opentrons 8.7.0a6__py3-none-any.whl → 8.7.0a7__py3-none-any.whl

opentrons/hardware_control/types.py

@@ -2,12 +2,26 @@ from asyncio import Queue
 import enum
 import logging
 from dataclasses import dataclass
-from typing import cast, Tuple, Union, List, Callable, Dict, TypeVar, Type
+from typing import (
+    cast,
+    Tuple,
+    Union,
+    List,
+    Callable,
+    Dict,
+    TypeVar,
+    Type,
+    TYPE_CHECKING,
+)
 from typing_extensions import Literal
 from opentrons import types as top_types
 from opentrons_shared_data.pipette.types import PipetteChannelType
+from opentrons_shared_data.errors.exceptions import EnumeratedError
 from opentrons.config import feature_flags
 
+if TYPE_CHECKING:
+    from .modules.types import ModuleModel
+
 MODULE_LOG = logging.getLogger(__name__)
 
 
@@ -384,6 +398,7 @@ class HardwareEventType(enum.Enum):
     DOOR_SWITCH_CHANGE = enum.auto()
     ERROR_MESSAGE = enum.auto()
     ESTOP_CHANGE = enum.auto()
+    ASYNCHRONOUS_MODULE_ERROR = enum.auto()
 
 
 @dataclass
@@ -428,10 +443,24 @@ class ErrorMessageNotification:
     event: Literal[HardwareEventType.ERROR_MESSAGE] = HardwareEventType.ERROR_MESSAGE
 
 
+@dataclass(frozen=True)
+class AsynchronousModuleErrorNotification:
+    exception: EnumeratedError
+    module_serial: str | None
+    module_model: "ModuleModel"
+    port: str
+    event: Literal[
+        HardwareEventType.ASYNCHRONOUS_MODULE_ERROR
+    ] = HardwareEventType.ASYNCHRONOUS_MODULE_ERROR
+
+
 # new event types get new dataclasses
 # when we add more event types we add them here
 HardwareEvent = Union[
-    DoorStateNotification, ErrorMessageNotification, EstopStateNotification
+    DoorStateNotification,
+    ErrorMessageNotification,
+    EstopStateNotification,
+    AsynchronousModuleErrorNotification,
 ]
 
 HardwareEventHandler = Callable[[HardwareEvent], None]

opentrons/legacy_commands/module_commands.py

@@ -102,6 +102,19 @@ def thermocycler_execute_profile(
     }
 
 
+def thermocycler_start_execute_profile(
+    steps: List[ThermocyclerStep], repetitions: int
+) -> command_types.ThermocyclerStartExecuteProfileCommand:
+    text = (
+        f"In the background, thermocycler starting to run {repetitions} repetitions "
+        f" of cycle composed of the following steps: {steps}"
+    )
+    return {
+        "name": command_types.THERMOCYCLER_START_EXECUTE_PROFILE,
+        "payload": {"text": text, "steps": steps},
+    }
+
+
 def thermocycler_wait_for_hold() -> command_types.ThermocyclerWaitForHoldCommand:
     text = "Waiting for hold time duration"
     return {"name": command_types.THERMOCYCLER_WAIT_FOR_HOLD, "payload": {"text": text}}
@@ -183,6 +196,16 @@ def heater_shaker_set_and_wait_for_shake_speed(
     }
 
 
+def heater_shaker_set_shake_speed(
+    rpm: int,
+) -> command_types.HeaterShakerSetShakeSpeedCommand:
+    text = f"Setting Heater-Shaker to Shake at {rpm} RPM"
+    return {
+        "name": command_types.HEATER_SHAKER_SET_SHAKE_SPEED,
+        "payload": {"text": text},
+    }
+
+
 def heater_shaker_open_labware_latch() -> command_types.HeaterShakerOpenLabwareLatchCommand:
     text = "Unlatching labware on Heater-Shaker"
     return {

opentrons/legacy_commands/protocol_commands.py

@@ -1,6 +1,7 @@
 from datetime import timedelta
 from typing import Optional
 from . import types as command_types
+from opentrons.protocol_api.tasks import Task
 
 
 def comment(msg: str) -> command_types.CommentCommand:
@@ -52,3 +53,22 @@ def move_labware(text: str) -> command_types.MoveLabwareCommand:
         "name": command_types.MOVE_LABWARE,
         "payload": {"text": text},
     }
+
+
+def wait_for_tasks(tasks: list[Task]) -> command_types.WaitForTasksCommand:
+    task_ids = [task.created_at.strftime("%Y-%m-%d %H:%M:%S") for task in tasks]
+    msg = f"Waiting for tasks that started at: {task_ids}."
+    return {
+        "name": command_types.WAIT_FOR_TASKS,
+        "payload": {"text": msg},
+    }
+
+
+def create_timer(seconds: float) -> command_types.CreateTimerCommand:
+    return {
+        "name": command_types.CREATE_TIMER,
+        "payload": {
+            "text": f"Creating background timer for {seconds} seconds.",
+            "time": seconds,
+        },
+    }

opentrons/legacy_commands/types.py

@@ -64,6 +64,7 @@ HEATER_SHAKER_WAIT_FOR_TEMPERATURE: Final = "command.HEATER_SHAKER_WAIT_FOR_TEMP
 HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED: Final = (
     "command.HEATER_SHAKER_SET_AND_WAIT_FOR_SHAKE_SPEED"
 )
+HEATER_SHAKER_SET_SHAKE_SPEED: Final = "command.HEATER_SHAKER_SET_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"
@@ -81,6 +82,7 @@ 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_START_EXECUTE_PROFILE: Final = "command.THERMOCYCLER_START_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"
@@ -102,6 +104,10 @@ 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"
 
+# Tasks #
+WAIT_FOR_TASKS: Final = "command.WAIT_FOR_TASKS"
+CREATE_TIMER: Final = "command.CREATE_TIMER"
+
 
 class TextOnlyPayload(TypedDict):
     text: str
@@ -190,6 +196,15 @@ class HeaterShakerSetAndWaitForShakeSpeedCommand(TypedDict):
     payload: HeaterShakerSetAndWaitForShakeSpeedPayload
 
 
+class HeaterShakerSetShakeSpeedPayload(TextOnlyPayload):
+    pass
+
+
+class HeaterShakerSetShakeSpeedCommand(TypedDict):
+    name: Literal["command.HEATER_SHAKER_SET_SHAKE_SPEED"]
+    payload: HeaterShakerSetShakeSpeedPayload
+
+
 class HeaterShakerOpenLabwareLatchPayload(TextOnlyPayload):
     pass
 
@@ -308,6 +323,15 @@ class ThermocyclerExecuteProfileCommand(TypedDict):
     payload: ThermocyclerExecuteProfileCommandPayload
 
 
+class ThermocyclerStartExecuteProfileCommandPayload(TextOnlyPayload):
+    steps: List[ThermocyclerStep]
+
+
+class ThermocyclerStartExecuteProfileCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_START_EXECUTE_PROFILE"]
+    payload: ThermocyclerStartExecuteProfileCommandPayload
+
+
 class ThermocyclerWaitForHoldCommandPayload(TextOnlyPayload):
     pass
 
@@ -714,6 +738,27 @@ class RobotCloseGripperJawCommand(TypedDict):
     payload: GripperCommandPayload
 
 
+# Task Commands and Payloads
+
+
+class WaitForTasksPayload(TextOnlyPayload):
+    pass
+
+
+class CreateTimerPayload(TextOnlyPayload):
+    time: float
+
+
+class WaitForTasksCommand(TypedDict):
+    name: Literal["command.WAIT_FOR_TASKS"]
+    payload: WaitForTasksPayload
+
+
+class CreateTimerCommand(TypedDict):
+    name: Literal["command.CREATE_TIMER"]
+    payload: CreateTimerPayload
+
+
 Command = Union[
     DropTipCommand,
     DropTipInDisposalLocationCommand,
@@ -734,6 +779,7 @@ Command = Union[
     HeaterShakerSetTargetTemperatureCommand,
     HeaterShakerWaitForTemperatureCommand,
     HeaterShakerSetAndWaitForShakeSpeedCommand,
+    HeaterShakerSetShakeSpeedCommand,
     HeaterShakerOpenLabwareLatchCommand,
     HeaterShakerCloseLabwareLatchCommand,
     HeaterShakerDeactivateShakerCommand,
@@ -747,6 +793,7 @@ Command = Union[
     ThermocyclerWaitForTempCommand,
     ThermocyclerWaitForHoldCommand,
     ThermocyclerExecuteProfileCommand,
+    ThermocyclerStartExecuteProfileCommand,
     ThermocyclerSetBlockTempCommand,
     ThermocyclerOpenCommand,
     TempdeckDeactivateCommand,
@@ -782,6 +829,9 @@ Command = Union[
     FlexStackerStoreCommand,
     FlexStackerEmptyCommand,
     FlexStackerFillCommand,
+    # Task commands
+    WaitForTasksCommand,
+    CreateTimerCommand,
 ]
 
 
@@ -791,6 +841,7 @@ CommandPayload = Union[
     HeaterShakerSetTargetTemperaturePayload,
     HeaterShakerWaitForTemperaturePayload,
     HeaterShakerSetAndWaitForShakeSpeedPayload,
+    HeaterShakerSetShakeSpeedPayload,
     HeaterShakerOpenLabwareLatchPayload,
     HeaterShakerCloseLabwareLatchPayload,
     HeaterShakerDeactivateShakerPayload,
@@ -823,6 +874,7 @@ CommandPayload = Union[
     DispenseInDisposalLocationCommandPayload,
     HomeCommandPayload,
     ThermocyclerExecuteProfileCommandPayload,
+    ThermocyclerStartExecuteProfileCommandPayload,
     ThermocyclerSetBlockTempCommandPayload,
     TempdeckAwaitTempCommandPayload,
     TempdeckSetTempCommandPayload,
@@ -842,6 +894,9 @@ CommandPayload = Union[
     RobotMoveAxisRelativeCommandPayload,
     RobotMoveAxisToCommandPayload,
     GripperCommandPayload,
+    # Task payloads
+    WaitForTasksPayload,
+    CreateTimerPayload,
 ]
 
 
@@ -952,6 +1007,12 @@ class HeaterShakerSetAndWaitForShakeSpeedMessage(
     pass
 
 
+class HeaterShakerSetShakeSpeedMessage(
+    CommandMessageFields, HeaterShakerSetShakeSpeedCommand
+):
+    pass
+
+
 class HeaterShakerOpenLabwareLatchMessage(
     CommandMessageFields, HeaterShakerOpenLabwareLatchCommand
 ):
@@ -1028,6 +1089,12 @@ class ThermocyclerExecuteProfileMessage(
     pass
 
 
+class ThermocyclerStartExecuteProfileMessage(
+    CommandMessageFields, ThermocyclerStartExecuteProfileCommand
+):
+    pass
+
+
 class ThermocyclerSetBlockTempMessage(
     CommandMessageFields, ThermocyclerSetBlockTempCommand
 ):
@@ -1124,6 +1191,14 @@ class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawComm
     pass
 
 
+class WaitForTasksMessage(CommandMessageFields, WaitForTasksCommand):
+    pass
+
+
+class CreateTimerMessage(CommandMessageFields, CreateTimerCommand):
+    pass
+
+
 CommandMessage = Union[
     DropTipMessage,
     DropTipInDisposalLocationMessage,
@@ -1144,6 +1219,7 @@ CommandMessage = Union[
     HeaterShakerSetTargetTemperatureMessage,
     HeaterShakerWaitForTemperatureMessage,
     HeaterShakerSetAndWaitForShakeSpeedMessage,
+    HeaterShakerSetShakeSpeedMessage,
     HeaterShakerOpenLabwareLatchMessage,
     HeaterShakerCloseLabwareLatchMessage,
     HeaterShakerDeactivateShakerMessage,
@@ -1157,6 +1233,7 @@ CommandMessage = Union[
     ThermocyclerWaitForTempMessage,
     ThermocyclerWaitForHoldMessage,
     ThermocyclerExecuteProfileMessage,
+    ThermocyclerStartExecuteProfileMessage,
     ThermocyclerSetBlockTempMessage,
     ThermocyclerOpenMessage,
     TempdeckSetTempMessage,
@@ -1183,4 +1260,7 @@ CommandMessage = Union[
     FlexStackerStoreMessage,
     FlexStackerEmptyMessage,
     FlexStackerFillMessage,
+    # Task Messages
+    WaitForTasksMessage,
+    CreateTimerMessage,
 ]

opentrons/motion_planning/deck_conflict.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+from collections.abc import Container
 from dataclasses import dataclass
 from typing import List, Mapping, NamedTuple, Optional, Set, Union
 from typing_extensions import Final
@@ -15,6 +16,7 @@ from opentrons.motion_planning.adjacent_slots_getters import (
     get_adjacent_staging_slot,
 )
 
+from opentrons.protocols.api_support.constants import OPENTRONS_NAMESPACE
 from opentrons.types import DeckSlotName, StagingSlotName
 
 _FIXED_TRASH_SLOT: Final[Set[DeckSlotName]] = {
@@ -37,14 +39,14 @@ HS_MAX_X_ADJACENT_ITEM_HEIGHT = 53.0
 # For background, see: https://github.com/Opentrons/opentrons/issues/10316
 #
 # TODO(mc, 2022-06-16): move this constant to the module definition
-HS_ALLOWED_ADJACENT_TALL_LABWARE = [
-    LabwareUri("opentrons/opentrons_96_filtertiprack_10ul/1"),
-    LabwareUri("opentrons/opentrons_96_filtertiprack_200ul/1"),
-    LabwareUri("opentrons/opentrons_96_filtertiprack_20ul/1"),
-    LabwareUri("opentrons/opentrons_96_tiprack_10ul/1"),
-    LabwareUri("opentrons/opentrons_96_tiprack_20ul/1"),
-    LabwareUri("opentrons/opentrons_96_tiprack_300ul/1"),
-]
+HS_ALLOWED_ADJACENT_TALL_LABWARE = {
+    "opentrons_96_filtertiprack_10ul",
+    "opentrons_96_filtertiprack_200ul",
+    "opentrons_96_filtertiprack_20ul",
+    "opentrons_96_tiprack_10ul",
+    "opentrons_96_tiprack_20ul",
+    "opentrons_96_tiprack_300ul",
+}
 
 
 @dataclass
@@ -156,11 +158,15 @@ class _MaxHeight(NamedTuple):
     source_item: DeckItem
     source_location: DeckSlotName
     max_height: float
-    allowed_labware: List[LabwareUri]
+    allowed_labware_load_names: Container[str]
 
     def is_allowed(self, item: DeckItem) -> bool:
         if isinstance(item, Labware):
-            if item.uri in self.allowed_labware:
+            namespace, load_name, _version = item.uri.split("/")
+            if (
+                namespace == OPENTRONS_NAMESPACE
+                and load_name in self.allowed_labware_load_names
+            ):
                 return True
             else:
                 return item.highest_z < self.max_height
@@ -315,7 +321,7 @@ def _create_ot2_restrictions(  # noqa: C901
                     source_item=item,
                     source_location=location,
                     max_height=HS_MAX_X_ADJACENT_ITEM_HEIGHT,
-                    allowed_labware=HS_ALLOWED_ADJACENT_TALL_LABWARE,
+                    allowed_labware_load_names=HS_ALLOWED_ADJACENT_TALL_LABWARE,
                 )
             )
 
@@ -434,7 +440,6 @@ def _create_flex_restrictions(  # noqa: C901
 def _create_restrictions(
     item: DeckItem, location: Union[DeckSlotName, StagingSlotName], robot_type: str
 ) -> List[_DeckRestriction]:
-
     if robot_type == "OT-2 Standard":
         return _create_ot2_restrictions(item, location)
     else:

opentrons/motion_planning/waypoints.py

@@ -7,7 +7,6 @@ from opentrons.hardware_control.types import CriticalPoint
 
 from .types import Waypoint, MoveType, GripperMovementWaypointsWithJawStatus
 from .errors import DestinationOutOfBoundsError, ArcOutOfBoundsError
-from ..protocol_engine.types import LabwareMovementOffsetData
 
 DEFAULT_GENERAL_ARC_Z_MARGIN: Final[float] = 10.0
 DEFAULT_IN_LABWARE_ARC_Z_MARGIN: Final[float] = 5.0
@@ -125,47 +124,41 @@ def get_gripper_labware_movement_waypoints(
     from_labware_center: Point,
     to_labware_center: Point,
     gripper_home_z: float,
-    offset_data: LabwareMovementOffsetData,
     post_drop_slide_offset: Optional[Point],
     gripper_home_z_offset: Optional[float] = None,
 ) -> List[GripperMovementWaypointsWithJawStatus]:
     """Get waypoints for moving labware using a gripper."""
-    pick_up_offset = offset_data.pickUpOffset
-    drop_offset = offset_data.dropOffset
-
-    pick_up_location = from_labware_center + Point(
-        pick_up_offset.x, pick_up_offset.y, pick_up_offset.z
-    )
-    drop_location = to_labware_center + Point(
-        drop_offset.x, drop_offset.y, drop_offset.z
-    )
-
     gripper_max_z_home = gripper_home_z - (gripper_home_z_offset or 0)
-
-    post_drop_home_pos = Point(drop_location.x, drop_location.y, gripper_home_z)
+    post_drop_home_pos = Point(to_labware_center.x, to_labware_center.y, gripper_home_z)
 
     waypoints_with_jaw_status = [
         GripperMovementWaypointsWithJawStatus(
-            position=Point(pick_up_location.x, pick_up_location.y, gripper_home_z),
+            position=Point(
+                from_labware_center.x, from_labware_center.y, gripper_home_z
+            ),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=pick_up_location, jaw_open=True, dropping=False
+            position=from_labware_center, jaw_open=True, dropping=False
         ),
         # Gripper grips the labware here
         GripperMovementWaypointsWithJawStatus(
-            position=Point(pick_up_location.x, pick_up_location.y, gripper_max_z_home),
+            position=Point(
+                from_labware_center.x, from_labware_center.y, gripper_max_z_home
+            ),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=Point(drop_location.x, drop_location.y, gripper_max_z_home),
+            position=Point(
+                to_labware_center.x, to_labware_center.y, gripper_max_z_home
+            ),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=drop_location, jaw_open=False, dropping=False
+            position=to_labware_center, jaw_open=False, dropping=False
         ),
         # Gripper ungrips here
         GripperMovementWaypointsWithJawStatus(
@@ -189,25 +182,18 @@ def get_gripper_labware_movement_waypoints(
 def get_gripper_labware_placement_waypoints(
     to_labware_center: Point,
     gripper_home_z: float,
-    drop_offset: Optional[Point],
 ) -> List[GripperMovementWaypointsWithJawStatus]:
     """Get waypoints for placing labware using a gripper."""
-    drop_offset = drop_offset or Point()
-
-    drop_location = to_labware_center + Point(
-        drop_offset.x, drop_offset.y, drop_offset.z
-    )
-
-    post_drop_home_pos = Point(drop_location.x, drop_location.y, gripper_home_z)
+    post_drop_home_pos = Point(to_labware_center.x, to_labware_center.y, gripper_home_z)
 
     return [
         GripperMovementWaypointsWithJawStatus(
-            position=Point(drop_location.x, drop_location.y, gripper_home_z),
+            position=Point(to_labware_center.x, to_labware_center.y, gripper_home_z),
             jaw_open=False,
             dropping=False,
         ),
         GripperMovementWaypointsWithJawStatus(
-            position=drop_location, jaw_open=False, dropping=False
+            position=to_labware_center, jaw_open=False, dropping=False
         ),
         # Gripper ungrips here
         GripperMovementWaypointsWithJawStatus(

opentrons/protocol_api/__init__.py

@@ -14,7 +14,7 @@ from opentrons.protocols.parameters.exceptions import (
     RuntimeParameterRequired as RuntimeParameterRequiredError,
 )
 from opentrons.protocols.parameters.csv_parameter_interface import CSVParameter
-
+from .tasks import Task
 from .protocol_context import ProtocolContext
 from .deck import Deck
 from .robot_context import RobotContext
@@ -33,6 +33,7 @@ from .module_contexts import (
 from .disposal_locations import TrashBin, WasteChute
 from ._liquid import Liquid, LiquidClass
 from ._types import (
+    OffDeckType,
     OFF_DECK,
     PLUNGER_BLOWOUT,
     PLUNGER_TOP,
@@ -88,6 +89,7 @@ __all__ = [
     "ROW",
     "ALL",
     # Deck location types
+    "OffDeckType",
     "OFF_DECK",
     # Pipette plunger types
     "PLUNGER_BLOWOUT",
@@ -99,6 +101,8 @@ __all__ = [
     "BLOWOUT_ACTION",
     "RuntimeParameterRequiredError",
     "CSVParameter",
+    # Concurrent task types
+    "Task",
     # For internal Opentrons use only:
     "create_protocol_context",
     "ProtocolEngineCoreRequiredError",

opentrons/protocol_api/_types.py

@@ -3,8 +3,13 @@ from typing_extensions import Final
 import enum
 
 
-# TODO (tz, 5-18-23): think about a better name for it that would also work when we include staging area slots in the type.
+# Implemented with an enum to support type narrowing via `== OFF_DECK`.
 class OffDeckType(enum.Enum):
+    """The type of the :py:obj:`OFF_DECK` constant.
+
+    Do not use directly, except in type annotations and ``isinstance`` calls.
+    """
+
     OFF_DECK = "off-deck"
 
 

opentrons/protocol_api/core/common.py

@@ -16,6 +16,7 @@ from .module import (
 from .protocol import AbstractProtocol
 from .well import AbstractWellCore
 from .robot import AbstractRobot
+from .tasks import AbstractTaskCore
 
 
 WellCore = AbstractWellCore
@@ -30,4 +31,5 @@ MagneticBlockCore = AbstractMagneticBlockCore[LabwareCore]
 AbsorbanceReaderCore = AbstractAbsorbanceReaderCore[LabwareCore]
 FlexStackerCore = AbstractFlexStackerCore[LabwareCore]
 RobotCore = AbstractRobot
-ProtocolCore = AbstractProtocol[InstrumentCore, LabwareCore, ModuleCore]
+TaskCore = AbstractTaskCore
+ProtocolCore = AbstractProtocol[InstrumentCore, LabwareCore, ModuleCore, TaskCore]

opentrons/protocol_api/core/engine/_default_labware_versions.py

@@ -112,6 +112,37 @@ DEFAULT_LABWARE_VERSIONS: DefaultLabwareVersions = {
         "thermoscientificnunc_96_wellplate_2000ul": 3,
         "usascientific_96_wellplate_2.4ml_deep": 3,
     },
+    APIVersion(2, 27): {
+        "agilent_1_reservoir_290ml": 4,
+        "axygen_1_reservoir_90ml": 3,
+        "biorad_96_wellplate_200ul_pcr": 5,
+        "corning_12_wellplate_6.9ml_flat": 5,
+        "corning_24_wellplate_3.4ml_flat": 5,
+        "corning_384_wellplate_112ul_flat": 5,
+        "corning_48_wellplate_1.6ml_flat": 6,
+        "corning_6_wellplate_16.8ml_flat": 5,
+        "corning_96_wellplate_360ul_flat": 5,
+        "nest_12_reservoir_15ml": 3,
+        "nest_1_reservoir_195ml": 4,
+        "nest_1_reservoir_290ml": 4,
+        "nest_96_wellplate_100ul_pcr_full_skirt": 5,
+        "nest_96_wellplate_200ul_flat": 5,
+        "nest_96_wellplate_2ml_deep": 5,
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical": 3,
+        "opentrons_15_tuberack_falcon_15ml_conical": 3,
+        "opentrons_24_aluminumblock_nest_0.5ml_screwcap": 4,
+        "opentrons_24_aluminumblock_nest_1.5ml_screwcap": 3,
+        "opentrons_24_aluminumblock_nest_1.5ml_snapcap": 3,
+        "opentrons_24_aluminumblock_nest_2ml_screwcap": 3,
+        "opentrons_24_aluminumblock_nest_2ml_snapcap": 3,
+        "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap": 3,
+        "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap": 3,
+        "opentrons_24_tuberack_nest_0.5ml_screwcap": 4,
+        "opentrons_6_tuberack_nest_50ml_conical": 3,
+        "opentrons_96_aluminumblock_generic_pcr_strip_200ul": 4,
+        "usascientific_12_reservoir_22ml": 4,
+        "usascientific_96_wellplate_2.4ml_deep": 4,
+    },
 }
 
 
@@ -139,17 +170,7 @@ KNOWN_EXCEPTIONS_FOR_TESTS: set[str] = {
     "schema3test_flex_tiprack_lid",
     "schema3test_tough_pcr_auto_sealing_lid",
     "schema3test_universal_flat_adapter",
-    # These were supposed to be short-lived drafts as part of of a one-two punch of
-    # https://github.com/Opentrons/opentrons/pull/18266 + https://github.com/Opentrons/opentrons/pull/18284,
-    # but the second punch took a while. We should merge the second punch after v8.6.0
-    # and remove these exceptions as part of that.
-    "agilent_1_reservoir_290ml",
-    "corning_384_wellplate_112ul_flat",
-    "nest_1_reservoir_290ml",
-    "opentrons_24_aluminumblock_nest_0.5ml_screwcap",
-    "opentrons_24_tuberack_nest_0.5ml_screwcap",
-    "opentrons_96_aluminumblock_generic_pcr_strip_200ul",
-    "usascientific_12_reservoir_22ml",
+    "schema3test_96_wellplate_360ul_flat",
 }
 
 

opentrons/protocol_api/core/engine/labware.py

@@ -23,6 +23,7 @@ from opentrons.protocol_engine.clients import SyncClient as ProtocolEngineClient
 from opentrons.protocol_engine.types import (
     LabwareOffsetCreate,
     LabwareOffsetVector,
+    TipRackWellState,
 )
 from opentrons.types import DeckSlotName, NozzleMapInterface, Point, StagingSlotName
 
@@ -165,7 +166,13 @@ class LabwareCore(AbstractLabware[WellCore]):
 
     def reset_tips(self) -> None:
         if self.is_tip_rack():
-            self._engine_client.reset_tips(labware_id=self.labware_id)
+            self._engine_client.execute_command(
+                cmd.SetTipStateParams(
+                    labwareId=self._labware_id,
+                    wellNames=list(self._definition.wells),
+                    tipWellState=TipRackWellState.CLEAN,
+                )
+            )
         else:
             raise TypeError(f"{self.get_display_name()} is not a tip rack.")