opentrons 8.7.0a9__py3-none-any.whl → 8.8.0a7__py3-none-any.whl

opentrons/legacy_commands/types.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from typing_extensions import Literal, Final, TypedDict
-from typing import Optional, List, Sequence, TYPE_CHECKING, Union
+from typing import Optional, List, Sequence, TYPE_CHECKING, Union, Tuple
 from opentrons.hardware_control.modules import ThermocyclerStep
 
 if TYPE_CHECKING:
@@ -25,6 +25,7 @@ PAUSE: Final = "command.PAUSE"
 RESUME: Final = "command.RESUME"
 COMMENT: Final = "command.COMMENT"
 MOVE_LABWARE: Final = "command.MOVE_LABWARE"
+CAPTURE_IMAGE: Final = "command.CAPTURE_IMAGE"
 
 # Pipette #
 
@@ -64,6 +65,7 @@ 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"
@@ -80,12 +82,15 @@ 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_START_SET_BLOCK_TEMP: Final = "command.THERMOCYCLER_START_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"
 THERMOCYCLER_WAIT_FOR_LID_TEMP: Final = "command.THERMOCYCLER_WAIT_FOR_LID_TEMP"
 THERMOCYCLER_SET_LID_TEMP: Final = "command.THERMOCYCLER_SET_LID_TEMP"
+THERMOCYCLER_START_SET_LID_TEMP: Final = "command.THERMOCYCLER_START_SET_LID_TEMP"
 THERMOCYCLER_DEACTIVATE_LID: Final = "command.THERMOCYCLER_DEACTIVATE_LID"
 THERMOCYCLER_DEACTIVATE_BLOCK: Final = "command.THERMOCYCLER_DEACTIVATE_BLOCK"
 
@@ -102,6 +107,10 @@ 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 +199,15 @@ 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
 
@@ -299,6 +317,15 @@ class ThermocyclerSetBlockTempCommand(TypedDict):
     payload: ThermocyclerSetBlockTempCommandPayload
 
 
+class ThermocyclerStartSetBlockTempCommandPayload(TextOnlyPayload):
+    temperature: float
+
+
+class ThermocyclerStartSetBlockTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_START_SET_BLOCK_TEMP"]
+    payload: ThermocyclerStartSetBlockTempCommandPayload
+
+
 class ThermocyclerExecuteProfileCommandPayload(TextOnlyPayload):
     steps: List[ThermocyclerStep]
 
@@ -308,6 +335,15 @@ 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
 
@@ -335,6 +371,15 @@ class ThermocyclerSetLidTempCommand(TypedDict):
     payload: ThermocyclerSetLidTempCommandPayload
 
 
+class ThermocyclerStartSetLidTempCommandPayload(TextOnlyPayload):
+    pass
+
+
+class ThermocyclerStartSetLidTempCommand(TypedDict):
+    name: Literal["command.THERMOCYCLER_START_SET_LID_TEMP"]
+    payload: ThermocyclerStartSetLidTempCommandPayload
+
+
 class ThermocyclerDeactivateLidCommandPayload(TextOnlyPayload):
     pass
 
@@ -421,6 +466,7 @@ class AspirateDispenseCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
     location: Location
     volume: float
     rate: float
+    end_location: Optional[Location]
 
 
 class AspirateCommand(TypedDict):
@@ -496,6 +542,21 @@ class MixCommand(TypedDict):
     payload: MixCommandPayload
 
 
+class DynamicMixCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
+    aspirate_start_location: Location
+    dispense_start_location: Location
+    aspirate_end_location: Union[None, Location]
+    dispense_end_location: Union[None, Location]
+    volume: float
+    repetitions: int
+    movement_delay: float
+
+
+class DynamicMixCommand(TypedDict):
+    name: Literal["command.MIX"]
+    payload: DynamicMixCommandPayload
+
+
 class BlowOutCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
     location: Optional[Location]
 
@@ -591,6 +652,14 @@ class MoveLabwareCommandPayload(TextOnlyPayload):
     pass
 
 
+class CaptureImageCommandPayload(TextOnlyPayload):
+    resolution: Optional[Tuple[int, int]]
+    zoom: Optional[float]
+    contrast: Optional[float]
+    brightness: Optional[float]
+    saturation: Optional[float]
+
+
 class LiquidClassCommandPayload(TextOnlyPayload, SingleInstrumentPayload):
     liquid_class: LiquidClass
     volume: float
@@ -646,6 +715,11 @@ class MoveLabwareCommand(TypedDict):
     payload: MoveLabwareCommandPayload
 
 
+class CaptureImageCommand(TypedDict):
+    name: Literal["command.CAPTURE_IMAGE"]
+    payload: CaptureImageCommandPayload
+
+
 class SealCommand(TypedDict):
     name: Literal["command.SEAL"]
     payload: SealCommandPayload
@@ -714,6 +788,27 @@ 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,
@@ -724,6 +819,7 @@ Command = Union[
     BlowOutCommand,
     BlowOutInDisposalLocationCommand,
     MixCommand,
+    DynamicMixCommand,
     TransferCommand,
     DistributeCommand,
     ConsolidateCommand,
@@ -734,6 +830,7 @@ Command = Union[
     HeaterShakerSetTargetTemperatureCommand,
     HeaterShakerWaitForTemperatureCommand,
     HeaterShakerSetAndWaitForShakeSpeedCommand,
+    HeaterShakerSetShakeSpeedCommand,
     HeaterShakerOpenLabwareLatchCommand,
     HeaterShakerCloseLabwareLatchCommand,
     HeaterShakerDeactivateShakerCommand,
@@ -744,10 +841,13 @@ Command = Union[
     ThermocyclerDeactivateBlockCommand,
     ThermocyclerDeactivateLidCommand,
     ThermocyclerSetLidTempCommand,
+    ThermocyclerStartSetLidTempCommand,
     ThermocyclerWaitForTempCommand,
     ThermocyclerWaitForHoldCommand,
     ThermocyclerExecuteProfileCommand,
+    ThermocyclerStartExecuteProfileCommand,
     ThermocyclerSetBlockTempCommand,
+    ThermocyclerStartSetBlockTempCommand,
     ThermocyclerOpenCommand,
     TempdeckDeactivateCommand,
     TempdeckAwaitTempCommand,
@@ -770,6 +870,7 @@ Command = Union[
     PressurizeCommand,
     ConfigureForVolumeCommand,
     ConfigureNozzleLayoutCommand,
+    CaptureImageCommand,
     # Robot commands
     RobotMoveToCommand,
     RobotMoveAxisToCommand,
@@ -782,6 +883,9 @@ Command = Union[
     FlexStackerStoreCommand,
     FlexStackerEmptyCommand,
     FlexStackerFillCommand,
+    # Task commands
+    WaitForTasksCommand,
+    CreateTimerCommand,
 ]
 
 
@@ -791,6 +895,7 @@ CommandPayload = Union[
     HeaterShakerSetTargetTemperaturePayload,
     HeaterShakerWaitForTemperaturePayload,
     HeaterShakerSetAndWaitForShakeSpeedPayload,
+    HeaterShakerSetShakeSpeedPayload,
     HeaterShakerOpenLabwareLatchPayload,
     HeaterShakerCloseLabwareLatchPayload,
     HeaterShakerDeactivateShakerPayload,
@@ -802,6 +907,7 @@ CommandPayload = Union[
     ThermocyclerWaitForHoldCommandPayload,
     ThermocyclerWaitForTempCommandPayload,
     ThermocyclerSetLidTempCommandPayload,
+    ThermocyclerStartSetLidTempCommandPayload,
     ThermocyclerDeactivateLidCommandPayload,
     ThermocyclerDeactivateBlockCommandPayload,
     ThermocyclerDeactivateCommandPayload,
@@ -816,6 +922,7 @@ CommandPayload = Union[
     BlowOutCommandPayload,
     BlowOutInDisposalLocationCommandPayload,
     MixCommandPayload,
+    DynamicMixCommandPayload,
     TransferCommandPayload,
     DistributeCommandPayload,
     ConsolidateCommandPayload,
@@ -823,7 +930,9 @@ CommandPayload = Union[
     DispenseInDisposalLocationCommandPayload,
     HomeCommandPayload,
     ThermocyclerExecuteProfileCommandPayload,
+    ThermocyclerStartExecuteProfileCommandPayload,
     ThermocyclerSetBlockTempCommandPayload,
+    ThermocyclerStartSetBlockTempCommandPayload,
     TempdeckAwaitTempCommandPayload,
     TempdeckSetTempCommandPayload,
     PauseCommandPayload,
@@ -837,11 +946,15 @@ CommandPayload = Union[
     PressurizeCommandPayload,
     ConfigureForVolumePayload,
     ConfigureNozzleLayoutPayload,
+    CaptureImageCommandPayload,
     # Robot payloads
     RobotMoveToCommandPayload,
     RobotMoveAxisRelativeCommandPayload,
     RobotMoveAxisToCommandPayload,
     GripperCommandPayload,
+    # Task payloads
+    WaitForTasksPayload,
+    CreateTimerPayload,
 ]
 
 
@@ -904,6 +1017,10 @@ class MixMessage(CommandMessageFields, MixCommand):
     pass
 
 
+class DynamicMixMessage(CommandMessageFields, DynamicMixCommand):
+    pass
+
+
 class TransferMessage(CommandMessageFields, TransferCommand):
     pass
 
@@ -952,6 +1069,12 @@ class HeaterShakerSetAndWaitForShakeSpeedMessage(
     pass
 
 
+class HeaterShakerSetShakeSpeedMessage(
+    CommandMessageFields, HeaterShakerSetShakeSpeedCommand
+):
+    pass
+
+
 class HeaterShakerOpenLabwareLatchMessage(
     CommandMessageFields, HeaterShakerOpenLabwareLatchCommand
 ):
@@ -1010,6 +1133,18 @@ class ThermocyclerSetLidTempMessage(
     pass
 
 
+class ThermocyclerStartSetLidTempMessage(
+    CommandMessageFields, ThermocyclerStartSetLidTempCommand
+):
+    pass
+
+
+class ThermocyclerStartSetBlockTempMessage(
+    CommandMessageFields, ThermocyclerStartSetBlockTempCommand
+):
+    pass
+
+
 class ThermocyclerWaitForTempMessage(
     CommandMessageFields, ThermocyclerWaitForTempCommand
 ):
@@ -1028,6 +1163,12 @@ class ThermocyclerExecuteProfileMessage(
     pass
 
 
+class ThermocyclerStartExecuteProfileMessage(
+    CommandMessageFields, ThermocyclerStartExecuteProfileCommand
+):
+    pass
+
+
 class ThermocyclerSetBlockTempMessage(
     CommandMessageFields, ThermocyclerSetBlockTempCommand
 ):
@@ -1124,6 +1265,14 @@ class RobotCloseGripperJawMessage(CommandMessageFields, RobotCloseGripperJawComm
     pass
 
 
+class WaitForTasksMessage(CommandMessageFields, WaitForTasksCommand):
+    pass
+
+
+class CreateTimerMessage(CommandMessageFields, CreateTimerCommand):
+    pass
+
+
 CommandMessage = Union[
     DropTipMessage,
     DropTipInDisposalLocationMessage,
@@ -1144,6 +1293,7 @@ CommandMessage = Union[
     HeaterShakerSetTargetTemperatureMessage,
     HeaterShakerWaitForTemperatureMessage,
     HeaterShakerSetAndWaitForShakeSpeedMessage,
+    HeaterShakerSetShakeSpeedMessage,
     HeaterShakerOpenLabwareLatchMessage,
     HeaterShakerCloseLabwareLatchMessage,
     HeaterShakerDeactivateShakerMessage,
@@ -1157,6 +1307,7 @@ CommandMessage = Union[
     ThermocyclerWaitForTempMessage,
     ThermocyclerWaitForHoldMessage,
     ThermocyclerExecuteProfileMessage,
+    ThermocyclerStartExecuteProfileMessage,
     ThermocyclerSetBlockTempMessage,
     ThermocyclerOpenMessage,
     TempdeckSetTempMessage,
@@ -1183,4 +1334,7 @@ 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/_transfer_liquid_validation.py

@@ -24,9 +24,10 @@ class TransferInfo:
     tip_policy: TransferTipPolicyV2
     tip_racks: List[Labware]
     trash_location: Union[Location, TrashBin, WasteChute]
+    tips: Optional[List[Well]]
 
 
-def verify_and_normalize_transfer_args(
+def verify_and_normalize_transfer_args(  # noqa: C901
     source: Union[Well, Sequence[Well], Sequence[Sequence[Well]]],
     dest: Union[Well, Sequence[Well], Sequence[Sequence[Well]], TrashBin, WasteChute],
     tip_policy: TransferTipPolicyV2Type,
@@ -36,6 +37,7 @@ def verify_and_normalize_transfer_args(
     group_wells_for_multi_channel: bool,
     current_volume: float,
     trash_location: Union[Location, Well, Labware, TrashBin, WasteChute],
+    tips: Optional[Union[Sequence[Well], Sequence[Sequence[Well]]]],
 ) -> TransferInfo:
     flat_sources_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(source)
     if not isinstance(dest, (TrashBin, WasteChute)):
@@ -57,8 +59,20 @@ def verify_and_normalize_transfer_args(
             reject_adapter=True,
         )
 
+    valid_tips: Optional[List[Well]] = None
+    if tips:
+        flat_tips_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(tips)
+        if group_wells_for_multi_channel and nozzle_map.tip_count > 1:
+            valid_tips = tx_liquid_utils.group_wells_for_multi_channel_transfer(
+                flat_tips_list, nozzle_map, "tip"
+            )
+        else:
+            valid_tips = flat_tips_list
+
     valid_new_tip = validation.ensure_new_tip_policy(tip_policy)
-    if valid_new_tip == TransferTipPolicyV2.NEVER:
+    if valid_tips is not None:
+        valid_tip_racks = [tip.parent for tip in valid_tips]
+    elif valid_new_tip == TransferTipPolicyV2.NEVER:
         if last_tip_well is None:
             raise RuntimeError(
                 "Pipette has no tip attached to perform transfer."
@@ -92,6 +106,7 @@ def verify_and_normalize_transfer_args(
         tip_policy=valid_new_tip,
         tip_racks=valid_tip_racks,
         trash_location=valid_trash_location,
+        tips=valid_tips,
     )
 
 

opentrons/protocol_api/_types.py

@@ -3,12 +3,19 @@ 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"
+    WASTE_CHUTE = "waste-chute"
 
 
 OFF_DECK: Final = OffDeckType.OFF_DECK
+WASTE_CHUTE: Final = OffDeckType.WASTE_CHUTE
 
 # Set __doc__ manually as a workaround. When this docstring is written the normal way, right after
 # the constant definition, Sphinx has trouble picking it up.

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]