDECK_DISENGAGE"]
+    payload: MagdeckDisengageCommandPayload
+
+
+class MagdeckCalibrateCommandPayload(TextOnlyPayload):
+    pass
+
+
+class MagdeckCalibrateCommand(TypedDict):
+    name: Literal["command.MAGDECK_CALIBRATE"]
+    payload: MagdeckCalibrateCommandPayload
+
+
+class TempdeckSetTempCommandPayload(TextOnlyPayload):
+    celsius: float
+
+
+class TempdeckSetTempCommand(TypedDict):
+    name: Literal["command.TEMPDECK_SET_TEMP"]
+    payload: TempdeckSetTempCommandPayload
+
+
+class TempdeckAwaitTempCommandPayload(TextOnlyPayload):
+    celsius: float
+
+
+class TempdeckAwaitTempCommand(TypedDict):
+    name: Literal["command.TEMPDECK_AWAIT_TEMP"]
+    payload: TempdeckAwaitTempCommandPayload
+
+
+class TempdeckDeactivateCommandPayload(TextOnlyPayload):
+    pass
+
+
+class TempdeckDeactivateCommand(TypedDict):
+    name: Literal["command.TEMPDECK_DEACTIVATE"]
+    payload: TempdeckDeactivateCommandPayload
+
+
+class ThermocyclerOpenCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerOpenCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_OPEN"]
+    payload: ThermocyclerOpenCommandPayload
+
+
+class ThermocyclerSetBlockTempCommandPayload(TextOnlyPayload):
+    temperature: float
+    hold_time: Optional[float]
+
+
+class ThermocyclerSetBlockTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_SET_BLOCK_TEMP"]
+    payload: ThermocyclerSetBlockTempCommandPayload
+
+
+class ThermocyclerExecuteProfileCommandPayload(TextOnlyPayload):
+    steps: List[ThermocyclerStep]
+
+
+class ThermocyclerExecuteProfileCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_EXECUTE_PROFILE"]
+    payload: ThermocyclerExecuteProfileCommandPayload
+
+
+class ThermocyclerWaitForHoldCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerWaitForHoldCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_WAIT_FOR_HOLD"]
+    payload: ThermocyclerWaitForHoldCommandPayload
+
+
+class ThermocyclerWaitForTempCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerWaitForTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_WAIT_FOR_TEMP"]
+    payload: ThermocyclerWaitForTempCommandPayload
+
+
+class ThermocyclerSetLidTempCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerSetLidTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_SET_LID_TEMP"]
+    payload: ThermocyclerSetLidTempCommandPayload
+
+
+class ThermocyclerDeactivateLidCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerDeactivateLidCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_DEACTIVATE_LID"]
+    payload: ThermocyclerDeactivateLidCommandPayload
+
+
+class ThermocyclerDeactivateBlockCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerDeactivateBlockCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_DEACTIVATE_BLOCK"]
+    payload: ThermocyclerDeactivateBlockCommandPayload
+
+
+class ThermocyclerDeactivateCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerDeactivateCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_DEACTIVATE"]
+    payload: ThermocyclerDeactivateCommandPayload
+
+
+class ThermocyclerWaitForLidTempCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerWaitForLidTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_WAIT_FOR_LID_TEMP"]
+    payload: ThermocyclerWaitForLidTempCommandPayload
+
+
+class ThermocyclerCloseCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerCloseCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_CLOSE"]
+    payload: ThermocyclerCloseCommandPayload
+
+
+class HomeCommandPayload(TextOnlyPayload):
+    axis: str
+
+
+class HomeCommand(TypedDict):
+    name: Literal["command.HOME"]
+    payload: HomeCommandPayload
+
+
+class AspirateDispenseCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Location
+    volume: float
+    rate: float
+
+
+class AspirateCommand(TypedDict):
+    name: Literal["command.ASPIRATE"]
+    payload: AspirateDispenseCommandPayload
+
+
+class DispenseCommand(TypedDict):
+    name: Literal["command.DISPENSE"]
+    payload: AspirateDispenseCommandPayload
+
+
+class DispenseInDisposalLocationCommandPayload(
+    TextOnlyPayload, SingleInstrumentPayload
+):
+    location: Union[TrashBin, WasteChute]
+    volume: float
+    rate: float
+
+
+class DispenseInDisposalLocationCommand(TypedDict):
+    name: Literal["command.DISPENSE_IN_DISPOSAL_LOCATION"]
+    payload: DispenseInDisposalLocationCommandPayload
+
+
+class ConsolidateCommandPayload(
+    TextOnlyPayload, MultiLocationPayload, SingleInstrumentPayload
+):
+    volume: Union[float, List[float]]
+    source: List[Union[Location, Well]]
+    dest: Union[Location, Well]
+
+
+class ConsolidateCommand(TypedDict):
+    name: Literal["command.CONSOLIDATE"]
+    payload: ConsolidateCommandPayload
+
+
+class DistributeCommandPayload(
+    TextOnlyPayload, MultiLocationPayload, SingleInstrumentPayload
+):
+    volume: Union[float, List[float]]
+    source: Union[Location, Well]
+    dest: List[Union[Location, Well]]
+
+
+class DistributeCommand(TypedDict):
+    name: Literal["command.DISTRIBUTE"]
+    payload: DistributeCommandPayload
+
+
+class TransferCommandPayload(
+    TextOnlyPayload, MultiLocationPayload, SingleInstrumentPayload
+):
+    volume: Union[float, List[float]]
+    source: List[Union[Location, Well]]
+    dest: List[Union[Location, Well]]
+
+
+class TransferCommand(TypedDict):
+    name: Literal["command.TRANSFER"]
+    payload: TransferCommandPayload
+
+
+class MixCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Union[None, Location, Well]
+    volume: float
+    repetitions: int
+
+
+class MixCommand(TypedDict):
+    name: Literal["command.MIX"]
+    payload: MixCommandPayload
+
+
+class BlowOutCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Optional[Location]
+
+
+class BlowOutCommand(TypedDict):
+    name: Literal["command.BLOW_OUT"]
+    payload: BlowOutCommandPayload
+
+
+class BlowOutInDisposalLocationCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Union[TrashBin, WasteChute]
+
+
+class BlowOutInDisposalLocationCommand(TypedDict):
+    name: Literal["command.BLOW_OUT_IN_DISPOSAL_LOCATION"]
+    payload: BlowOutInDisposalLocationCommandPayload
+
+
+class TouchTipCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    pass
+
+
+class TouchTipCommand(TypedDict):
+    name: Literal["command.TOUCH_TIP"]
+    payload: TouchTipCommandPayload
+
+
+class AirGapCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    volume: Union[float, None]
+    height: Union[float, None]
+
+
+class AirGapCommand(TypedDict):
+    name: Literal["command.AIR_GAP"]
+    payload: AirGapCommandPayload
+
+
+class ReturnTipCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ReturnTipCommand(TypedDict):
+    name: Literal["command.RETURN_TIP"]
+    payload: ReturnTipCommandPayload
+
+
+class PickUpTipCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Well
+
+
+class PickUpTipCommand(TypedDict):
+    name: Literal["command.PICK_UP_TIP"]
+    payload: PickUpTipCommandPayload
+
+
+class DropTipCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Well
+
+
+class DropTipCommand(TypedDict):
+    name: Literal["command.DROP_TIP"]
+    payload: DropTipCommandPayload
+
+
+class DropTipInDisposalLocationCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Union[TrashBin, WasteChute]
+
+
+class DropTipInDisposalLocationCommand(TypedDict):
+    name: Literal["command.DROP_TIP_IN_DISPOSAL_LOCATION"]
+    payload: DropTipInDisposalLocationCommandPayload
+
+
+class MoveToCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Location
+
+
+class MoveToCommand(TypedDict):
+    name: Literal["command.MOVE_TO"]
+    payload: MoveToCommandPayload
+
+
+class MoveToDisposalLocationCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    location: Union[TrashBin, WasteChute]
+
+
+class MoveToDisposalLocationCommand(TypedDict):
+    name: Literal["command.MOVE_TO_DISPOSAL_LOCATION"]
+    payload: MoveToDisposalLocationCommandPayload
+
+
+class MoveLabwareCommandPayload(TextOnlyPayload):
+    pass
+
+
+class LiquidClassCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    liquid_class: LiquidClass
+    volume: float
+    source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]]
+    destination: Union[
+        Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute
+    ]
+
+
+class TransferWithLiquidClassCommand(TypedDict):
+    name: Literal["command.TRANSFER_WITH_LIQUID_CLASS"]
+    payload: LiquidClassCommandPayload
+
+
+class DistributeWithLiquidClassCommand(TypedDict):
+    name: Literal["command.DISTRIBUTE_WITH_LIQUID_CLASS"]
+    payload: LiquidClassCommandPayload
+
+
+class ConsolidateWithLiquidClassCommand(TypedDict):
+    name: Literal["command.CONSOLIDATE_WITH_LIQUID_CLASS"]
+    payload: LiquidClassCommandPayload
+
+
+class SealCommandPayload(TextOnlyPayload):
+    instrument: InstrumentContext
+    location: Union[None, Location, Well]
+
+
+class UnsealCommandPayload(TextOnlyPayload):
+    instrument: InstrumentContext
+    location: Union[None, Location, Well]
+
+
+class PressurizeCommandPayload(TextOnlyPayload):
+    instrument: InstrumentContext
+
+
+class ConfigureForVolumePayload(TypedDict, TextOnlyPayload):
+    instrument: InstrumentContext
+    volume: float
+
+
+class ConfigureNozzleLayoutPayload(TypedDict, TextOnlyPayload):
+    instrument: InstrumentContext
+    style: NozzleLayout
+    start: Union[str, None]
+    end: Union[str, None]
+
+
+class MoveLabwareCommand(TypedDict):
+    name: Literal["command.MOVE_LABWARE"]
+    payload: MoveLabwareCommandPayload
+
+
+class SealCommand(TypedDict):
+    name: Literal["command.SEAL"]
+    payload: SealCommandPayload
+
+
+class UnsealCommand(TypedDict):
+    name: Literal["command.UNSEAL"]
+    payload: UnsealCommandPayload
+
+
+class PressurizeCommand(TypedDict):
+    name: Literal["command.PRESSURIZE"]
+    payload: PressurizeCommandPayload
+
+
+class ConfigureForVolumeCommand(TypedDict):
+    name: Literal["command.CONFIGURE_FOR_VOLUME"]
+    payload: ConfigureForVolumePayload
+
+
+class ConfigureNozzleLayoutCommand(TypedDict):
+    name: Literal["command.CONFIGURE_NOZZLE_LAYOUT"]
+    payload: ConfigureNozzleLayoutPayload
+
+
+# Robot Commands and Payloads
+class GripperCommandPayload(TextOnlyPayload):
+    pass
+
+
+class RobotMoveToCommandPayload(TextOnlyPayload):
+    location: Location
+    mount: Mount
+
+
+class RobotMoveAxisToCommandPayload(TextOnlyPayload):
+    absolute_axes: AxisMapType
+
+
+class RobotMoveAxisRelativeCommandPayload(TextOnlyPayload):
+    relative_axes: AxisMapType
+
+
+class RobotMoveToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_TO"]
+    payload: RobotMoveToCommandPayload
+
+
+class RobotMoveAxisToCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_AXES_TO"]
+    payload: RobotMoveAxisToCommandPayload
+
+
+class RobotMoveAxisRelativeCommand(TypedDict):
+    name: Literal["command.ROBOT_MOVE_RELATIVE_TO"]
+    payload: RobotMoveAxisRelativeCommandPayload
+
+
+class RobotOpenGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_OPEN_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
+class RobotCloseGripperJawCommand(TypedDict):
+    name: Literal["command.ROBOT_CLOSE_GRIPPER_JAW"]
+    payload: GripperCommandPayload
+
+
+Command = Union[
+    DropTipCommand,
+    DropTipInDisposalLocationCommand,
+    PickUpTipCommand,
+    ReturnTipCommand,
+    AirGapCommand,
+    TouchTipCommand,
+    BlowOutCommand,
+    BlowOutInDisposalLocationCommand,
+    MixCommand,
+    TransferCommand,
+    DistributeCommand,
+    ConsolidateCommand,
+    DispenseCommand,
+    DispenseInDisposalLocationCommand,
+    AspirateCommand,
+    HomeCommand,
+    HeaterShakerSetTargetTemperatureCommand,
+    HeaterShakerWaitForTemperatureCommand,
+    HeaterShakerSetAndWaitForShakeSpeedCommand,
+    HeaterShakerOpenLabwareLatchCommand,
+    HeaterShakerCloseLabwareLatchCommand,
+    HeaterShakerDeactivateShakerCommand,
+    HeaterShakerDeactivateHeaterCommand,
+    ThermocyclerCloseCommand,
+    ThermocyclerWaitForLidTempCommand,
+    ThermocyclerDeactivateCommand,
+    ThermocyclerDeactivateBlockCommand,
+    ThermocyclerDeactivateLidCommand,
+    ThermocyclerSetLidTempCommand,
+    ThermocyclerWaitForTempCommand,
+    ThermocyclerWaitForHoldCommand,
+    ThermocyclerExecuteProfileCommand,
+    ThermocyclerSetBlockTempCommand,
+    ThermocyclerOpenCommand,
+    TempdeckDeactivateCommand,
+    TempdeckAwaitTempCommand,
+    TempdeckSetTempCommand,
+    MagdeckCalibrateCommand,
+    MagdeckDisengageCommand,
+    MagdeckEngageCommand,
+    ResumeCommand,
+    PauseCommand,
+    DelayCommand,
+    CommentCommand,
+    MoveToCommand,
+    MoveToDisposalLocationCommand,
+    MoveLabwareCommand,
+    TransferWithLiquidClassCommand,
+    DistributeWithLiquidClassCommand,
+    ConsolidateWithLiquidClassCommand,
+    SealCommand,
+    UnsealCommand,
+    PressurizeCommand,
+    ConfigureForVolumeCommand,
+    ConfigureNozzleLayoutCommand,
+    # Robot commands
+    RobotMoveToCommand,
+    RobotMoveAxisToCommand,
+    RobotMoveAxisRelativeCommand,
+    RobotOpenGripperJawCommand,
+    RobotCloseGripperJawCommand,
+]
+
+
+CommandPayload = Union[
+    CommentCommandPayload,
+    ResumeCommandPayload,
+    HeaterShakerSetTargetTemperaturePayload,
+    HeaterShakerWaitForTemperaturePayload,
+    HeaterShakerSetAndWaitForShakeSpeedPayload,
+    HeaterShakerOpenLabwareLatchPayload,
+    HeaterShakerCloseLabwareLatchPayload,
+    HeaterShakerDeactivateShakerPayload,
+    HeaterShakerDeactivateHeaterPayload,
+    MagdeckEngageCommandPayload,
+    MagdeckDisengageCommandPayload,
+    MagdeckCalibrateCommandPayload,
+    ThermocyclerOpenCommandPayload,
+    ThermocyclerWaitForHoldCommandPayload,
+    ThermocyclerWaitForTempCommandPayload,
+    ThermocyclerSetLidTempCommandPayload,
+    ThermocyclerDeactivateLidCommandPayload,
+    ThermocyclerDeactivateBlockCommandPayload,
+    ThermocyclerDeactivateCommandPayload,
+    ThermocyclerWaitForLidTempCommand,
+    ThermocyclerCloseCommandPayload,
+    AirGapCommandPayload,
+    ReturnTipCommandPayload,
+    DropTipCommandPayload,
+    DropTipInDisposalLocationCommandPayload,
+    PickUpTipCommandPayload,
+    TouchTipCommandPayload,
+    BlowOutCommandPayload,
+    BlowOutInDisposalLocationCommandPayload,
+    MixCommandPayload,
+    TransferCommandPayload,
+    DistributeCommandPayload,
+    ConsolidateCommandPayload,
+    AspirateDispenseCommandPayload,
+    DispenseInDisposalLocationCommandPayload,
+    HomeCommandPayload,
+    ThermocyclerExecuteProfileCommandPayload,
+    ThermocyclerSetBlockTempCommandPayload,
+    TempdeckAwaitTempCommandPayload,
+    TempdeckSetTempCommandPayload,
+    PauseCommandPayload,
+    DelayCommandPayload,
+    MoveToCommandPayload,
+    MoveToDisposalLocationCommandPayload,
+    MoveLabwareCommandPayload,
+    LiquidClassCommandPayload,
+    SealCommandPayload,
+    UnsealCommandPayload,
+    PressurizeCommandPayload,
+    ConfigureForVolumePayload,
+    ConfigureNozzleLayoutPayload,
+    # Robot payloads
+    RobotMoveToCommandPayload,
+    RobotMoveAxisRelativeCommandPayload,
+    RobotMoveAxisToCommandPayload,
+    GripperCommandPayload,
+]
+
+
+MessageSequenceId = Union[Literal["before"], Literal["after"]]
+
+
+CommandMessageFields = TypedDict(
+    "CommandMessageFields",
+    {"$": MessageSequenceId, "id": str, "error": Optional[Exception]},
+)
+
+
+class MoveToMessage(CommandMessageFields, MoveToCommand):
+    pass
+
+
+class MoveToDisposalLocationMessage(
+    CommandMessageFields, MoveToDisposalLocationCommand
+):
+    pass
+
+
+class DropTipMessage(CommandMessageFields, DropTipCommand):
+    pass
+
+
+class DropTipInDisposalLocationMessage(
+    CommandMessageFields, DropTipInDisposalLocationCommand
+):
+    pass
+
+
+class PickUpTipMessage(CommandMessageFields, PickUpTipCommand):
+    pass
+
+
+class ReturnTipMessage(CommandMessageFields, ReturnTipCommand):
+    pass
+
+
+class AirGapMessage(CommandMessageFields, AirGapCommand):
+    pass
+
+
+class TouchTipMessage(CommandMessageFields, TouchTipCommand):
+    pass
+
+
+class BlowOutMessage(CommandMessageFields, BlowOutCommand):
+    pass
+
+
+class BlowOutInDisposalLocationMessage(
+    CommandMessageFields, BlowOutInDisposalLocationCommand
+):
+    pass
+
+
+class MixMessage(CommandMessageFields, MixCommand):
+    pass
+
+
+class TransferMessage(CommandMessageFields, TransferCommand):
+    pass
+
+
+class DistributeMessage(CommandMessageFields, DistributeCommand):
+    pass
+
+
+class ConsolidateMessage(CommandMessageFields, ConsolidateCommand):
+    pass
+
+
+class DispenseMessage(CommandMessageFields, DispenseCommand):
+    pass
+
+
+class DispenseInDisposalLocationMessage(
+    CommandMessageFields, DispenseInDisposalLocationCommand
+):
+    pass
+
+
+class AspirateMessage(CommandMessageFields, AspirateCommand):
+    pass
+
+
+class HomeMessage(CommandMessageFields, HomeCommand):
+    pass
+
+
+class HeaterShakerSetTargetTemperatureMessage(
+    CommandMessageFields, HeaterShakerSetTargetTemperatureCommand
+):
+    pass
+
+
+class HeaterShakerWaitForTemperatureMessage(
+    CommandMessageFields, HeaterShakerWaitForTemperatureCommand
+):
+    pass
+
+
+class HeaterShakerSetAndWaitForShakeSpeedMessage(
+    CommandMessageFields, HeaterShakerSetAndWaitForShakeSpeedCommand
+):
+    pass
+
+
+class HeaterShakerOpenLabwareLatchMessage(
+    CommandMessageFields, HeaterShakerOpenLabwareLatchCommand
+):
+    pass
+
+
+class HeaterShakerCloseLabwareLatchMessage(
+    CommandMessageFields, HeaterShakerCloseLabwareLatchCommand
+):
+    pass
+
+
+class HeaterShakerDeactivateShakerMessage(
+    CommandMessageFields, HeaterShakerDeactivateShakerCommand
+):
+    pass
+
+
+class HeaterShakerDeactivateHeaterMessage(
+    CommandMessageFields, HeaterShakerDeactivateHeaterCommand
+):
+    pass
+
+
+class ThermocyclerCloseMessage(CommandMessageFields, ThermocyclerCloseCommand):
+    pass
+
+
+class ThermocyclerWaitForLidTempMessage(
+    CommandMessageFields, ThermocyclerWaitForLidTempCommand
+):
+    pass
+
+
+class ThermocyclerDeactivateMessage(
+    CommandMessageFields, ThermocyclerDeactivateCommand
+):
+    pass
+
+
+class ThermocyclerDeactivateBlockMessage(
+    CommandMessageFields, ThermocyclerDeactivateBlockCommand
+):
+    pass
+
+
+class ThermocyclerDeactivateLidMessage(
+    CommandMessageFields, ThermocyclerDeactivateLidCommand
+):
+    pass
+
+
+class ThermocyclerSetLidTempMessage(
+    CommandMessageFields, ThermocyclerSetLidTempCommand
+):
+    pass
+
+
+class ThermocyclerWaitForTempMessage(
+    CommandMessageFields, ThermocyclerWaitForTempCommand
+):
+    pass
+
+
+class ThermocyclerWaitForHoldMessage(
+    CommandMessageFields, ThermocyclerWaitForHoldCommand
+):
+    pass
+
+
+class ThermocyclerExecuteProfileMessage(
+    CommandMessageFields, ThermocyclerExecuteProfileCommand
+):
+    pass
+
+
+class ThermocyclerSetBlockTempMessage(
+    CommandMessageFields, ThermocyclerSetBlockTempCommand
+):
+    pass
+
+
+class ThermocyclerOpenMessage(CommandMessageFields, ThermocyclerOpenCommand):
+    pass
+
+
+class TempdeckDeactivateMessage(CommandMessageFields, TempdeckDeactivateCommand):
+    pass
+
+
+class TempdeckAwaitTempMessage(CommandMessageFields, TempdeckAwaitTempCommand):
+    pass
+
+
+class TempdeckSetTempMessage(CommandMessageFields, TempdeckSetTempCommand):
+    pass
+
+
+class MagdeckCalibrateMessage(CommandMessageFields, MagdeckCalibrateCommand):
+    pass
+
+
+class MagdeckDisengageMessage(CommandMessageFields, MagdeckDisengageCommand):
+    pass
+
+
+class MagdeckEngageMessage(CommandMessageFields, MagdeckEngageCommand):
+    pass
+
+
+class ResumeMessage(CommandMessageFields, ResumeCommand):
+    pass
+
+
+class PauseMessage(CommandMessageFields, PauseCommand):
+    pass
+
+
+class DelayMessage(CommandMessageFields, DelayCommand):
+    pass
+
+
+class CommentMessage(CommandMessageFields, CommentCommand):
+    pass
+
+
+class MoveLabwareMessage(CommandMessageFields, MoveLabwareCommand):
+    pass
+
+
+class RobotMoveToMessage(CommandMessageFields, RobotMoveToCommand):
+    pass
+
+
+class RobotMoveAxisToMessage(CommandMessageFields, RobotMoveAxisToCommand):
+    pass
+
+
+class RobotMoveAxisRelativeMessage(CommandMessageFields, RobotMoveAxisRelativeCommand):
+    pass
+
+
+class RobotOpenGripperJawMessage(CommandMessageFields, RobotOpenGripperJawCommand):
+    pass
+
+
+class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawCommand):
+    pass
+
+
+CommandMessage = Union[
+    DropTipMessage,
+    DropTipInDisposalLocationMessage,
+    PickUpTipMessage,
+    ReturnTipMessage,
+    AirGapMessage,
+    TouchTipMessage,
+    BlowOutMessage,
+    BlowOutInDisposalLocationMessage,
+    MixMessage,
+    TransferMessage,
+    DistributeMessage,
+    ConsolidateMessage,
+    DispenseMessage,
+    DispenseInDisposalLocationMessage,
+    AspirateMessage,
+    HomeMessage,
+    HeaterShakerSetTargetTemperatureMessage,
+    HeaterShakerWaitForTemperatureMessage,
+    HeaterShakerSetAndWaitForShakeSpeedMessage,
+    HeaterShakerOpenLabwareLatchMessage,
+    HeaterShakerCloseLabwareLatchMessage,
+    HeaterShakerDeactivateShakerMessage,
+    HeaterShakerDeactivateHeaterMessage,
+    ThermocyclerCloseMessage,
+    ThermocyclerWaitForLidTempMessage,
+    ThermocyclerDeactivateMessage,
+    ThermocyclerDeactivateBlockMessage,
+    ThermocyclerDeactivateLidMessage,
+    ThermocyclerSetLidTempMessage,
+    ThermocyclerWaitForTempMessage,
+    ThermocyclerWaitForHoldMessage,
+    ThermocyclerExecuteProfileMessage,
+    ThermocyclerSetBlockTempMessage,
+    ThermocyclerOpenMessage,
+    TempdeckSetTempMessage,
+    TempdeckDeactivateMessage,
+    MagdeckEngageMessage,
+    MagdeckDisengageMessage,
+    MagdeckCalibrateMessage,
+    CommentMessage,
+    DelayMessage,
+    PauseMessage,
+    ResumeMessage,
+    MoveToMessage,
+    MoveToDisposalLocationMessage,
+    MoveLabwareMessage,
+    # Robot Messages
+    RobotMoveToMessage,
+    RobotMoveAxisToMessage,
+    RobotMoveAxisRelativeMessage,
+    RobotOpenGripperJawMessage,
+    RobotCloseGripperJawMessage,
+]