opentrons 8.7.0a7__py3-none-any.whl → 8.7.0a8__py3-none-any.whl

opentrons/protocol_engine/commands/__init__.py

@@ -271,22 +271,6 @@ from .wait_for_duration import (
     WaitForDurationCommandType,
 )
 
-from .create_timer import (
-    CreateTimer,
-    CreateTimerCreate,
-    CreateTimerParams,
-    CreateTimerResult,
-    CreateTimerCommandType,
-)
-
-from .wait_for_tasks import (
-    WaitForTasks,
-    WaitForTasksCreate,
-    WaitForTasksParams,
-    WaitForTasksResult,
-    WaitForTasksCommandType,
-)
-
 from .pick_up_tip import (
     PickUpTip,
     PickUpTipParams,
@@ -400,14 +384,6 @@ from .get_next_tip import (
     GetNextTipCommandType,
 )
 
-from .set_tip_state import (
-    SetTipState,
-    SetTipStateCreate,
-    SetTipStateParams,
-    SetTipStateResult,
-    SetTipStateCommandType,
-)
-
 from .liquid_probe import (
     LiquidProbe,
     LiquidProbeParams,
@@ -643,12 +619,6 @@ __all__ = [
     "WaitForDurationCreate",
     "WaitForDurationResult",
     "WaitForDurationCommandType",
-    # Timer command models
-    "CreateTimer",
-    "CreateTimerCreate",
-    "CreateTimerParams",
-    "CreateTimerResult",
-    "CreateTimerCommandType",
     # pick up tip command models
     "PickUpTip",
     "PickUpTipCreate",
@@ -755,12 +725,6 @@ __all__ = [
     "GetNextTipParams",
     "GetNextTipResult",
     "GetNextTipCommandType",
-    # set tip state command bundle
-    "SetTipState",
-    "SetTipStateCreate",
-    "SetTipStateParams",
-    "SetTipStateResult",
-    "SetTipStateCommandType",
     # liquid probe command bundle
     "LiquidProbe",
     "LiquidProbeParams",
@@ -790,10 +754,4 @@ __all__ = [
     "PressureDispenseCreate",
     "PressureDispenseResult",
     "PressureDispenseCommandType",
-    # wait for tasks command bundle
-    "WaitForTasks",
-    "WaitForTasksCreate",
-    "WaitForTasksParams",
-    "WaitForTasksResult",
-    "WaitForTasksCommandType",
 ]

opentrons/protocol_engine/commands/absorbance_reader/close_lid.py

@@ -102,12 +102,25 @@ class CloseLidImpl(AbstractCommandImpl[CloseLidParams, SuccessData[CloseLidResul
                 )
             )
 
+            # The lid's labware definition stores gripper offsets for itself in the
+            # space normally meant for offsets for labware stacked atop it.
+            lid_gripper_offsets = self._state_view.labware.get_child_gripper_offsets(
+                labware_definition=lid_definition,
+                slot_name=None,
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
             await self._labware_movement.move_labware_with_gripper(
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_pick_up_offset=Point(),
-                user_drop_offset=Point(),
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
                 gripper_z_offset=LID_Z_CLEARANCE,
             )

opentrons/protocol_engine/commands/absorbance_reader/open_lid.py

@@ -103,12 +103,25 @@ class OpenLidImpl(AbstractCommandImpl[OpenLidParams, SuccessData[OpenLidResult]]
                 mod_substate.module_id
             )
 
+            # The lid's labware definition stores gripper offsets for itself in the
+            # space normally meant for offsets for labware stacked atop it.
+            lid_gripper_offsets = self._state_view.labware.get_child_gripper_offsets(
+                labware_definition=lid_definition,
+                slot_name=None,
+            )
+            if lid_gripper_offsets is None:
+                raise ValueError(
+                    "Gripper Offset values for Absorbance Reader Lid labware must not be None."
+                )
+
             await self._labware_movement.move_labware_with_gripper(
                 labware_definition=lid_definition,
                 current_location=current_location,
                 new_location=new_location,
-                user_pick_up_offset=Point(),
-                user_drop_offset=Point(),
+                user_pick_up_offset=Point.from_xyz_attrs(
+                    lid_gripper_offsets.pickUpOffset
+                ),
+                user_drop_offset=Point.from_xyz_attrs(lid_gripper_offsets.dropOffset),
                 post_drop_slide_offset=None,
                 gripper_z_offset=LID_Z_CLEARANCE,
             )

opentrons/protocol_engine/commands/aspirate.py

@@ -161,7 +161,6 @@ class AspirateImplementation(AbstractCommandImpl[AspirateParams, _ExecuteReturn]
             well_location=well_location,
             current_well=current_well,
             operation_volume=-params.volume,
-            offset_pipette_for_reservoir_subwells=False,
         )
         state_update.append(move_result.state_update)
         if isinstance(move_result, DefinedErrorData):

opentrons/protocol_engine/commands/command.py

@@ -185,7 +185,6 @@ class AbstractCommandImpl(
         tip_handler: execution.TipHandler,
         run_control: execution.RunControlHandler,
         rail_lights: execution.RailLightsHandler,
-        task_handler: execution.TaskHandler,
         model_utils: ModelUtils,
         status_bar: execution.StatusBarHandler,
         command_note_adder: CommandNoteAdder,

opentrons/protocol_engine/commands/command_unions.py

@@ -267,22 +267,6 @@ from .wait_for_duration import (
     WaitForDurationCommandType,
 )
 
-from .create_timer import (
-    CreateTimer,
-    CreateTimerCreate,
-    CreateTimerParams,
-    CreateTimerResult,
-    CreateTimerCommandType,
-)
-
-from .wait_for_tasks import (
-    WaitForTasks,
-    WaitForTasksCreate,
-    WaitForTasksParams,
-    WaitForTasksResult,
-    WaitForTasksCommandType,
-)
-
 from .pick_up_tip import (
     PickUpTip,
     PickUpTipParams,
@@ -388,14 +372,6 @@ from .get_next_tip import (
     GetNextTipCommandType,
 )
 
-from .set_tip_state import (
-    SetTipState,
-    SetTipStateCreate,
-    SetTipStateParams,
-    SetTipStateResult,
-    SetTipStateCommandType,
-)
-
 from .liquid_probe import (
     LiquidProbe,
     LiquidProbeParams,
@@ -478,8 +454,6 @@ Command = Annotated[
         PrepareToAspirate,
         WaitForResume,
         WaitForDuration,
-        WaitForTasks,
-        CreateTimer,
         PickUpTip,
         SavePosition,
         SetRailLights,
@@ -488,7 +462,6 @@ Command = Annotated[
         VerifyTipPresence,
         GetTipPresence,
         GetNextTip,
-        SetTipState,
         LiquidProbe,
         TryLiquidProbe,
         SealPipetteToTip,
@@ -498,7 +471,6 @@ Command = Annotated[
         heater_shaker.SetTargetTemperature,
         heater_shaker.DeactivateHeater,
         heater_shaker.SetAndWaitForShakeSpeed,
-        heater_shaker.SetShakeSpeed,
         heater_shaker.DeactivateShaker,
         heater_shaker.OpenLabwareLatch,
         heater_shaker.CloseLabwareLatch,
@@ -516,7 +488,6 @@ Command = Annotated[
         thermocycler.OpenLid,
         thermocycler.CloseLid,
         thermocycler.RunProfile,
-        thermocycler.StartRunExtendedProfile,
         thermocycler.RunExtendedProfile,
         absorbance_reader.CloseLid,
         absorbance_reader.OpenLid,
@@ -586,8 +557,6 @@ CommandParams = Union[
     PrepareToAspirateParams,
     WaitForResumeParams,
     WaitForDurationParams,
-    WaitForTasksParams,
-    CreateTimerParams,
     PickUpTipParams,
     SavePositionParams,
     SetRailLightsParams,
@@ -596,7 +565,6 @@ CommandParams = Union[
     VerifyTipPresenceParams,
     GetTipPresenceParams,
     GetNextTipParams,
-    SetTipStateParams,
     LiquidProbeParams,
     TryLiquidProbeParams,
     SealPipetteToTipParams,
@@ -606,7 +574,6 @@ CommandParams = Union[
     heater_shaker.SetTargetTemperatureParams,
     heater_shaker.DeactivateHeaterParams,
     heater_shaker.SetAndWaitForShakeSpeedParams,
-    heater_shaker.SetShakeSpeedParams,
     heater_shaker.DeactivateShakerParams,
     heater_shaker.OpenLabwareLatchParams,
     heater_shaker.CloseLabwareLatchParams,
@@ -624,7 +591,6 @@ CommandParams = Union[
     thermocycler.OpenLidParams,
     thermocycler.CloseLidParams,
     thermocycler.RunProfileParams,
-    thermocycler.StartRunExtendedProfileParams,
     thermocycler.RunExtendedProfileParams,
     absorbance_reader.CloseLidParams,
     absorbance_reader.OpenLidParams,
@@ -692,8 +658,6 @@ CommandType = Union[
     PrepareToAspirateCommandType,
     WaitForResumeCommandType,
     WaitForDurationCommandType,
-    WaitForTasksCommandType,
-    CreateTimerCommandType,
     PickUpTipCommandType,
     SavePositionCommandType,
     SetRailLightsCommandType,
@@ -702,7 +666,6 @@ CommandType = Union[
     VerifyTipPresenceCommandType,
     GetTipPresenceCommandType,
     GetNextTipCommandType,
-    SetTipStateCommandType,
     LiquidProbeCommandType,
     TryLiquidProbeCommandType,
     SealPipetteToTipCommandType,
@@ -712,7 +675,6 @@ CommandType = Union[
     heater_shaker.SetTargetTemperatureCommandType,
     heater_shaker.DeactivateHeaterCommandType,
     heater_shaker.SetAndWaitForShakeSpeedCommandType,
-    heater_shaker.SetShakeSpeedCommandType,
     heater_shaker.DeactivateShakerCommandType,
     heater_shaker.OpenLabwareLatchCommandType,
     heater_shaker.CloseLabwareLatchCommandType,
@@ -730,7 +692,6 @@ CommandType = Union[
     thermocycler.OpenLidCommandType,
     thermocycler.CloseLidCommandType,
     thermocycler.RunProfileCommandType,
-    thermocycler.StartRunExtendedProfileCommandType,
     thermocycler.RunExtendedProfileCommandType,
     absorbance_reader.CloseLidCommandType,
     absorbance_reader.OpenLidCommandType,
@@ -799,8 +760,6 @@ CommandCreate = Annotated[
         PrepareToAspirateCreate,
         WaitForResumeCreate,
         WaitForDurationCreate,
-        WaitForTasksCreate,
-        CreateTimerCreate,
         PickUpTipCreate,
         SavePositionCreate,
         SetRailLightsCreate,
@@ -809,7 +768,6 @@ CommandCreate = Annotated[
         VerifyTipPresenceCreate,
         GetTipPresenceCreate,
         GetNextTipCreate,
-        SetTipStateCreate,
         LiquidProbeCreate,
         TryLiquidProbeCreate,
         SealPipetteToTipCreate,
@@ -819,7 +777,6 @@ CommandCreate = Annotated[
         heater_shaker.SetTargetTemperatureCreate,
         heater_shaker.DeactivateHeaterCreate,
         heater_shaker.SetAndWaitForShakeSpeedCreate,
-        heater_shaker.SetShakeSpeedCreate,
         heater_shaker.DeactivateShakerCreate,
         heater_shaker.OpenLabwareLatchCreate,
         heater_shaker.CloseLabwareLatchCreate,
@@ -837,7 +794,6 @@ CommandCreate = Annotated[
         thermocycler.OpenLidCreate,
         thermocycler.CloseLidCreate,
         thermocycler.RunProfileCreate,
-        thermocycler.StartRunExtendedProfileCreate,
         thermocycler.RunExtendedProfileCreate,
         absorbance_reader.CloseLidCreate,
         absorbance_reader.OpenLidCreate,
@@ -914,8 +870,6 @@ CommandResult = Union[
     PrepareToAspirateResult,
     WaitForResumeResult,
     WaitForDurationResult,
-    WaitForTasksResult,
-    CreateTimerResult,
     PickUpTipResult,
     SavePositionResult,
     SetRailLightsResult,
@@ -924,7 +878,6 @@ CommandResult = Union[
     VerifyTipPresenceResult,
     GetTipPresenceResult,
     GetNextTipResult,
-    SetTipStateResult,
     LiquidProbeResult,
     TryLiquidProbeResult,
     SealPipetteToTipResult,
@@ -934,7 +887,6 @@ CommandResult = Union[
     heater_shaker.SetTargetTemperatureResult,
     heater_shaker.DeactivateHeaterResult,
     heater_shaker.SetAndWaitForShakeSpeedResult,
-    heater_shaker.SetShakeSpeedResult,
     heater_shaker.DeactivateShakerResult,
     heater_shaker.OpenLabwareLatchResult,
     heater_shaker.CloseLabwareLatchResult,
@@ -952,7 +904,6 @@ CommandResult = Union[
     thermocycler.OpenLidResult,
     thermocycler.CloseLidResult,
     thermocycler.RunProfileResult,
-    thermocycler.StartRunExtendedProfileResult,
     thermocycler.RunExtendedProfileResult,
     absorbance_reader.CloseLidResult,
     absorbance_reader.OpenLidResult,

opentrons/protocol_engine/commands/dispense.py

@@ -101,7 +101,6 @@ class DispenseImplementation(AbstractCommandImpl[DispenseParams, _ExecuteReturn]
             well_name=well_name,
             well_location=well_location,
             operation_volume=volume,
-            offset_pipette_for_reservoir_subwells=False,
         )
         if isinstance(move_result, DefinedErrorData):
             return move_result

opentrons/protocol_engine/commands/drop_tip.py

@@ -12,7 +12,7 @@ from opentrons.protocol_engine.errors.exceptions import TipAttachedError
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 
 from ..state.update_types import StateUpdate
-from ..types import DropTipWellLocation, TipRackWellState
+from ..types import DropTipWellLocation
 from .pipetting_common import (
     PipetteIdMixin,
     TipPhysicallyAttachedError,
@@ -140,25 +140,6 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
             partially_configured=is_partially_configured,
         )
 
-        is_tip_rack = self._state_view.labware.get_definition(
-            labware_id
-        ).parameters.isTiprack
-
-        # It's possible that we are dropping tips into a labware trash for pre API v2.14 OT-2 protocols
-        # (or something else unexpected), so if it is not a tip rack mark no wells as used
-        if is_tip_rack:
-            tips_to_mark_as_used = (
-                self._state_view.tips.compute_tips_to_mark_as_used_or_empty(
-                    labware_id=labware_id,
-                    well_name=well_name,
-                    nozzle_map=self._state_view.pipettes.get_nozzle_configuration(
-                        pipette_id
-                    ),
-                )
-            )
-        else:
-            tips_to_mark_as_used = []
-
         move_result = await move_to_well(
             movement=self._movement_handler,
             model_utils=self._model_utils,
@@ -171,7 +152,12 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
             return move_result
 
         scrape_type = TipScrapeType.NONE
-        if params.scrape_tips and is_tip_rack:
+        if (
+            params.scrape_tips
+            and self._state_view.geometry._labware.get_definition(
+                labware_id
+            ).parameters.isTiprack
+        ):
             if int("".join(filter(str.isdigit, well_name))) <= 6:
                 scrape_type = TipScrapeType.RIGHT_ONE_COL
             else:
@@ -208,10 +194,6 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
                     pipette_id=params.pipetteId,
                     tip_geometry=None,
                     tip_source=None,
-                ).update_tip_rack_well_state(
-                    tip_state=TipRackWellState.USED,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_used,
                 ),
             )
         else:
@@ -219,16 +201,10 @@ class DropTipImplementation(AbstractCommandImpl[DropTipParams, _ExecuteReturn]):
                 public=DropTipResult(position=move_result.public.position),
                 state_update=move_result.state_update.set_fluid_unknown(
                     pipette_id=pipette_id
-                )
-                .update_pipette_tip_state(
+                ).update_pipette_tip_state(
                     pipette_id=params.pipetteId,
                     tip_geometry=None,
                     tip_source=None,
-                )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.USED,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_used,
                 ),
             )
 

opentrons/protocol_engine/commands/heater_shaker/__init__.py

@@ -32,14 +32,6 @@ from .set_and_wait_for_shake_speed import (
     SetAndWaitForShakeSpeedCommandType,
 )
 
-from .set_shake_speed import (
-    SetShakeSpeed,
-    SetShakeSpeedCreate,
-    SetShakeSpeedParams,
-    SetShakeSpeedResult,
-    SetShakeSpeedCommandType,
-)
-
 from .deactivate_shaker import (
     DeactivateShaker,
     DeactivateShakerCreate,
@@ -89,12 +81,6 @@ __all__ = [
     "SetAndWaitForShakeSpeedParams",
     "SetAndWaitForShakeSpeedResult",
     "SetAndWaitForShakeSpeedCommandType",
-    # heaterShaker/setShakeSpeed
-    "SetShakeSpeed",
-    "SetShakeSpeedCreate",
-    "SetShakeSpeedParams",
-    "SetShakeSpeedResult",
-    "SetShakeSpeedCommandType",
     # heaterShaker/deactivateShaker
     "DeactivateShaker",
     "DeactivateShakerCreate",

opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py

@@ -8,8 +8,6 @@ from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, Succe
 from ...errors.error_occurrence import ErrorOccurrence
 from ...state import update_types
 
-from .common import get_heatershaker_ready_to_shake
-
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
     from opentrons.protocol_engine.execution import EquipmentHandler, MovementHandler
@@ -66,9 +64,10 @@ class SetAndWaitForShakeSpeedImpl(
             module_id=params.moduleId
         )
 
-        validated_speed = await get_heatershaker_ready_to_shake(
-            hs_module_substate, params.rpm
-        )
+        hs_module_substate.raise_if_labware_latch_not_closed()
+
+        # Verify speed from hs module view
+        validated_speed = hs_module_substate.validate_target_speed(params.rpm)
 
         pipette_should_retract = (
             self._state_view.motion.check_pipette_blocking_hs_shaker(

opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py

@@ -1,47 +1,31 @@
 """Command models to start heating a Heater-Shaker Module."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING, Any
+from typing import Optional, TYPE_CHECKING
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
-from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
-    from opentrons.protocol_engine.execution import EquipmentHandler, TaskHandler
+    from opentrons.protocol_engine.execution import EquipmentHandler
 
 
 SetTargetTemperatureCommandType = Literal["heaterShaker/setTargetTemperature"]
 
 
-def _remove_default(s: dict[str, Any]) -> None:
-    s.pop("default", None)
-
-
 class SetTargetTemperatureParams(BaseModel):
     """Input parameters to set a Heater-Shaker's target temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Heater-Shaker Module.")
     celsius: float = Field(..., description="Target temperature in °C.")
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="Id for the background task that manages the temperature",
-        json_schema_extra=_remove_default,
-    )
 
 
 class SetTargetTemperatureResult(BaseModel):
     """Result data from setting a Heater-Shaker's target temperature."""
 
-    taskId: str | SkipJsonSchema[None] = Field(
-        None,
-        description="The task id for the setTargetTemperature task",
-        json_schema_extra=_remove_default,
-    )
-
 
 class SetTargetTemperatureImpl(
     AbstractCommandImpl[
@@ -54,12 +38,10 @@ class SetTargetTemperatureImpl(
         self,
         state_view: StateView,
         equipment: EquipmentHandler,
-        task_handler: TaskHandler,
         **unused_dependencies: object,
     ) -> None:
         self._state_view = state_view
         self._equipment = equipment
-        self._task_handler = task_handler
 
     async def execute(
         self,
@@ -79,19 +61,11 @@ class SetTargetTemperatureImpl(
             hs_module_substate.module_id
         )
 
-        async def start_set_temperature(task_handler: TaskHandler) -> None:
-            if hs_hardware_module is not None:
-                async with task_handler.synchronize_cancel_previous(
-                    hs_module_substate.module_id
-                ):
-                    await hs_hardware_module.start_set_temperature(validated_temp)
-                    await hs_hardware_module.await_temperature(validated_temp)
+        if hs_hardware_module is not None:
+            await hs_hardware_module.start_set_temperature(validated_temp)
 
-        task = await self._task_handler.create_task(
-            task_function=start_set_temperature, id=params.taskId
-        )
         return SuccessData(
-            public=SetTargetTemperatureResult(taskId=task.id),
+            public=SetTargetTemperatureResult(),
         )
 
 

opentrons/protocol_engine/commands/movement_common.py

@@ -152,7 +152,6 @@ async def move_to_well(
     minimum_z_height: Optional[float] = None,
     speed: Optional[float] = None,
     operation_volume: Optional[float] = None,
-    offset_pipette_for_reservoir_subwells: bool = False,
 ) -> MoveToWellOperationReturn:
     """Execute a move to well microoperation."""
     try:
@@ -166,7 +165,6 @@ async def move_to_well(
             minimum_z_height=minimum_z_height,
             speed=speed,
             operation_volume=operation_volume,
-            offset_pipette_for_reservoir_subwells=offset_pipette_for_reservoir_subwells,
         )
     except StallOrCollisionDetectedError as e:
         return DefinedErrorData(

opentrons/protocol_engine/commands/pick_up_tip.py

@@ -10,7 +10,7 @@ from typing_extensions import Literal
 from ..errors import ErrorOccurrence, PickUpTipTipNotAttachedError
 from ..resources import ModelUtils
 from ..state import update_types
-from ..types import PickUpTipWellLocation, LabwareWellId, TipRackWellState
+from ..types import PickUpTipWellLocation, LabwareWellId
 from .pipetting_common import (
     PipetteIdMixin,
 )
@@ -121,14 +121,10 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
         labware_id = params.labwareId
         well_name = params.wellName
 
-        tips_to_mark_as_empty = (
-            self._state_view.tips.compute_tips_to_mark_as_used_or_empty(
-                labware_id=labware_id,
-                well_name=well_name,
-                nozzle_map=self._state_view.pipettes.get_nozzle_configuration(
-                    pipette_id
-                ),
-            )
+        tips_to_mark_as_used = self._state_view.tips.compute_tips_to_mark_as_used(
+            labware_id=labware_id,
+            well_name=well_name,
+            nozzle_map=self._state_view.pipettes.get_nozzle_configuration(pipette_id),
         )
 
         well_location = self._state_view.geometry.convert_pick_up_tip_well_location(
@@ -164,20 +160,16 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
                     ),
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
             )
             state_update = (
                 update_types.StateUpdate.reduce(
                     update_types.StateUpdate(), move_result.state_update
                 )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_unknown(pipette_id=pipette_id)
             )
@@ -205,10 +197,8 @@ class PickUpTipImplementation(AbstractCommandImpl[PickUpTipParams, _ExecuteRetur
                         labware_id=labware_id, well_name=well_name
                     ),
                 )
-                .update_tip_rack_well_state(
-                    tip_state=TipRackWellState.EMPTY,
-                    labware_id=labware_id,
-                    well_names=tips_to_mark_as_empty,
+                .mark_tips_as_used(
+                    labware_id=labware_id, well_names=tips_to_mark_as_used
                 )
                 .set_fluid_empty(pipette_id=pipette_id, clean_tip=True)
                 .set_pipette_ready_to_aspirate(