From 65756016953ef41032eaa7a00ef65fb3d034e00c Mon Sep 17 00:00:00 2001
From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com>
Date: Tue, 28 Jan 2025 10:55:58 -0500
Subject: [PATCH 1/8] fix(protocol-designer): fix offdeck container border
 (#17362)

fix offDeck container border to be 12px

Closes RQA-3699
---
 protocol-designer/src/pages/Designer/Offdeck/OffDeckDetails.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/protocol-designer/src/pages/Designer/Offdeck/OffDeckDetails.tsx b/protocol-designer/src/pages/Designer/Offdeck/OffDeckDetails.tsx
index 05720f81555..5f219e8ecd1 100644
--- a/protocol-designer/src/pages/Designer/Offdeck/OffDeckDetails.tsx
+++ b/protocol-designer/src/pages/Designer/Offdeck/OffDeckDetails.tsx
@@ -68,7 +68,7 @@ export function OffDeckDetails(props: OffDeckDetailsProps): JSX.Element {
   return (
     <Flex
       backgroundColor={COLORS.white}
-      borderRadius={BORDERS.borderRadius8}
+      borderRadius={BORDERS.borderRadius12}
       width="100%"
       height="65vh"
       padding={padding}

From 6277a89bd2eb9b22afe1026039ad4adef66afa79 Mon Sep 17 00:00:00 2001
From: Jethary Alcid <66035149+jerader@users.noreply.github.com>
Date: Tue, 28 Jan 2025 11:43:04 -0500
Subject: [PATCH 2/8] feat(step-generation): introduce airGapInPlace command
 (#17357)

closes AUTH-1365

introduce airGapInPlace command to be used whenever there is an aspirate command that is meant to be an air gap - meaning an aspirate air gap is now: moveToWell followed by airGapInPlace
---
 .../src/__tests__/consolidate.test.ts         | 203 ++++++++++----
 .../src/__tests__/distribute.test.ts          | 125 +++++----
 .../src/__tests__/transfer.test.ts            | 261 +++++++++++-------
 .../commandCreators/atomic/airGapInPlace.ts   |  37 +++
 .../src/commandCreators/atomic/aspirate.ts    |   2 -
 .../src/commandCreators/atomic/dispense.ts    |   3 -
 .../src/commandCreators/atomic/index.ts       |   6 +-
 .../commandCreators/compound/consolidate.ts   |  22 +-
 .../commandCreators/compound/distribute.ts    |  30 +-
 .../src/commandCreators/compound/transfer.ts  |  16 +-
 .../src/fixtures/commandFixtures.ts           |  31 ++-
 .../src/getNextRobotStateAndWarnings/index.ts |   1 +
 step-generation/src/utils/misc.ts             |  34 +--
 13 files changed, 489 insertions(+), 282 deletions(-)
 create mode 100644 step-generation/src/commandCreators/atomic/airGapInPlace.ts

diff --git a/step-generation/src/__tests__/consolidate.test.ts b/step-generation/src/__tests__/consolidate.test.ts
index 9733fe5caa6..c77ab3ab53d 100644
--- a/step-generation/src/__tests__/consolidate.test.ts
+++ b/step-generation/src/__tests__/consolidate.test.ts
@@ -22,8 +22,8 @@ import {
   makeTouchTipHelper,
   pickUpTipHelper,
   SOURCE_LABWARE,
-  AIR_GAP_META,
   blowoutInPlaceHelper,
+  makeMoveToWellHelper,
 } from '../fixtures'
 import { DEST_WELL_BLOWOUT_DESTINATION } from '../utils'
 import type {
@@ -33,16 +33,6 @@ import type {
 } from '@opentrons/shared-data'
 import type { ConsolidateArgs, InvariantContext, RobotState } from '../types'
 
-const airGapHelper = makeAirGapHelper({
-  wellLocation: {
-    origin: 'bottom',
-    offset: {
-      z: 11.54,
-      x: 0,
-      y: 0,
-    },
-  },
-})
 const aspirateHelper = makeAspirateHelper()
 const dispenseHelper = makeDispenseHelper()
 const touchTipHelper = makeTouchTipHelper()
@@ -161,7 +151,8 @@ describe('consolidate single-channel', () => {
       aspirateHelper('A1', 50),
       aspirateHelper('A2', 50),
       dispenseHelper('B1', 100),
-      airGapHelper('B1', 5, { labwareId: 'destPlateId' }),
+      makeMoveToWellHelper('B1', DEST_LABWARE),
+      makeAirGapHelper(5),
     ])
   })
 
@@ -852,24 +843,28 @@ describe('consolidate single-channel', () => {
 
       aspirateHelper('A1', 100),
       ...delayWithOffset('A1', SOURCE_LABWARE),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
       delayCommand(12),
 
       aspirateHelper('A2', 100),
       ...delayWithOffset('A2', SOURCE_LABWARE),
-      airGapHelper('A2', 5),
+      makeMoveToWellHelper('A2'),
+      makeAirGapHelper(5),
       delayCommand(12),
 
       dispenseHelper('B1', 210),
 
       aspirateHelper('A3', 100),
       ...delayWithOffset('A3', SOURCE_LABWARE),
-      airGapHelper('A3', 5),
+      makeMoveToWellHelper('A3'),
+      makeAirGapHelper(5),
       delayCommand(12),
 
       aspirateHelper('A4', 100),
       ...delayWithOffset('A4', SOURCE_LABWARE),
-      airGapHelper('A4', 5),
+      makeMoveToWellHelper('A4'),
+      makeAirGapHelper(5),
       delayCommand(12),
 
       dispenseHelper('B1', 210),
@@ -1010,18 +1005,22 @@ describe('consolidate single-channel', () => {
       pickUpTipHelper('A1'),
 
       aspirateHelper('A1', 100),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
 
       aspirateHelper('A2', 100),
-      airGapHelper('A2', 5),
+      makeMoveToWellHelper('A2'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 210),
 
       aspirateHelper('A3', 100),
-      airGapHelper('A3', 5),
+      makeMoveToWellHelper('A3'),
+      makeAirGapHelper(5),
 
       aspirateHelper('A4', 100),
-      airGapHelper('A4', 5),
+      makeMoveToWellHelper('A4'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 210),
     ])
@@ -1044,22 +1043,26 @@ describe('consolidate single-channel', () => {
       pickUpTipHelper('A1'),
 
       aspirateHelper('A1', 150),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 155),
 
       aspirateHelper('A2', 150),
-      airGapHelper('A2', 5),
+      makeMoveToWellHelper('A2'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 155),
 
       aspirateHelper('A3', 150),
-      airGapHelper('A3', 5),
+      makeMoveToWellHelper('A3'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 155),
 
       aspirateHelper('A4', 150),
-      airGapHelper('A4', 5),
+      makeMoveToWellHelper('A4'),
+      makeAirGapHelper(5),
 
       dispenseHelper('B1', 155),
     ])
@@ -1213,12 +1216,10 @@ describe('consolidate single-channel', () => {
         },
         // Air Gap: after aspirating from A1
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
@@ -1229,6 +1230,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1300,12 +1309,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A2
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A2',
             wellLocation: {
@@ -1316,6 +1323,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1560,12 +1575,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A3
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A3',
             wellLocation: {
@@ -1576,6 +1589,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1703,14 +1724,12 @@ describe('consolidate single-channel', () => {
         },
         // Dispense > air gap in dest well
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'destPlateId',
             wellName: 'B1',
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
@@ -1719,7 +1738,15 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
             volume: 35,
+            flowRate: 2.1,
           },
         },
         {
@@ -1888,12 +1915,10 @@ describe('consolidate single-channel', () => {
         },
         // Air Gap: after aspirating from A1
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
@@ -1904,6 +1929,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1975,12 +2008,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A2
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A2',
             wellLocation: {
@@ -1991,6 +2022,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2250,12 +2289,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A3
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A3',
             wellLocation: {
@@ -2266,6 +2303,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2408,14 +2453,12 @@ describe('consolidate single-channel', () => {
         },
         // Dispense > air gap in dest well
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'destPlateId',
             wellName: 'B1',
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
@@ -2424,7 +2467,15 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
             volume: 35,
+            flowRate: 2.1,
           },
         },
         {
@@ -2590,12 +2641,10 @@ describe('consolidate single-channel', () => {
         },
         // Air Gap: after aspirating from A1
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
@@ -2606,6 +2655,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2677,12 +2734,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A2
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A2',
             wellLocation: {
@@ -2693,6 +2748,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2836,8 +2899,7 @@ describe('consolidate single-channel', () => {
 
         // Change tip is "always" so we can Dispense > Air Gap here
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -2851,6 +2913,13 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
             volume: 35,
             flowRate: 2.1,
           },
@@ -2989,12 +3058,10 @@ describe('consolidate single-channel', () => {
         },
         // Aspirate > air gap: after aspirating from A3
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A3',
             wellLocation: {
@@ -3005,6 +3072,14 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -3147,8 +3222,7 @@ describe('consolidate single-channel', () => {
         },
         // Dispense > air gap in dest well
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -3162,6 +3236,13 @@ describe('consolidate single-channel', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
             volume: 35,
             flowRate: 2.1,
           },
diff --git a/step-generation/src/__tests__/distribute.test.ts b/step-generation/src/__tests__/distribute.test.ts
index b26b24e4d07..12f3676f09a 100644
--- a/step-generation/src/__tests__/distribute.test.ts
+++ b/step-generation/src/__tests__/distribute.test.ts
@@ -27,6 +27,7 @@ import {
   pickUpTipHelper,
   SOURCE_LABWARE,
   blowoutInPlaceHelper,
+  makeMoveToWellHelper,
 } from '../fixtures'
 import { distribute } from '../commandCreators/compound/distribute'
 import type { CreateCommand, LabwareDefinition2 } from '@opentrons/shared-data'
@@ -36,17 +37,6 @@ import {
   DEST_WELL_BLOWOUT_DESTINATION,
 } from '../utils/misc'
 
-// well depth for 96 plate is 10.54, so need to add 1mm to top of well
-const airGapHelper = makeAirGapHelper({
-  wellLocation: {
-    origin: 'bottom',
-    offset: {
-      x: 0,
-      y: 0,
-      z: 11.54,
-    },
-  },
-})
 const dispenseAirGapHelper = makeDispenseAirGapHelper({
   wellLocation: {
     origin: 'bottom',
@@ -457,8 +447,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
     expect(res.commands).toEqual([
       aspirateHelper('A1', 200),
       ...delayWithOffset('A1', SOURCE_LABWARE),
-
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
       delayCommand(12),
 
       dispenseAirGapHelper('A2', 5),
@@ -467,8 +457,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
 
       aspirateHelper('A1', 200),
       ...delayWithOffset('A1', SOURCE_LABWARE),
-
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
       delayCommand(12),
       dispenseAirGapHelper('A4', 5),
       dispenseHelper('A4', 100),
@@ -496,13 +486,15 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
     const res = getSuccessResult(result)
     expect(res.commands).toEqual([
       aspirateHelper('A1', 200),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
       dispenseAirGapHelper('A2', 5),
       dispenseHelper('A2', 100),
       dispenseHelper('A3', 100),
 
       aspirateHelper('A1', 200),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
       dispenseAirGapHelper('A4', 5),
       dispenseHelper('A4', 100),
       dispenseHelper('A5', 100),
@@ -530,7 +522,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
     const res = getSuccessResult(result)
     expect(res.commands).toEqual([
       aspirateHelper('A1', 200),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
 
       dispenseAirGapHelper('A2', 5),
       delayCommand(12),
@@ -540,7 +533,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
       ...delayWithOffset('A3', DEST_LABWARE),
 
       aspirateHelper('A1', 200),
-      airGapHelper('A1', 5),
+      makeMoveToWellHelper('A1'),
+      makeAirGapHelper(5),
 
       dispenseAirGapHelper('A4', 5),
       delayCommand(12),
@@ -930,7 +924,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('B1', 31),
@@ -977,7 +972,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1009,7 +1005,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         dispenseAirGapHelper('A4', 31),
         delayCommand(12),
@@ -1020,7 +1017,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         touchTipHelper('A4', { labwareId: DEST_LABWARE }),
         ...blowoutSingleToTrash,
         // use the dispense > air gap here before moving to trash
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1057,7 +1055,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1073,7 +1072,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         touchTipHelper('A3', { labwareId: DEST_LABWARE }),
         ...blowoutSingleToTrash,
         // dispense > air gap since we are about to change the tip
-        airGapHelper('A3', 3, { labwareId: DEST_LABWARE }), // need to air gap here
+        makeMoveToWellHelper('A3', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1094,7 +1094,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1105,7 +1106,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         touchTipHelper('A4', { labwareId: DEST_LABWARE }),
         ...blowoutSingleToTrash,
         // use the dispense > air gap here before moving to trash
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         // skip blowout into trash b/c we're about to drop tip anyway
@@ -1143,7 +1145,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1174,7 +1177,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1185,7 +1189,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         touchTipHelper('A4', { labwareId: DEST_LABWARE }),
         ...blowoutSingleToTrash,
         // use the dispense > air gap here before moving to trash
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1220,7 +1225,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1252,7 +1258,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1265,7 +1272,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         blowoutSingleToSourceA1,
         // use the dispense > air gap here before moving to trash since it is the final dispense in the step
         // dispense > air gap from source since blowout location is source
-        airGapHelper('A1', 3),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1302,7 +1310,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1319,7 +1328,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         // blowout location is source so need to blowout
         blowoutSingleToSourceA1,
         // dispense > air gap so no liquid drops off the tip as pipette moves from source well to trash
-        airGapHelper('A1', 3),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(3),
         // delay after aspirating air
         delayCommand(11),
         // just drop the tip in the trash
@@ -1341,7 +1351,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1353,7 +1364,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         // blowout location is source so need to blowout
         blowoutSingleToSourceA1,
         // dispense > air gap so no liquid drops off the tip as pipette moves from source well to trash
-        airGapHelper('A1', 3),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1390,7 +1402,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1422,7 +1435,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1434,7 +1448,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         // use the dispense > air gap here before moving to trash
         // since it is the final dispense in the step
         blowoutSingleToSourceA1,
-        airGapHelper('A1', 3),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1469,7 +1484,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1501,7 +1517,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1514,7 +1531,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         blowoutSingleToDestA4,
         // use the dispense > air gap here before moving to trash
         // since it is the final dispense in the step
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1551,7 +1569,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1568,7 +1587,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         // blowout location is dest so we gotta blowout
         blowoutSingleToDestA3,
         // dispense > air gap so no liquid drops off the tip as pipette moves from destination well to trash
-        airGapHelper('A3', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A3', DEST_LABWARE),
+        makeAirGapHelper(3),
         // dispense delay
         delayCommand(11),
         // just drop the tip in the trash
@@ -1590,7 +1610,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1602,7 +1623,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         // use the dispense > air gap here before moving to trash
         // since it is the final dispense in the step
         blowoutSingleToDestA4,
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
@@ -1639,7 +1661,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #1
         dispenseAirGapHelper('A2', 31),
@@ -1671,7 +1694,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
           },
         }),
         // aspirate > air gap
-        airGapHelper('A1', 31),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(31),
         delayCommand(11),
         // dispense #3
         dispenseAirGapHelper('A4', 31),
@@ -1684,7 +1708,8 @@ describe('advanced settings: volume, mix, pre-wet tip, tip touch, tip position',
         blowoutSingleToDestA4,
         // use the dispense > air gap here before moving to trash
         // since it is the final dispense in the step
-        airGapHelper('A4', 3, { labwareId: DEST_LABWARE }),
+        makeMoveToWellHelper('A4', DEST_LABWARE),
+        makeAirGapHelper(3),
         delayCommand(11),
         // since we used dispense > air gap, drop the tip
         ...dropTipHelper(),
diff --git a/step-generation/src/__tests__/transfer.test.ts b/step-generation/src/__tests__/transfer.test.ts
index 72c89fc264a..cd22d6a321b 100644
--- a/step-generation/src/__tests__/transfer.test.ts
+++ b/step-generation/src/__tests__/transfer.test.ts
@@ -25,7 +25,7 @@ import {
   pickUpTipHelper,
   SOURCE_LABWARE,
   makeDispenseAirGapHelper,
-  AIR_GAP_META,
+  makeMoveToWellHelper,
 } from '../fixtures'
 import { FIXED_TRASH_ID } from '../constants'
 import {
@@ -36,16 +36,6 @@ import { transfer } from '../commandCreators/compound/transfer'
 import type { LabwareDefinition2 } from '@opentrons/shared-data'
 import type { InvariantContext, RobotState, TransferArgs } from '../types'
 
-const airGapHelper = makeAirGapHelper({
-  wellLocation: {
-    origin: 'bottom',
-    offset: {
-      x: 0,
-      y: 0,
-      z: 11.54,
-    },
-  },
-})
 const dispenseAirGapHelper = makeDispenseAirGapHelper({
   wellLocation: {
     origin: 'bottom',
@@ -151,7 +141,8 @@ describe('pick up tip if no tip on pipette', () => {
       pickUpTipHelper('A1'),
       aspirateHelper('A1', 30),
       dispenseHelper('B2', 30),
-      airGapHelper('B2', 5, { labwareId: 'destPlateId' }),
+      makeMoveToWellHelper('B2', 'destPlateId'),
+      makeAirGapHelper(5),
     ])
   })
 
@@ -843,11 +834,13 @@ describe('advanced options', () => {
       const res = getSuccessResult(result)
       expect(res.commands).toEqual([
         aspirateHelper('A1', 295),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         dispenseAirGapHelper('B1', 5),
         dispenseHelper('B1', 295),
         aspirateHelper('A1', 55),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         dispenseAirGapHelper('B1', 5),
         dispenseHelper('B1', 55),
       ])
@@ -863,12 +856,13 @@ describe('advanced options', () => {
       const res = getSuccessResult(result)
       expect(res.commands).toEqual([
         aspirateHelper('A1', 150),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         dispenseAirGapHelper('B1', 5),
         dispenseHelper('B1', 150),
-
         aspirateHelper('A1', 150),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         dispenseAirGapHelper('B1', 5),
         dispenseHelper('B1', 150),
       ])
@@ -886,8 +880,8 @@ describe('advanced options', () => {
       expect(res.commands).toEqual([
         aspirateHelper('A1', 295),
         ...delayWithOffset('A1', SOURCE_LABWARE),
-
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         delayCommand(12),
 
         dispenseAirGapHelper('B1', 5),
@@ -895,8 +889,8 @@ describe('advanced options', () => {
 
         aspirateHelper('A1', 55),
         ...delayWithOffset('A1', SOURCE_LABWARE),
-
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
         delayCommand(12),
 
         dispenseAirGapHelper('B1', 5),
@@ -915,7 +909,8 @@ describe('advanced options', () => {
       const res = getSuccessResult(result)
       expect(res.commands).toEqual([
         aspirateHelper('A1', 295),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
 
         dispenseAirGapHelper('B1', 5),
         delayCommand(12),
@@ -924,7 +919,8 @@ describe('advanced options', () => {
         ...delayWithOffset('B1', DEST_LABWARE),
 
         aspirateHelper('A1', 55),
-        airGapHelper('A1', 5),
+        makeMoveToWellHelper('A1'),
+        makeAirGapHelper(5),
 
         dispenseAirGapHelper('B1', 5),
         delayCommand(12),
@@ -1288,12 +1284,10 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
@@ -1304,6 +1298,14 @@ describe('advanced options', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1317,7 +1319,7 @@ describe('advanced options', () => {
         // dispense the aspirate > air gap
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
+
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -1592,12 +1594,10 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
@@ -1608,6 +1608,14 @@ describe('advanced options', () => {
                 z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -1621,7 +1629,6 @@ describe('advanced options', () => {
         // dispense aspirate > air gap then liquid
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -1777,22 +1784,28 @@ describe('advanced options', () => {
         },
         // use the dispense > air gap here before moving to trash
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 3,
             labwareId: 'destPlateId',
             wellName: 'B1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 3,
             flowRate: 2.1,
           },
         },
@@ -1847,6 +1860,7 @@ describe('advanced options', () => {
         },
         {
           commandType: 'dispense',
+
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -1900,6 +1914,7 @@ describe('advanced options', () => {
         },
         {
           commandType: 'dispense',
+
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -1986,22 +2001,28 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2015,7 +2036,6 @@ describe('advanced options', () => {
         // dispense the aspirate > air gap
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -2288,23 +2308,29 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
-            flowRate: 2.1,
+            pipetteId: 'p300SingleId',
             labwareId: 'sourcePlateId',
+            wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
             pipetteId: 'p300SingleId',
             volume: 31,
-            wellName: 'A1',
+            flowRate: 2.1,
           },
         },
         {
@@ -2316,7 +2342,6 @@ describe('advanced options', () => {
         },
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             flowRate: 2.2,
@@ -2472,25 +2497,31 @@ describe('advanced options', () => {
         },
         // dispense > air gap on the way to trash
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'destPlateId',
             wellName: 'B1',
-            volume: 3,
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
           },
         },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 3,
+            flowRate: 2.1,
+          },
+        },
         {
           commandType: 'waitForDuration',
           key: expect.any(String),
@@ -2710,22 +2741,28 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -2739,7 +2776,6 @@ describe('advanced options', () => {
         // dispense
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -3012,22 +3048,28 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -3041,7 +3083,6 @@ describe('advanced options', () => {
         // dispense "aspirate > air gap" then dispense liquid
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -3197,25 +3238,31 @@ describe('advanced options', () => {
         },
         // dispense > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'destPlateId',
             wellName: 'B1',
-            volume: 3,
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
           },
         },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 3,
+            flowRate: 2.1,
+          },
+        },
         {
           commandType: 'waitForDuration',
           key: expect.any(String),
@@ -3433,22 +3480,28 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -3462,7 +3515,6 @@ describe('advanced options', () => {
         // dispense
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -3618,23 +3670,29 @@ describe('advanced options', () => {
         },
         // dispense > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'sourcePlateId',
             wellName: 'A1',
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
             volume: 3,
+            flowRate: 2.1,
           },
         },
         {
@@ -3786,22 +3844,28 @@ describe('advanced options', () => {
         },
         // aspirate > air gap
         {
-          commandType: 'aspirate',
+          commandType: 'moveToWell',
           key: expect.any(String),
-          meta: AIR_GAP_META,
           params: {
             pipetteId: 'p300SingleId',
-            volume: 31,
             labwareId: 'sourcePlateId',
             wellName: 'A1',
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
+          },
+        },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 31,
             flowRate: 2.1,
           },
         },
@@ -3815,7 +3879,6 @@ describe('advanced options', () => {
         // dispense "aspirate > air gap" then dispense liquid
         {
           commandType: 'dispense',
-          meta: AIR_GAP_META,
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
@@ -3971,25 +4034,31 @@ describe('advanced options', () => {
         },
         // dispense > air gap
         {
-          commandType: 'aspirate',
-          meta: AIR_GAP_META,
+          commandType: 'moveToWell',
           key: expect.any(String),
           params: {
             pipetteId: 'p300SingleId',
             labwareId: 'sourcePlateId',
             wellName: 'A1',
-            volume: 3,
-            flowRate: 2.1,
             wellLocation: {
               origin: 'bottom',
               offset: {
-                z: 11.54,
-                y: 0,
                 x: 0,
+                y: 0,
+                z: 11.54,
               },
             },
           },
         },
+        {
+          commandType: 'airGapInPlace',
+          key: expect.any(String),
+          params: {
+            pipetteId: 'p300SingleId',
+            volume: 3,
+            flowRate: 2.1,
+          },
+        },
         {
           commandType: 'waitForDuration',
           key: expect.any(String),
diff --git a/step-generation/src/commandCreators/atomic/airGapInPlace.ts b/step-generation/src/commandCreators/atomic/airGapInPlace.ts
new file mode 100644
index 00000000000..1a7656a3cda
--- /dev/null
+++ b/step-generation/src/commandCreators/atomic/airGapInPlace.ts
@@ -0,0 +1,37 @@
+import { uuid } from '../../utils'
+import { pipetteDoesNotExist } from '../../errorCreators'
+import type { AirGapInPlaceParams } from '@opentrons/shared-data'
+import type { CommandCreator, CommandCreatorError } from '../../types'
+
+export const airGapInPlace: CommandCreator<AirGapInPlaceParams> = (
+  args,
+  invariantContext,
+  prevRobotState
+) => {
+  const { flowRate, pipetteId, volume } = args
+  const errors: CommandCreatorError[] = []
+  const pipetteSpec = invariantContext.pipetteEntities[pipetteId]?.spec
+
+  if (!pipetteSpec) {
+    errors.push(
+      pipetteDoesNotExist({
+        pipette: pipetteId,
+      })
+    )
+  }
+
+  const commands = [
+    {
+      commandType: 'airGapInPlace' as const,
+      key: uuid(),
+      params: {
+        flowRate,
+        pipetteId,
+        volume,
+      },
+    },
+  ]
+  return {
+    commands,
+  }
+}
diff --git a/step-generation/src/commandCreators/atomic/aspirate.ts b/step-generation/src/commandCreators/atomic/aspirate.ts
index 07b95f3459d..6d64cf00e7d 100644
--- a/step-generation/src/commandCreators/atomic/aspirate.ts
+++ b/step-generation/src/commandCreators/atomic/aspirate.ts
@@ -40,7 +40,6 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
     labwareId,
     wellName,
     flowRate,
-    isAirGap,
     tipRack,
     wellLocation,
     nozzles,
@@ -257,7 +256,6 @@ export const aspirate: CommandCreator<ExtendedAspirateParams> = (
         wellLocation,
         flowRate,
       },
-      ...(isAirGap && { meta: { isAirGap } }),
     },
   ]
   return {
diff --git a/step-generation/src/commandCreators/atomic/dispense.ts b/step-generation/src/commandCreators/atomic/dispense.ts
index 554ebbce840..2ca1c737d08 100644
--- a/step-generation/src/commandCreators/atomic/dispense.ts
+++ b/step-generation/src/commandCreators/atomic/dispense.ts
@@ -26,7 +26,6 @@ import type { CommandCreator, CommandCreatorError } from '../../types'
 export interface DispenseAtomicCommandParams extends DispenseParams {
   nozzles: NozzleConfigurationStyle | null
   tipRack: string
-  isAirGap?: boolean
 }
 /** Dispense with given args. Requires tip. */
 export const dispense: CommandCreator<DispenseAtomicCommandParams> = (
@@ -40,7 +39,6 @@ export const dispense: CommandCreator<DispenseAtomicCommandParams> = (
     labwareId,
     wellName,
     flowRate,
-    isAirGap,
     wellLocation,
     nozzles,
     tipRack,
@@ -226,7 +224,6 @@ export const dispense: CommandCreator<DispenseAtomicCommandParams> = (
         //  pushOut will always be undefined in step-generation for now
         //  since there is no easy way to allow users to  for it in PD
       },
-      ...(isAirGap && { meta: { isAirGap } }),
     },
   ]
   return {
diff --git a/step-generation/src/commandCreators/atomic/index.ts b/step-generation/src/commandCreators/atomic/index.ts
index 5390c77d017..5e2dc2e7bf8 100644
--- a/step-generation/src/commandCreators/atomic/index.ts
+++ b/step-generation/src/commandCreators/atomic/index.ts
@@ -2,13 +2,14 @@ import { absorbanceReaderCloseLid } from './absorbanceReaderCloseLid'
 import { absorbanceReaderInitialize } from './absorbanceReaderInitialize'
 import { absorbanceReaderOpenLid } from './absorbanceReaderOpenLid'
 import { absorbanceReaderRead } from './absorbanceReaderRead'
+import { airGapInPlace } from './airGapInPlace'
 import { aspirate } from './aspirate'
 import { aspirateInPlace } from './aspirateInPlace'
 import { blowout } from './blowout'
 import { blowOutInPlace } from './blowOutInPlace'
+import { comment } from './comment'
 import { configureForVolume } from './configureForVolume'
 import { configureNozzleLayout } from './configureNozzleLayout'
-import { comment } from './comment'
 import { deactivateTemperature } from './deactivateTemperature'
 import { delay } from './delay'
 import { disengageMagnet } from './disengageMagnet'
@@ -21,12 +22,13 @@ import { moveLabware } from './moveLabware'
 import { moveToAddressableArea } from './moveToAddressableArea'
 import { moveToAddressableAreaForDropTip } from './moveToAddressableAreaForDropTip'
 import { moveToWell } from './moveToWell'
+import { pickUpTip } from './pickUpTip'
 import { setTemperature } from './setTemperature'
 import { touchTip } from './touchTip'
 import { waitForTemperature } from './waitForTemperature'
-import { pickUpTip } from './pickUpTip'
 
 export {
+  airGapInPlace,
   absorbanceReaderCloseLid,
   absorbanceReaderInitialize,
   absorbanceReaderOpenLid,
diff --git a/step-generation/src/commandCreators/compound/consolidate.ts b/step-generation/src/commandCreators/compound/consolidate.ts
index fb57d522f4d..579d3799161 100644
--- a/step-generation/src/commandCreators/compound/consolidate.ts
+++ b/step-generation/src/commandCreators/compound/consolidate.ts
@@ -2,11 +2,10 @@ import chunk from 'lodash/chunk'
 import flatMap from 'lodash/flatMap'
 import {
   COLUMN,
-  getWellDepth,
   LOW_VOLUME_PIPETTES,
   GRIPPER_WASTE_CHUTE_ADDRESSABLE_AREA,
+  getWellDepth,
 } from '@opentrons/shared-data'
-import { AIR_GAP_OFFSET_FROM_TOP } from '../../constants'
 import * as errorCreators from '../../errorCreators'
 import { getPipetteWithTipMaxVol } from '../../robotStateSelectors'
 import { movableTrashCommandsUtil } from '../../utils/movableTrashCommandsUtil'
@@ -15,15 +14,16 @@ import {
   curryCommandCreator,
   reduceCommandCreators,
   wasteChuteCommandsUtil,
-  getTrashOrLabware,
   airGapHelper,
   dispenseLocationHelper,
   moveHelper,
   getIsSafePipetteMovement,
   getWasteChuteAddressableAreaNamePip,
   getHasWasteChute,
+  getTrashOrLabware,
 } from '../../utils'
 import {
+  airGapInPlace,
   aspirate,
   configureForVolume,
   delay,
@@ -39,6 +39,7 @@ import type {
   CommandCreator,
   CurriedCommandCreator,
 } from '../../types'
+import { AIR_GAP_OFFSET_FROM_TOP } from '../../constants'
 
 export const consolidate: CommandCreator<ConsolidateArgs> = (
   args,
@@ -178,7 +179,6 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
   )
 
   const destinationWell = args.destWell
-
   const destLabwareDef =
     trashOrLabware === 'labware'
       ? invariantContext.labwareEntities[args.destLabware].def
@@ -221,12 +221,10 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
             getWellDepth(sourceLabwareDef, sourceWell) + AIR_GAP_OFFSET_FROM_TOP
           const airGapAfterAspirateCommands = aspirateAirGapVolume
             ? [
-                curryCommandCreator(aspirate, {
+                curryCommandCreator(moveToWell, {
                   pipetteId: args.pipette,
-                  volume: aspirateAirGapVolume,
                   labwareId: args.sourceLabware,
                   wellName: sourceWell,
-                  flowRate: aspirateFlowRateUlSec,
                   wellLocation: {
                     origin: 'bottom',
                     offset: {
@@ -235,9 +233,11 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
                       y: 0,
                     },
                   },
-                  isAirGap: true,
-                  tipRack: args.tipRack,
-                  nozzles,
+                }),
+                curryCommandCreator(airGapInPlace, {
+                  pipetteId: args.pipette,
+                  volume: aspirateAirGapVolume,
+                  flowRate: aspirateFlowRateUlSec,
                 }),
                 ...(aspirateDelay != null
                   ? [
@@ -467,8 +467,6 @@ export const consolidate: CommandCreator<ConsolidateArgs> = (
                 destWell: destinationWell,
                 flowRate: aspirateFlowRateUlSec,
                 offsetFromBottomMm: airGapOffsetDestWell,
-                tipRack: args.tipRack,
-                nozzles,
               }),
               ...(aspirateDelay != null
                 ? [
diff --git a/step-generation/src/commandCreators/compound/distribute.ts b/step-generation/src/commandCreators/compound/distribute.ts
index d5f3e63c1cb..de87cffd29d 100644
--- a/step-generation/src/commandCreators/compound/distribute.ts
+++ b/step-generation/src/commandCreators/compound/distribute.ts
@@ -16,12 +16,13 @@ import {
   reduceCommandCreators,
   blowoutUtil,
   wasteChuteCommandsUtil,
-  getDispenseAirGapLocation,
   getIsSafePipetteMovement,
   getWasteChuteAddressableAreaNamePip,
   getHasWasteChute,
+  getDispenseAirGapLocation,
 } from '../../utils'
 import {
+  airGapInPlace,
   aspirate,
   configureForVolume,
   delay,
@@ -215,12 +216,10 @@ export const distribute: CommandCreator<DistributeArgs> = (
         getWellDepth(destLabwareDef, firstDestWell) + AIR_GAP_OFFSET_FROM_TOP
       const airGapAfterAspirateCommands = aspirateAirGapVolume
         ? [
-            curryCommandCreator(aspirate, {
+            curryCommandCreator(moveToWell, {
               pipetteId: args.pipette,
-              volume: aspirateAirGapVolume,
               labwareId: args.sourceLabware,
               wellName: args.sourceWell,
-              flowRate: aspirateFlowRateUlSec,
               wellLocation: {
                 origin: 'bottom',
                 offset: {
@@ -229,9 +228,11 @@ export const distribute: CommandCreator<DistributeArgs> = (
                   y: 0,
                 },
               },
-              isAirGap: true,
-              tipRack: args.tipRack,
-              nozzles,
+            }),
+            curryCommandCreator(airGapInPlace, {
+              pipetteId: args.pipette,
+              volume: aspirateAirGapVolume,
+              flowRate: aspirateFlowRateUlSec,
             }),
             ...(aspirateDelay != null
               ? [
@@ -254,7 +255,6 @@ export const distribute: CommandCreator<DistributeArgs> = (
                   y: 0,
                 },
               },
-              isAirGap: true,
               nozzles,
               tipRack: args.tipRack,
             }),
@@ -345,7 +345,6 @@ export const distribute: CommandCreator<DistributeArgs> = (
           }),
         ]
       }
-
       const {
         dispenseAirGapLabware,
         dispenseAirGapWell,
@@ -362,12 +361,10 @@ export const distribute: CommandCreator<DistributeArgs> = (
       const airGapAfterDispenseCommands =
         dispenseAirGapVolume && !willReuseTip
           ? [
-              curryCommandCreator(aspirate, {
+              curryCommandCreator(moveToWell, {
                 pipetteId: args.pipette,
-                volume: dispenseAirGapVolume,
                 labwareId: dispenseAirGapLabware,
                 wellName: dispenseAirGapWell,
-                flowRate: aspirateFlowRateUlSec,
                 wellLocation: {
                   origin: 'bottom',
                   offset: {
@@ -376,10 +373,11 @@ export const distribute: CommandCreator<DistributeArgs> = (
                     y: 0,
                   },
                 },
-                isAirGap: true,
-                tipRack: args.tipRack,
-
-                nozzles,
+              }),
+              curryCommandCreator(airGapInPlace, {
+                pipetteId: args.pipette,
+                volume: dispenseAirGapVolume,
+                flowRate: aspirateFlowRateUlSec,
               }),
               ...(aspirateDelay != null
                 ? [
diff --git a/step-generation/src/commandCreators/compound/transfer.ts b/step-generation/src/commandCreators/compound/transfer.ts
index cd62cbacfbc..adfb9c43887 100644
--- a/step-generation/src/commandCreators/compound/transfer.ts
+++ b/step-generation/src/commandCreators/compound/transfer.ts
@@ -22,6 +22,7 @@ import {
   getHasWasteChute,
 } from '../../utils'
 import {
+  airGapInPlace,
   aspirate,
   configureForVolume,
   delay,
@@ -394,12 +395,10 @@ export const transfer: CommandCreator<TransferArgs> = (
           const airGapAfterAspirateCommands =
             aspirateAirGapVolume && destinationWell != null
               ? [
-                  curryCommandCreator(aspirate, {
+                  curryCommandCreator(moveToWell, {
                     pipetteId: args.pipette,
-                    volume: aspirateAirGapVolume,
                     labwareId: args.sourceLabware,
                     wellName: sourceWell,
-                    flowRate: aspirateFlowRateUlSec,
                     wellLocation: {
                       origin: 'bottom',
                       offset: {
@@ -408,9 +407,11 @@ export const transfer: CommandCreator<TransferArgs> = (
                         y: 0,
                       },
                     },
-                    isAirGap: true,
-                    tipRack,
-                    nozzles: args.nozzles,
+                  }),
+                  curryCommandCreator(airGapInPlace, {
+                    pipetteId: args.pipette,
+                    volume: aspirateAirGapVolume,
+                    flowRate: aspirateFlowRateUlSec,
                   }),
                   ...(aspirateDelay != null
                     ? [
@@ -433,7 +434,6 @@ export const transfer: CommandCreator<TransferArgs> = (
                         y: 0,
                       },
                     },
-                    isAirGap: true,
                     tipRack: args.tipRack,
                     nozzles: args.nozzles,
                   }),
@@ -539,8 +539,6 @@ export const transfer: CommandCreator<TransferArgs> = (
                     destWell: destinationWell,
                     flowRate: aspirateFlowRateUlSec,
                     offsetFromBottomMm: airGapOffsetDestWell,
-                    tipRack,
-                    nozzles: args.nozzles,
                   }),
                   ...(aspirateDelay != null
                     ? [
diff --git a/step-generation/src/fixtures/commandFixtures.ts b/step-generation/src/fixtures/commandFixtures.ts
index 86b6e9ea030..aac4662fea0 100644
--- a/step-generation/src/fixtures/commandFixtures.ts
+++ b/step-generation/src/fixtures/commandFixtures.ts
@@ -3,7 +3,6 @@ import {
   tiprackWellNamesFlat,
   DEFAULT_PIPETTE,
   SOURCE_LABWARE,
-  AIR_GAP_META,
   DEFAULT_BLOWOUT_WELL,
   DEST_LABWARE,
 } from './data'
@@ -139,21 +138,30 @@ export const makeAspirateHelper: MakeAspDispHelper<AspDispAirgapParams> = bakedP
     ...params,
   },
 })
-export const makeAirGapHelper: MakeAirGapHelper<AspDispAirgapParams> = bakedParams => (
-  wellName,
-  volume,
-  params
-) => ({
-  commandType: 'aspirate',
-  meta: AIR_GAP_META,
+export const makeMoveToWellHelper = (wellName: string, labwareId?: string) => ({
+  commandType: 'moveToWell',
   key: expect.any(String),
   params: {
-    ..._defaultAspirateParams,
-    ...bakedParams,
+    pipetteId: DEFAULT_PIPETTE,
+    labwareId: labwareId ?? SOURCE_LABWARE,
     wellName,
+    wellLocation: {
+      origin: 'bottom',
+      offset: {
+        x: 0,
+        y: 0,
+        z: 11.54,
+      },
+    },
+  },
+})
+export const makeAirGapHelper = (volume: number) => ({
+  commandType: 'airGapInPlace',
+  key: expect.any(String),
+  params: {
+    pipetteId: DEFAULT_PIPETTE,
     volume,
     flowRate: ASPIRATE_FLOW_RATE,
-    ...params,
   },
 })
 export const blowoutHelper = (
@@ -238,7 +246,6 @@ export const makeDispenseAirGapHelper: MakeDispenseAirGapHelper<AspDispAirgapPar
     volume,
     ...params,
   },
-  meta: AIR_GAP_META,
 })
 const _defaultTouchTipParams = {
   pipetteId: DEFAULT_PIPETTE,
diff --git a/step-generation/src/getNextRobotStateAndWarnings/index.ts b/step-generation/src/getNextRobotStateAndWarnings/index.ts
index 64bc543e80d..a1089656f09 100644
--- a/step-generation/src/getNextRobotStateAndWarnings/index.ts
+++ b/step-generation/src/getNextRobotStateAndWarnings/index.ts
@@ -126,6 +126,7 @@ function _getNextRobotStateAndWarningsSingleCommand(
     case 'delay': // deprecated, use waitForDuration instead
     case 'custom': // fall-back
     case 'comment':
+    case 'airGapInPlace':
       break
 
     case 'loadLiquid':
diff --git a/step-generation/src/utils/misc.ts b/step-generation/src/utils/misc.ts
index 2a8678ceab7..b12bfce99f3 100644
--- a/step-generation/src/utils/misc.ts
+++ b/step-generation/src/utils/misc.ts
@@ -13,7 +13,7 @@ import {
 } from '@opentrons/shared-data'
 import { reduceCommandCreators, wasteChuteCommandsUtil } from './index'
 import {
-  aspirate,
+  airGapInPlace,
   dispense,
   moveToAddressableArea,
   moveToWell,
@@ -625,10 +625,8 @@ interface AirGapArgs {
   destWell: string | null
   flowRate: number
   offsetFromBottomMm: number
-  tipRack: string
   pipetteId: string
   volume: number
-  nozzles: NozzleConfigurationStyle | null
   blowOutLocation?: string | null
   sourceId?: string
   sourceWell?: string
@@ -645,11 +643,9 @@ export const airGapHelper: CommandCreator<AirGapArgs> = (
     flowRate,
     offsetFromBottomMm,
     pipetteId,
-    tipRack,
     sourceId,
     sourceWell,
     volume,
-    nozzles,
   } = args
 
   const trashOrLabware = getTrashOrLabware(
@@ -674,12 +670,10 @@ export const airGapHelper: CommandCreator<AirGapArgs> = (
       })
 
       commands = [
-        curryCommandCreator(aspirate, {
-          pipetteId: pipetteId,
-          volume,
+        curryCommandCreator(moveToWell, {
+          pipetteId,
           labwareId: dispenseAirGapLabware,
           wellName: dispenseAirGapWell,
-          flowRate,
           wellLocation: {
             origin: 'bottom',
             offset: {
@@ -688,20 +682,20 @@ export const airGapHelper: CommandCreator<AirGapArgs> = (
               y: 0,
             },
           },
-          isAirGap: true,
-          tipRack,
-          nozzles,
+        }),
+        curryCommandCreator(airGapInPlace, {
+          pipetteId,
+          volume,
+          flowRate,
         }),
       ]
       //  when aspirating out of multi wells for consolidate
     } else {
       commands = [
-        curryCommandCreator(aspirate, {
-          pipetteId: pipetteId,
-          volume,
+        curryCommandCreator(moveToWell, {
+          pipetteId,
           labwareId: destinationId,
           wellName: destWell,
-          flowRate,
           wellLocation: {
             origin: 'bottom',
             offset: {
@@ -710,9 +704,11 @@ export const airGapHelper: CommandCreator<AirGapArgs> = (
               y: 0,
             },
           },
-          isAirGap: true,
-          tipRack,
-          nozzles,
+        }),
+        curryCommandCreator(airGapInPlace, {
+          pipetteId,
+          volume,
+          flowRate,
         }),
       ]
     }

From 02b70836f012c052d02b23c7cdbe1c5ed4c5e728 Mon Sep 17 00:00:00 2001
From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com>
Date: Tue, 28 Jan 2025 12:06:24 -0500
Subject: [PATCH 3/8] fix(protocol-designer): add clear all liquids
 functionality (#17364)

In liquids toolbox, the toolbox close button should be a button to clear
all wells. On click, all wells of the labware should be cleared after
confirming on a dialogue box. If no wells have liquid, the click no-ops,
but the button remains enabled to reflect new design system.

Closes RQA-3681
---
 .../assets/localization/en/application.json   |  1 +
 .../AssignLiquidsModal/LiquidToolbox.tsx      | 31 ++++++++++++++++---
 2 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/protocol-designer/src/assets/localization/en/application.json b/protocol-designer/src/assets/localization/en/application.json
index b6d0505a0d1..256a2fa60db 100644
--- a/protocol-designer/src/assets/localization/en/application.json
+++ b/protocol-designer/src/assets/localization/en/application.json
@@ -1,5 +1,6 @@
 {
   "are_you_sure": "Are you sure you want to remove liquids from all selected wells?",
+  "are_you_sure_clear_all_wells": "Are you sure you want to remove liquids from all wells?",
   "are_you_sure_delete_well": "Are you sure you want to delete well {{well}}?",
   "blowout": "Blowout",
   "cancel": "cancel",
diff --git a/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx b/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
index 28c032f2373..1606e7a25da 100644
--- a/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
+++ b/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
@@ -89,6 +89,17 @@ export function LiquidToolbox(props: LiquidToolboxProps): JSX.Element {
     wellContentsSelectors.getAllWellContentsForActiveItem
   )
 
+  const allWellsForActiveItem =
+    labwareId != null
+      ? Object.keys(allWellContentsForActiveItem?.[labwareId] ?? {})
+      : []
+  const activeItemHasLiquids =
+    labwareId != null
+      ? Object.values(allWellContentsForActiveItem?.[labwareId] ?? {}).some(
+          value => value.groupIds.length > 0
+        )
+      : false
+
   const selectionHasLiquids = Boolean(
     labwareId != null &&
       liquidLocations[labwareId] != null &&
@@ -143,6 +154,21 @@ export function LiquidToolbox(props: LiquidToolboxProps): JSX.Element {
     reset()
   }
 
+  const handleClearAllWells: () => void = () => {
+    if (labwareId != null && activeItemHasLiquids) {
+      if (
+        global.confirm(t('application:are_you_sure_clear_all_wells') as string)
+      ) {
+        dispatch(
+          removeWellsContents({
+            labwareId,
+            wells: allWellsForActiveItem,
+          })
+        )
+      }
+    }
+  }
+
   const handleChangeVolume: (e: ChangeEvent<HTMLInputElement>) => void = e => {
     const value: string | null | undefined = e.currentTarget.value
     const masked = fieldProcessors.composeMaskers(
@@ -247,7 +273,7 @@ export function LiquidToolbox(props: LiquidToolboxProps): JSX.Element {
           dispatch(deselectAllWells())
           onClose()
         }}
-        onCloseClick={handleClearSelectedWells}
+        onCloseClick={handleClearAllWells}
         height="100%"
         width="21.875rem"
         closeButton={
@@ -255,9 +281,6 @@ export function LiquidToolbox(props: LiquidToolboxProps): JSX.Element {
             {t('clear_wells')}
           </StyledText>
         }
-        disableCloseButton={
-          !(labwareId != null && selectedWells != null && selectionHasLiquids)
-        }
       >
         {(liquidsInLabware != null && liquidsInLabware.length > 0) ||
         selectedWells.length > 0 ? (

From 9ffb69c59a397f2f7742d76ed4c3c4d197dfd954 Mon Sep 17 00:00:00 2001
From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com>
Date: Tue, 28 Jan 2025 13:10:04 -0500
Subject: [PATCH 4/8] feat(protocol-designer): add announcement for 8.4.0
 (#17365)

Adds announcement and content for plate reader release in 8.4.0.

Closes AUTH-1373
---
 .../cypress/support/SupportModules.ts         |   4 +-
 .../opentrons_absorbance_plate_reader.png     | Bin 0 -> 836169 bytes
 .../src/assets/localization/en/modal.json     |  10 ++
 .../AnnouncementModal/announcements.tsx       |  88 +++++++++++++++++-
 4 files changed, 98 insertions(+), 4 deletions(-)
 create mode 100644 protocol-designer/src/assets/images/opentrons_absorbance_plate_reader.png

diff --git a/protocol-designer/cypress/support/SupportModules.ts b/protocol-designer/cypress/support/SupportModules.ts
index 427b608d9ab..0fc0262a092 100644
--- a/protocol-designer/cypress/support/SupportModules.ts
+++ b/protocol-designer/cypress/support/SupportModules.ts
@@ -46,7 +46,7 @@ export const executeModSteps = (action: ModActions): void => {
         .click({ force: true })
       break
     case ModActions.AddTemperatureStep:
-      cy.contains('button', 'Temperature').click()
+      cy.contains('button', 'Temperature').click({ force: true })
       break
     case ModActions.ActivateTempdeck:
       cy.contains(ModContent.DecativeTempDeck)
@@ -72,7 +72,7 @@ export const executeModSteps = (action: ModActions): void => {
         .click()
       break
     case ModActions.SaveButtonTempdeck:
-      cy.contains(ModContent.Save).click()
+      cy.contains(ModContent.Save).click({ force: true })
       break
     default:
       throw new Error(`Unrecognized action: ${action as string}`)
diff --git a/protocol-designer/src/assets/images/opentrons_absorbance_plate_reader.png b/protocol-designer/src/assets/images/opentrons_absorbance_plate_reader.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ac78216aa3ff55d1be53650bc4027971653f80f
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HcmV?d00001

diff --git a/protocol-designer/src/assets/localization/en/modal.json b/protocol-designer/src/assets/localization/en/modal.json
index 8530f61a28a..62d34d00a9d 100644
--- a/protocol-designer/src/assets/localization/en/modal.json
+++ b/protocol-designer/src/assets/localization/en/modal.json
@@ -57,6 +57,16 @@
       "body3": "Add multiple Heater-Shaker Modules and Magnetic Blocks to the deck (Flex only).",
       "body4": "All protocols now require Opentrons App version <strong>8.2.0+</strong> to run.",
       "body5": "For more information, see the <link1>Protocol Designer Instruction Manual</link1>."
+    },
+    "absorbancePlateReaderSupport": {
+      "heading": "{{version}} Release Notes",
+      "body1": "Welcome to Protocol Designer {{version}}!",
+      "body2": "This release includes the following improvements:",
+      "body3": "Protocol Designer now supports the <link1>Absorbance Plate Reader Module</link1>",
+      "body4": "Bug fix for mismatched x- and y-offset values for aspirate and dispense during Mix steps",
+      "body5": "Bug fix for Move steps not using the gripper by default",
+      "body6": "All protocols now require Opentrons App version 8.2.0+ to run.",
+      "body7": "For more information, see the <link1>Protocol Designer Instruction Manual</link1>."
     }
   },
   "labware_selection": {
diff --git a/protocol-designer/src/organisms/AnnouncementModal/announcements.tsx b/protocol-designer/src/organisms/AnnouncementModal/announcements.tsx
index e84930a26c0..2a745cd7d9a 100644
--- a/protocol-designer/src/organisms/AnnouncementModal/announcements.tsx
+++ b/protocol-designer/src/organisms/AnnouncementModal/announcements.tsx
@@ -9,6 +9,7 @@ import {
   Link as LinkComponent,
   SPACING,
   StyledText,
+  TEXT_DECORATION_UNDERLINE,
 } from '@opentrons/components'
 
 import magTempCombined from '../../assets/images/modules/magdeck_tempdeck_combined.png'
@@ -19,7 +20,8 @@ import heaterShaker from '../../assets/images/modules/heatershaker.png'
 import thermocyclerGen2 from '../../assets/images/modules/thermocycler_gen2.png'
 import liquidEnhancements from '../../assets/images/announcements/liquid-enhancements.gif'
 import opentronsFlex from '../../assets/images/OpentronsFlex.png'
-import deckConfigutation from '../../assets/images/deck_configuration.png'
+import deckConfiguration from '../../assets/images/deck_configuration.png'
+import absorbancePlateReaderImage from '../../assets/images/opentrons_absorbance_plate_reader.png'
 import { DOC_URL } from '../KnowledgeLink'
 import type { ReactNode } from 'react'
 
@@ -53,6 +55,8 @@ const batchEditStyles = css`
 const PD = 'Protocol Designer'
 const APP = 'Opentrons App'
 const OPENTRONS_PD = 'Opentrons Protocol Designer'
+const OPENTRONS_ABSORBANCE_READER_URL =
+  'https://opentrons.com/products/opentrons-flex-absorbance-plate-reader-module-gen1'
 
 export const useAnnouncements = (): Announcement[] => {
   const { t } = useTranslation('modal')
@@ -277,7 +281,7 @@ export const useAnnouncements = (): Announcement[] => {
       announcementKey: 'deckConfigAnd96Channel8.0',
       image: (
         <Flex justifyContent={JUSTIFY_CENTER} paddingTop={SPACING.spacing8}>
-          <img width="340" src={deckConfigutation} />
+          <img width="340" src={deckConfiguration} />
         </Flex>
       ),
       heading: t('announcements.header', { pd: PD }),
@@ -372,5 +376,85 @@ export const useAnnouncements = (): Announcement[] => {
         </Flex>
       ),
     },
+    {
+      announcementKey: 'absorbancePlateReader',
+      image: (
+        <Flex
+          justifyContent={JUSTIFY_CENTER}
+          paddingTop={SPACING.spacing8}
+          backgroundColor={COLORS.blue10}
+        >
+          <img width="100%" src={absorbancePlateReaderImage} />
+        </Flex>
+      ),
+      heading: t('announcements.absorbancePlateReaderSupport.heading', {
+        version: pdVersion,
+      }),
+      message: (
+        <Flex gridGap={SPACING.spacing4} flexDirection={DIRECTION_COLUMN}>
+          <StyledText desktopStyle="bodyDefaultSemiBold">
+            {t('announcements.absorbancePlateReaderSupport.body1', {
+              version: pdVersion,
+            })}
+          </StyledText>
+          <Flex flexDirection={DIRECTION_COLUMN}>
+            <StyledText desktopStyle="bodyDefaultRegular">
+              {t('announcements.absorbancePlateReaderSupport.body2')}
+            </StyledText>
+            <Flex marginLeft={SPACING.spacing16}>
+              <ul>
+                <li>
+                  <StyledText desktopStyle="bodyDefaultRegular">
+                    <Trans
+                      t={t}
+                      components={{
+                        link1: (
+                          <LinkComponent
+                            external
+                            href={OPENTRONS_ABSORBANCE_READER_URL}
+                            textDecoration={TEXT_DECORATION_UNDERLINE}
+                            color={COLORS.black90}
+                          />
+                        ),
+                      }}
+                      i18nKey="announcements.absorbancePlateReaderSupport.body3"
+                    />
+                  </StyledText>
+                </li>
+                <li>
+                  <StyledText desktopStyle="bodyDefaultRegular">
+                    {t('announcements.absorbancePlateReaderSupport.body4')}
+                  </StyledText>
+                </li>
+                <li>
+                  <StyledText desktopStyle="bodyDefaultRegular">
+                    {t('announcements.absorbancePlateReaderSupport.body5')}
+                  </StyledText>
+                </li>
+              </ul>
+            </Flex>
+          </Flex>
+          <StyledText desktopStyle="bodyDefaultRegular">
+            {t('announcements.absorbancePlateReaderSupport.body6')}
+          </StyledText>
+          <StyledText desktopStyle="bodyDefaultRegular">
+            <Trans
+              t={t}
+              components={{
+                link1: (
+                  <LinkComponent
+                    external
+                    href={DOC_URL}
+                    textDecoration={TEXT_DECORATION_UNDERLINE}
+                    color={COLORS.black90}
+                  />
+                ),
+              }}
+              i18nKey="announcements.absorbancePlateReaderSupport.body7"
+            />
+          </StyledText>
+        </Flex>
+      ),
+    },
   ]
 }

From bb5b5cd64e576c60179279a49523fe4b6ff37580 Mon Sep 17 00:00:00 2001
From: Jeremy Leon <jeremy.leon@opentrons.com>
Date: Tue, 28 Jan 2025 14:00:39 -0500
Subject: [PATCH 5/8] feat(api): add new InstrumentContext.consolidate_liquid()
 method (#17359)

Adds consolidate_liquid method to instrument context
---
 .../protocol_api/core/engine/instrument.py    |  12 +
 .../opentrons/protocol_api/core/instrument.py |  17 ++
 .../core/legacy/legacy_instrument_core.py     |  13 +
 .../legacy_instrument_core.py                 |  13 +
 .../protocol_api/instrument_context.py        |  88 ++++++
 .../protocol_api/test_instrument_context.py   | 262 ++++++++++++++++++
 6 files changed, 405 insertions(+)

diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py
index 9ae9b349789..2453436c0f6 100644
--- a/api/src/opentrons/protocol_api/core/engine/instrument.py
+++ b/api/src/opentrons/protocol_api/core/engine/instrument.py
@@ -1110,6 +1110,18 @@ def distribute_liquid(
     ) -> None:
         pass
 
+    def consolidate_liquid(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: List[Tuple[Location, WellCore]],
+        dest: Tuple[Location, WellCore],
+        new_tip: TransferTipPolicyV2,
+        tip_racks: List[Tuple[Location, LabwareCore]],
+        trash_location: Union[Location, TrashBin, WasteChute],
+    ) -> None:
+        pass
+
     def _get_location_and_well_core_from_next_tip_info(
         self,
         tip_info: NextTipInfo,
diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py
index aa653dccaea..18742262fa8 100644
--- a/api/src/opentrons/protocol_api/core/instrument.py
+++ b/api/src/opentrons/protocol_api/core/instrument.py
@@ -343,6 +343,23 @@ def distribute_liquid(
         """
         ...
 
+    @abstractmethod
+    def consolidate_liquid(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: List[Tuple[types.Location, WellCoreType]],
+        dest: Tuple[types.Location, WellCoreType],
+        new_tip: TransferTipPolicyV2,
+        tip_racks: List[Tuple[types.Location, LabwareCoreType]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """
+        Consolidate liquid from multiple sources to a single destination
+        using the specified liquid class properties.
+        """
+        ...
+
     @abstractmethod
     def is_tip_tracking_available(self) -> bool:
         """Return whether auto tip tracking is available for the pipette's current nozzle configuration."""
diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
index 46cf36de2e9..81846122715 100644
--- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
@@ -586,6 +586,19 @@ def distribute_liquid(
         """This will never be called because it was added in API 2.23"""
         assert False, "distribute_liquid is not supported in legacy context"
 
+    def consolidate_liquid(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: List[Tuple[types.Location, LegacyWellCore]],
+        dest: Tuple[types.Location, LegacyWellCore],
+        new_tip: TransferTipPolicyV2,
+        tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """This will never be called because it was added in API 2.23."""
+        assert False, "consolidate_liquid is not supported in legacy context"
+
     def get_active_channels(self) -> int:
         """This will never be called because it was added in API 2.16."""
         assert False, "get_active_channels only supported in API 2.16 & later"
diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
index 93445f94f05..3b8792117d9 100644
--- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
@@ -506,6 +506,19 @@ def distribute_liquid(
         """This will never be called because it was added in API 2.23."""
         assert False, "distribute_liquid is not supported in legacy context"
 
+    def consolidate_liquid(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: List[Tuple[types.Location, LegacyWellCore]],
+        dest: Tuple[types.Location, LegacyWellCore],
+        new_tip: TransferTipPolicyV2,
+        tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
+    ) -> None:
+        """This will never be called because it was added in API 2.23."""
+        assert False, "consolidate_liquid is not supported in legacy context"
+
     def get_active_channels(self) -> int:
         """This will never be called because it was added in API 2.16."""
         assert False, "get_active_channels only supported in API 2.16 & later"
diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
index 11552ef9ec3..6192b35670a 100644
--- a/api/src/opentrons/protocol_api/instrument_context.py
+++ b/api/src/opentrons/protocol_api/instrument_context.py
@@ -1689,6 +1689,94 @@ def distribute_liquid(
         )
         return self
 
+    def consolidate_liquid(
+        self,
+        liquid_class: LiquidClass,
+        volume: float,
+        source: Union[
+            labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]]
+        ],
+        dest: labware.Well,
+        new_tip: TransferTipPolicyV2Type = "once",
+        trash_location: Optional[
+            Union[types.Location, labware.Well, TrashBin, WasteChute]
+        ] = None,
+    ) -> InstrumentContext:
+        """
+        Consolidate liquid from multiple sources to a single destination
+        using the specified liquid class properties.
+
+        TODO: Add args description.
+        """
+        if not feature_flags.allow_liquid_classes(
+            robot_type=RobotTypeEnum.robot_literal_to_enum(
+                self._protocol_core.robot_type
+            )
+        ):
+            raise NotImplementedError("This method is not implemented.")
+        if not isinstance(dest, labware.Well):
+            raise ValueError(
+                f"Destination should be a single Well but received {dest}."
+            )
+        flat_sources_list = validation.ensure_valid_flat_wells_list_for_transfer_v2(
+            source
+        )
+        for well in flat_sources_list + [dest]:
+            instrument.validate_takes_liquid(
+                location=well.top(),
+                reject_module=True,
+                reject_adapter=True,
+            )
+
+        valid_new_tip = validation.ensure_new_tip_policy(new_tip)
+        if valid_new_tip == TransferTipPolicyV2.NEVER:
+            if self._last_tip_picked_up_from is None:
+                raise RuntimeError(
+                    "Pipette has no tip attached to perform transfer."
+                    " Either do a pick_up_tip beforehand or specify a new_tip parameter"
+                    " of 'once' or 'always'."
+                )
+            else:
+                tip_racks = [self._last_tip_picked_up_from.parent]
+        else:
+            tip_racks = self._tip_racks
+        if self.current_volume != 0:
+            raise RuntimeError(
+                "A transfer on a liquid class cannot start with liquid already in the tip."
+                " Ensure that all previously aspirated liquid is dispensed before starting"
+                " a new transfer."
+            )
+
+        _trash_location: Union[types.Location, labware.Well, TrashBin, WasteChute]
+        if trash_location is None:
+            saved_trash = self.trash_container
+            if isinstance(saved_trash, labware.Labware):
+                _trash_location = saved_trash.wells()[0]
+            else:
+                _trash_location = saved_trash
+        else:
+            _trash_location = trash_location
+
+        checked_trash_location = validation.ensure_valid_trash_location_for_transfer_v2(
+            trash_location=_trash_location
+        )
+        self._core.consolidate_liquid(
+            liquid_class=liquid_class,
+            volume=volume,
+            source=[
+                (types.Location(types.Point(), labware=well), well._core)
+                for well in flat_sources_list
+            ],
+            dest=(types.Location(types.Point(), labware=dest), dest._core),
+            new_tip=valid_new_tip,
+            tip_racks=[
+                (types.Location(types.Point(), labware=rack), rack._core)
+                for rack in tip_racks
+            ],
+            trash_location=checked_trash_location,
+        )
+        return self
+
     @requires_version(2, 0)
     def delay(self, *args: Any, **kwargs: Any) -> None:
         """
diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py
index 2a279ca1ad7..7fad487086a 100644
--- a/api/tests/opentrons/protocol_api/test_instrument_context.py
+++ b/api/tests/opentrons/protocol_api/test_instrument_context.py
@@ -2247,3 +2247,265 @@ def test_distribute_liquid_delegates_to_engine_core(
             trash_location=trash_location.move(Point(1, 2, 3)),
         )
     )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_for_invalid_locations(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise errors if source or destination is invalid."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([[mock_well]])
+    ).then_raise(ValueError("Oh no"))
+    with pytest.raises(ValueError):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[[mock_well]],
+            dest=mock_well,
+        )
+    with pytest.raises(ValueError, match="Destination should be a single Well"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[mock_well],
+            dest="abc",  # type: ignore
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_if_more_than_one_destination(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise error if destination is more than one well."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    with pytest.raises(ValueError, match="Destination should be a single Well"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[mock_well, mock_well],
+            dest=[mock_well, mock_well],  # type: ignore
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_for_non_liquid_handling_locations(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise errors if sources or destination are not a valid liquid handling target."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well])
+    ).then_return([mock_well])
+    decoy.when(
+        mock_instrument_support.validate_takes_liquid(
+            mock_well.top(), reject_module=True, reject_adapter=True
+        )
+    ).then_raise(ValueError("Uh oh"))
+    with pytest.raises(ValueError, match="Uh oh"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class, volume=10, source=[mock_well], dest=mock_well
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_for_bad_tip_policy(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise errors if new_tip is invalid."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well])
+    ).then_return([mock_well])
+    decoy.when(mock_validation.ensure_new_tip_policy("once")).then_raise(
+        ValueError("Uh oh")
+    )
+    with pytest.raises(ValueError, match="Uh oh"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[mock_well],
+            dest=mock_well,
+            new_tip="once",
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_for_no_tip(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise errors if there is no tip attached."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well])
+    ).then_return([mock_well])
+    decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return(
+        TransferTipPolicyV2.NEVER
+    )
+    with pytest.raises(RuntimeError, match="Pipette has no tip"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[mock_well],
+            dest=mock_well,
+            new_tip="never",
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_raises_if_tip_has_liquid(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    mock_instrument_core: InstrumentCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should raise errors if there is liquid in the tip."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    tip_racks = [decoy.mock(cls=Labware)]
+
+    subject.starting_tip = None
+    subject.tip_racks = tip_racks
+
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well])
+    ).then_return([mock_well])
+    decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return(
+        TransferTipPolicyV2.ONCE
+    )
+    decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP)
+    decoy.when(mock_instrument_core.get_active_channels()).then_return(2)
+    decoy.when(
+        labware.next_available_tip(
+            starting_tip=None,
+            tip_racks=tip_racks,
+            channels=2,
+            nozzle_map=MOCK_MAP,
+        )
+    ).then_return((decoy.mock(cls=Labware), decoy.mock(cls=Well)))
+    decoy.when(mock_instrument_core.get_current_volume()).then_return(1000)
+    with pytest.raises(RuntimeError, match="liquid already in the tip"):
+        subject.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[mock_well],
+            dest=mock_well,
+            new_tip="never",
+        )
+
+
+@pytest.mark.parametrize("robot_type", ["OT-2 Standard", "OT-3 Standard"])
+def test_consolidate_liquid_delegates_to_engine_core(
+    decoy: Decoy,
+    mock_protocol_core: ProtocolCore,
+    mock_instrument_core: InstrumentCore,
+    subject: InstrumentContext,
+    mock_feature_flags: None,
+    robot_type: RobotType,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+) -> None:
+    """It should delegate the execution to core."""
+    test_liq_class = LiquidClass.create(minimal_liquid_class_def2)
+    mock_well = decoy.mock(cls=Well)
+    tip_racks = [decoy.mock(cls=Labware)]
+    trash_location = Location(point=Point(1, 2, 3), labware=mock_well)
+    next_tiprack = decoy.mock(cls=Labware)
+    subject.starting_tip = None
+    subject._tip_racks = tip_racks
+
+    decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
+    decoy.when(
+        ff.allow_liquid_classes(RobotTypeEnum.robot_literal_to_enum(robot_type))
+    ).then_return(True)
+    decoy.when(
+        mock_validation.ensure_valid_flat_wells_list_for_transfer_v2([mock_well])
+    ).then_return([mock_well])
+    decoy.when(mock_validation.ensure_new_tip_policy("never")).then_return(
+        TransferTipPolicyV2.ONCE
+    )
+    decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP)
+    decoy.when(mock_instrument_core.get_active_channels()).then_return(2)
+    decoy.when(mock_instrument_core.get_current_volume()).then_return(0)
+    decoy.when(
+        mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location)
+    ).then_return(trash_location.move(Point(1, 2, 3)))
+    decoy.when(next_tiprack.uri).then_return("tiprack-uri")
+    decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name")
+
+    subject.consolidate_liquid(
+        liquid_class=test_liq_class,
+        volume=10,
+        source=[mock_well],
+        dest=mock_well,
+        new_tip="never",
+        trash_location=trash_location,
+    )
+    decoy.verify(
+        mock_instrument_core.consolidate_liquid(
+            liquid_class=test_liq_class,
+            volume=10,
+            source=[(Location(Point(), labware=mock_well), mock_well._core)],
+            dest=(Location(Point(), labware=mock_well), mock_well._core),
+            new_tip=TransferTipPolicyV2.ONCE,
+            tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)],
+            trash_location=trash_location.move(Point(1, 2, 3)),
+        )
+    )

From 410bfa9c68f3891863b4846ac14037f0a32b4d95 Mon Sep 17 00:00:00 2001
From: Sanniti Pimpley <sanni-t@users.noreply.github.com>
Date: Tue, 28 Jan 2025 14:12:24 -0500
Subject: [PATCH 6/8] feat(api): introduce correction volume into the liquid
 classes based transfer flow (#17322)

Closes AUTH-964

# Overview

Adds `correctionVolume` to protocol engine's aspirate and dispense
commands and also adds it as argument to rest of the steps in the
pipeline to get the correction volume value from the transfer flow to
hardware controller.
The hardware controller then wires it up to move the plunger in
proportion to the correction volume.

## Risk assessment

Low

---------

Co-authored-by: Andy Sigler <andrewsigler1@gmail.com>
---
 api/src/opentrons/hardware_control/api.py     |    2 +
 .../instruments/ot3/pipette_handler.py        |   27 +-
 api/src/opentrons/hardware_control/ot3api.py  |   13 +-
 .../protocols/liquid_handler.py               |    4 +
 .../protocol_api/core/engine/instrument.py    |   19 +-
 .../engine/transfer_components_executor.py    |   17 +-
 .../opentrons/protocol_api/core/instrument.py |    9 +-
 .../core/legacy/legacy_instrument_core.py     |    8 +-
 .../legacy_instrument_core.py                 |    6 +-
 .../commands/air_gap_in_place.py              |    2 +
 .../protocol_engine/commands/aspirate.py      |    2 +
 .../commands/aspirate_in_place.py             |    2 +
 .../protocol_engine/commands/dispense.py      |    2 +
 .../commands/dispense_in_place.py             |    2 +
 .../commands/pipetting_common.py              |   24 +-
 .../protocol_engine/execution/pipetting.py    |   15 +-
 .../core/engine/test_instrument_core.py       |   26 +-
 .../test_transfer_components_executor.py      |   99 +-
 .../core/simulator/test_instrument_context.py |   10 +
 .../commands/test_air_gap_in_place.py         |    4 +
 .../protocol_engine/commands/test_aspirate.py |    5 +
 .../commands/test_aspirate_in_place.py        |    3 +
 .../protocol_engine/commands/test_dispense.py |   12 +-
 .../commands/test_dispense_in_place.py        |    7 +-
 .../execution/test_pipetting_handler.py       |    8 +-
 shared-data/command/schemas/12.json           | 6468 +++++++++++++++++
 26 files changed, 6759 insertions(+), 37 deletions(-)
 create mode 100644 shared-data/command/schemas/12.json

diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py
index c52fae64131..a5dbae274fb 100644
--- a/api/src/opentrons/hardware_control/api.py
+++ b/api/src/opentrons/hardware_control/api.py
@@ -1039,6 +1039,7 @@ async def aspirate(
         mount: top_types.Mount,
         volume: Optional[float] = None,
         rate: float = 1.0,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Aspirate a volume of liquid (in microliters/uL) using this pipette.
@@ -1073,6 +1074,7 @@ async def dispense(
         volume: Optional[float] = None,
         rate: float = 1.0,
         push_out: Optional[float] = None,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Dispense a volume of liquid in microliters(uL) using this pipette.
diff --git a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
index ef081b95a62..7c553584500 100644
--- a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
+++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
@@ -502,10 +502,19 @@ def ready_for_tip_action(
         self._ihp_log.debug(f"{action} on {target.name}")
 
     def plunger_position(
-        self, instr: Pipette, ul: float, action: "UlPerMmAction"
+        self,
+        instr: Pipette,
+        ul: float,
+        action: "UlPerMmAction",
+        correction_volume: float = 0.0,
     ) -> float:
-        mm = ul / instr.ul_per_mm(ul, action)
-        position = instr.plunger_positions.bottom - mm
+        if ul == 0:
+            position = instr.plunger_positions.bottom
+        else:
+            multiplier = 1.0 + (correction_volume / ul)
+            mm_dist_from_bottom = ul / instr.ul_per_mm(ul, action)
+            mm_dist_from_bottom_corrected = mm_dist_from_bottom * multiplier
+            position = instr.plunger_positions.bottom - mm_dist_from_bottom_corrected
         return round(position, 6)
 
     def plunger_speed(
@@ -531,6 +540,7 @@ def plan_check_aspirate(
         mount: OT3Mount,
         volume: Optional[float],
         rate: float,
+        correction_volume: float = 0.0,
     ) -> Optional[LiquidActionSpec]:
         """Check preconditions for aspirate, parse args, and calculate positions.
 
@@ -566,7 +576,10 @@ def plan_check_aspirate(
         ), "Cannot aspirate more than pipette max volume"
 
         dist = self.plunger_position(
-            instrument, instrument.current_volume + asp_vol, "aspirate"
+            instr=instrument,
+            ul=instrument.current_volume + asp_vol,
+            action="aspirate",
+            correction_volume=correction_volume,
         )
         speed = self.plunger_speed(
             instrument, instrument.aspirate_flow_rate * rate, "aspirate"
@@ -591,6 +604,7 @@ def plan_check_dispense(
         volume: Optional[float],
         rate: float,
         push_out: Optional[float],
+        correction_volume: float = 0.0,
     ) -> Optional[LiquidActionSpec]:
         """Check preconditions for dispense, parse args, and calculate positions.
 
@@ -659,7 +673,10 @@ def plan_check_dispense(
             )
 
         dist = self.plunger_position(
-            instrument, instrument.current_volume - disp_vol, "dispense"
+            instr=instrument,
+            ul=instrument.current_volume - disp_vol,
+            action="dispense",
+            correction_volume=correction_volume,
         )
         speed = self.plunger_speed(
             instrument, instrument.dispense_flow_rate * rate, "dispense"
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 6295757e7ab..bf59793d9dc 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -2046,12 +2046,16 @@ async def aspirate(
         mount: Union[top_types.Mount, OT3Mount],
         volume: Optional[float] = None,
         rate: float = 1.0,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Aspirate a volume of liquid (in microliters/uL) using this pipette."""
         realmount = OT3Mount.from_mount(mount)
         aspirate_spec = self._pipette_handler.plan_check_aspirate(
-            realmount, volume, rate
+            mount=realmount,
+            volume=volume,
+            rate=rate,
+            correction_volume=correction_volume,
         )
         if not aspirate_spec:
             return
@@ -2088,12 +2092,17 @@ async def dispense(
         volume: Optional[float] = None,
         rate: float = 1.0,
         push_out: Optional[float] = None,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Dispense a volume of liquid in microliters(uL) using this pipette."""
         realmount = OT3Mount.from_mount(mount)
         dispense_spec = self._pipette_handler.plan_check_dispense(
-            realmount, volume, rate, push_out
+            mount=realmount,
+            volume=volume,
+            rate=rate,
+            push_out=push_out,
+            correction_volume=correction_volume,
         )
         if not dispense_spec:
             return
diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
index 2aea15bd55b..045a21795ea 100644
--- a/api/src/opentrons/hardware_control/protocols/liquid_handler.py
+++ b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
@@ -98,6 +98,7 @@ async def aspirate(
         mount: MountArgType,
         volume: Optional[float] = None,
         rate: float = 1.0,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Aspirate a volume of liquid (in microliters/uL) using this pipette
@@ -117,6 +118,7 @@ async def aspirate(
         volume : [float] The number of microliters to aspirate
         rate : [float] Set plunger speed for this aspirate, where
             speed = rate * aspirate_speed
+        correction_volume : Correction volume in uL for the specified aspirate volume
         """
         ...
 
@@ -126,6 +128,7 @@ async def dispense(
         volume: Optional[float] = None,
         rate: float = 1.0,
         push_out: Optional[float] = None,
+        correction_volume: float = 0.0,
     ) -> None:
         """
         Dispense a volume of liquid in microliters(uL) using this pipette
@@ -136,6 +139,7 @@ async def dispense(
         volume : [float] The number of microliters to dispense
         rate : [float] Set plunger speed for this dispense, where
             speed = rate * dispense_speed
+        correction_volume : Correction volume in uL for the specified dispense volume
         """
         ...
 
diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py
index 2453436c0f6..30ace69e63b 100644
--- a/api/src/opentrons/protocol_api/core/engine/instrument.py
+++ b/api/src/opentrons/protocol_api/core/engine/instrument.py
@@ -126,7 +126,9 @@ def set_default_speed(self, speed: float) -> None:
             pipette_id=self._pipette_id, speed=speed
         )
 
-    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+    def air_gap_in_place(
+        self, volume: float, flow_rate: float, correction_volume: Optional[float] = None
+    ) -> None:
         """Aspirate a given volume of air from the current location of the pipette.
 
         Args:
@@ -135,7 +137,10 @@ def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
         """
         self._engine_client.execute_command(
             cmd.AirGapInPlaceParams(
-                pipetteId=self._pipette_id, volume=volume, flowRate=flow_rate
+                pipetteId=self._pipette_id,
+                volume=volume,
+                flowRate=flow_rate,
+                correctionVolume=correction_volume,
             )
         )
 
@@ -148,6 +153,7 @@ def aspirate(
         flow_rate: float,
         in_place: bool,
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Aspirate a given volume of liquid from the specified location.
         Args:
@@ -174,7 +180,10 @@ def aspirate(
 
             self._engine_client.execute_command(
                 cmd.AspirateInPlaceParams(
-                    pipetteId=self._pipette_id, volume=volume, flowRate=flow_rate
+                    pipetteId=self._pipette_id,
+                    volume=volume,
+                    flowRate=flow_rate,
+                    correctionVolume=correction_volume,
                 )
             )
 
@@ -205,6 +214,7 @@ def aspirate(
                     wellLocation=well_location,
                     volume=volume,
                     flowRate=flow_rate,
+                    correctionVolume=correction_volume,
                 )
             )
 
@@ -220,6 +230,7 @@ def dispense(
         in_place: bool,
         push_out: Optional[float],
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Dispense a given volume of liquid into the specified location.
         Args:
@@ -267,6 +278,7 @@ def dispense(
                     volume=volume,
                     flowRate=flow_rate,
                     pushOut=push_out,
+                    correctionVolume=correction_volume,
                 )
             )
         else:
@@ -297,6 +309,7 @@ def dispense(
                     volume=volume,
                     flowRate=flow_rate,
                     pushOut=push_out,
+                    correctionVolume=correction_volume,
                 )
             )
 
diff --git a/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
index 7dc332e6a37..cf61e41909c 100644
--- a/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
+++ b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
@@ -161,6 +161,7 @@ def aspirate_and_wait(self, volume: float) -> None:
         """Aspirate according to aspirate properties and wait if enabled."""
         # TODO: handle volume correction
         aspirate_props = self._transfer_properties.aspirate
+        correction_volume = aspirate_props.correction_by_volume.get_for_volume(volume)
         self._instrument.aspirate(
             location=self._target_location,
             well_core=None,
@@ -169,6 +170,7 @@ def aspirate_and_wait(self, volume: float) -> None:
             flow_rate=aspirate_props.flow_rate_by_volume.get_for_volume(volume),
             in_place=True,
             is_meniscus=None,  # TODO: update this once meniscus is implemented
+            correction_volume=correction_volume,
         )
         self._tip_state.append_liquid(volume)
         delay_props = aspirate_props.delay
@@ -183,6 +185,7 @@ def dispense_and_wait(
         """Dispense according to dispense properties and wait if enabled."""
         # TODO: handle volume correction
         dispense_props = self._transfer_properties.dispense
+        correction_volume = dispense_props.correction_by_volume.get_for_volume(volume)
         self._instrument.dispense(
             location=self._target_location,
             well_core=None,
@@ -192,6 +195,7 @@ def dispense_and_wait(
             in_place=True,
             push_out=push_out_override,
             is_meniscus=None,
+            correction_volume=correction_volume,
         )
         if push_out_override:
             # If a push out was performed, we need to reset the plunger before we can aspirate again
@@ -504,12 +508,19 @@ def _add_air_gap(self, air_gap_volume: float) -> None:
         if air_gap_volume == 0:
             return
         aspirate_props = self._transfer_properties.aspirate
+        correction_volume = aspirate_props.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
         # The maximum flow rate should be air_gap_volume per second
         flow_rate = min(
             aspirate_props.flow_rate_by_volume.get_for_volume(air_gap_volume),
             air_gap_volume,
         )
-        self._instrument.air_gap_in_place(volume=air_gap_volume, flow_rate=flow_rate)
+        self._instrument.air_gap_in_place(
+            volume=air_gap_volume,
+            flow_rate=flow_rate,
+            correction_volume=correction_volume,
+        )
         delay_props = aspirate_props.delay
         if delay_props.enabled:
             # Assertion only for mypy purposes
@@ -524,6 +535,9 @@ def _remove_air_gap(self, location: Location) -> None:
             return
 
         dispense_props = self._transfer_properties.dispense
+        correction_volume = dispense_props.correction_by_volume.get_for_volume(
+            last_air_gap
+        )
         # The maximum flow rate should be air_gap_volume per second
         flow_rate = min(
             dispense_props.flow_rate_by_volume.get_for_volume(last_air_gap),
@@ -538,6 +552,7 @@ def _remove_air_gap(self, location: Location) -> None:
             in_place=True,
             is_meniscus=None,
             push_out=0,
+            correction_volume=correction_volume,
         )
         self._tip_state.delete_air_gap(last_air_gap)
         dispense_delay = dispense_props.delay
diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py
index 18742262fa8..4a60cf8f19e 100644
--- a/api/src/opentrons/protocol_api/core/instrument.py
+++ b/api/src/opentrons/protocol_api/core/instrument.py
@@ -26,11 +26,14 @@ def set_default_speed(self, speed: float) -> None:
         ...
 
     @abstractmethod
-    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+    def air_gap_in_place(
+        self, volume: float, flow_rate: float, correction_volume: Optional[float] = None
+    ) -> None:
         """Aspirate a given volume of air from the current location of the pipette.
         Args:
             volume: The volume of air to aspirate, in microliters.
             flow_rate: The flow rate of air into the pipette, in microliters.
+            correction_volume: The correction volume in uL.
         """
 
     @abstractmethod
@@ -43,6 +46,7 @@ def aspirate(
         flow_rate: float,
         in_place: bool,
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Aspirate a given volume of liquid from the specified location.
         Args:
@@ -52,6 +56,7 @@ def aspirate(
             rate: The rate for how quickly to aspirate.
             flow_rate: The flow rate in µL/s to aspirate at.
             in_place: Whether this is in-place.
+            correction_volume: The correction volume in uL
         """
         ...
 
@@ -66,6 +71,7 @@ def dispense(
         in_place: bool,
         push_out: Optional[float],
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Dispense a given volume of liquid into the specified location.
         Args:
@@ -76,6 +82,7 @@ def dispense(
             flow_rate: The flow rate in µL/s to dispense at.
             in_place: Whether this is in-place.
             push_out: The amount to push the plunger below bottom position.
+            correction_volume: The correction volume in uL
         """
         ...
 
diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
index 81846122715..5572ef440d9 100644
--- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
@@ -74,7 +74,9 @@ def set_default_speed(self, speed: float) -> None:
         """Sets the speed at which the robot's gantry moves."""
         self._default_speed = speed
 
-    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+    def air_gap_in_place(
+        self, volume: float, flow_rate: float, correction_volume: Optional[float] = None
+    ) -> None:
         assert False, "Air gap tracking only available in API version 2.22 and later"
 
     def aspirate(
@@ -86,6 +88,7 @@ def aspirate(
         flow_rate: float,
         in_place: bool,
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Aspirate a given volume of liquid from the specified location.
         Args:
@@ -95,6 +98,7 @@ def aspirate(
             rate: The rate in µL/s to aspirate at.
             flow_rate: Not used in this core.
             in_place: Whether we should move_to location.
+            correction_volume: Not used in this core
         """
         if self.get_current_volume() == 0:
             # Make sure we're at the top of the labware and clear of any
@@ -129,6 +133,7 @@ def dispense(
         in_place: bool,
         push_out: Optional[float],
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         """Dispense a given volume of liquid into the specified location.
         Args:
@@ -138,6 +143,7 @@ def dispense(
             rate: The rate in µL/s to dispense at.
             flow_rate: Not used in this core.
             in_place: Whether we should move_to location.
+            correction_volume: Not used in this core.
             push_out: The amount to push the plunger below bottom position.
         """
         if isinstance(location, (TrashBin, WasteChute)):
diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
index 3b8792117d9..8c2c570ad1c 100644
--- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
@@ -87,7 +87,9 @@ def get_default_speed(self) -> float:
     def set_default_speed(self, speed: float) -> None:
         self._default_speed = speed
 
-    def air_gap_in_place(self, volume: float, flow_rate: float) -> None:
+    def air_gap_in_place(
+        self, volume: float, flow_rate: float, correction_volume: Optional[float] = None
+    ) -> None:
         assert False, "Air gap tracking only available in API version 2.22 and later"
 
     def aspirate(
@@ -99,6 +101,7 @@ def aspirate(
         flow_rate: float,
         in_place: bool,
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         if self.get_current_volume() == 0:
             # Make sure we're at the top of the labware and clear of any
@@ -141,6 +144,7 @@ def dispense(
         in_place: bool,
         push_out: Optional[float],
         is_meniscus: Optional[bool] = None,
+        correction_volume: Optional[float] = None,
     ) -> None:
         if isinstance(location, (TrashBin, WasteChute)):
             raise APIVersionError(
diff --git a/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py b/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py
index 461a446f3e4..bf6bbafc3d5 100644
--- a/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/air_gap_in_place.py
@@ -14,6 +14,7 @@
     FlowRateMixin,
     BaseLiquidHandlingResult,
     OverpressureError,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .command import (
     AbstractCommandImpl,
@@ -103,6 +104,7 @@ async def execute(self, params: AirGapInPlaceParams) -> _ExecuteReturn:
                 volume=params.volume,
                 flow_rate=params.flowRate,
                 command_note_adder=self._command_note_adder,
+                correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
             )
         except PipetteOverpressureError as e:
             return DefinedErrorData(
diff --git a/api/src/opentrons/protocol_engine/commands/aspirate.py b/api/src/opentrons/protocol_engine/commands/aspirate.py
index b07cd522f93..708ee3ecbdb 100644
--- a/api/src/opentrons/protocol_engine/commands/aspirate.py
+++ b/api/src/opentrons/protocol_engine/commands/aspirate.py
@@ -12,6 +12,7 @@
     BaseLiquidHandlingResult,
     aspirate_in_place,
     prepare_for_aspirate,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .movement_common import (
     LiquidHandlingWellLocationMixin,
@@ -182,6 +183,7 @@ async def execute(self, params: AspirateParams) -> _ExecuteReturn:
             command_note_adder=self._command_note_adder,
             pipetting=self._pipetting,
             model_utils=self._model_utils,
+            correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
         )
         state_update.append(aspirate_result.state_update)
         if isinstance(aspirate_result, DefinedErrorData):
diff --git a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
index 434924928d7..a5e68d7c1f0 100644
--- a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
@@ -13,6 +13,7 @@
     BaseLiquidHandlingResult,
     OverpressureError,
     aspirate_in_place,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .command import (
     AbstractCommandImpl,
@@ -108,6 +109,7 @@ async def execute(self, params: AspirateInPlaceParams) -> _ExecuteReturn:
             command_note_adder=self._command_note_adder,
             pipetting=self._pipetting,
             model_utils=self._model_utils,
+            correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
         )
         if isinstance(result, DefinedErrorData):
             if (
diff --git a/api/src/opentrons/protocol_engine/commands/dispense.py b/api/src/opentrons/protocol_engine/commands/dispense.py
index 8ad2365ccb5..d1290190c64 100644
--- a/api/src/opentrons/protocol_engine/commands/dispense.py
+++ b/api/src/opentrons/protocol_engine/commands/dispense.py
@@ -16,6 +16,7 @@
     BaseLiquidHandlingResult,
     OverpressureError,
     dispense_in_place,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .movement_common import (
     LiquidHandlingWellLocationMixin,
@@ -117,6 +118,7 @@ async def execute(self, params: DispenseParams) -> _ExecuteReturn:
             },
             pipetting=self._pipetting,
             model_utils=self._model_utils,
+            correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
         )
 
         if isinstance(dispense_result, DefinedErrorData):
diff --git a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
index 117aa011a84..ff09f5444ee 100644
--- a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
@@ -13,6 +13,7 @@
     BaseLiquidHandlingResult,
     OverpressureError,
     dispense_in_place,
+    DEFAULT_CORRECTION_VOLUME,
 )
 from .command import (
     AbstractCommandImpl,
@@ -95,6 +96,7 @@ async def execute(self, params: DispenseInPlaceParams) -> _ExecuteReturn:
             },
             pipetting=self._pipetting,
             model_utils=self._model_utils,
+            correction_volume=params.correctionVolume or DEFAULT_CORRECTION_VOLUME,
         )
         if isinstance(result, DefinedErrorData):
             if (
diff --git a/api/src/opentrons/protocol_engine/commands/pipetting_common.py b/api/src/opentrons/protocol_engine/commands/pipetting_common.py
index 6740a4babb3..c0bca3c428a 100644
--- a/api/src/opentrons/protocol_engine/commands/pipetting_common.py
+++ b/api/src/opentrons/protocol_engine/commands/pipetting_common.py
@@ -1,7 +1,7 @@
 """Common pipetting command base models."""
 
 from __future__ import annotations
-from typing import Literal, Tuple, TYPE_CHECKING
+from typing import Literal, Tuple, TYPE_CHECKING, Optional
 
 from typing_extensions import TypedDict
 from pydantic import BaseModel, Field
@@ -20,6 +20,10 @@
     from ..notes import CommandNoteAdder
 
 
+DEFAULT_CORRECTION_VOLUME = 0.0
+"""Default correction volume (uL) for any aspirate/ dispense volume."""
+
+
 class PipetteIdMixin(BaseModel):
     """Mixin for command requests that take a pipette ID."""
 
@@ -41,6 +45,11 @@ class AspirateVolumeMixin(BaseModel):
         " There is some tolerance for floating point rounding errors.",
         ge=0,
     )
+    correctionVolume: Optional[float] = Field(
+        None,
+        description="The correction volume in uL.",
+        ge=0,
+    )
 
 
 class DispenseVolumeMixin(BaseModel):
@@ -53,6 +62,11 @@ class DispenseVolumeMixin(BaseModel):
         " There is some tolerance for floating point rounding errors.",
         ge=0,
     )
+    correctionVolume: Optional[float] = Field(
+        None,
+        description="The correction volume in uL.",
+        ge=0,
+    )
 
 
 class FlowRateMixin(BaseModel):
@@ -176,18 +190,20 @@ async def aspirate_in_place(
     pipette_id: str,
     volume: float,
     flow_rate: float,
+    correction_volume: float,
     location_if_error: ErrorLocationInfo,
     command_note_adder: CommandNoteAdder,
     pipetting: PipettingHandler,
     model_utils: ModelUtils,
 ) -> SuccessData[BaseLiquidHandlingResult] | DefinedErrorData[OverpressureError]:
-    """Execute an aspirate in place microoperation."""
+    """Execute an aspirate in place micro-operation."""
     try:
         volume_aspirated = await pipetting.aspirate_in_place(
             pipette_id=pipette_id,
             volume=volume,
             flow_rate=flow_rate,
             command_note_adder=command_note_adder,
+            correction_volume=correction_volume,
         )
     except PipetteOverpressureError as e:
         return DefinedErrorData(
@@ -320,17 +336,19 @@ async def dispense_in_place(
     volume: float,
     flow_rate: float,
     push_out: float | None,
+    correction_volume: float,
     location_if_error: ErrorLocationInfo,
     pipetting: PipettingHandler,
     model_utils: ModelUtils,
 ) -> SuccessData[BaseLiquidHandlingResult] | DefinedErrorData[OverpressureError]:
-    """Dispense-in-place as a microoperation."""
+    """Dispense-in-place as a micro-operation."""
     try:
         volume = await pipetting.dispense_in_place(
             pipette_id=pipette_id,
             volume=volume,
             flow_rate=flow_rate,
             push_out=push_out,
+            correction_volume=correction_volume,
         )
     except PipetteOverpressureError as e:
         return DefinedErrorData(
diff --git a/api/src/opentrons/protocol_engine/execution/pipetting.py b/api/src/opentrons/protocol_engine/execution/pipetting.py
index 0cbca0f9079..7c45479387d 100644
--- a/api/src/opentrons/protocol_engine/execution/pipetting.py
+++ b/api/src/opentrons/protocol_engine/execution/pipetting.py
@@ -42,6 +42,7 @@ async def aspirate_in_place(
         volume: float,
         flow_rate: float,
         command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
     ) -> float:
         """Set flow-rate and aspirate."""
 
@@ -73,6 +74,7 @@ async def dispense_in_place(
         volume: float,
         flow_rate: float,
         push_out: Optional[float],
+        correction_volume: float = 0.0,
     ) -> float:
         """Set flow-rate and dispense."""
 
@@ -195,6 +197,7 @@ async def aspirate_in_place(
         volume: float,
         flow_rate: float,
         command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
     ) -> float:
         """Set flow-rate and aspirate.
 
@@ -207,7 +210,9 @@ async def aspirate_in_place(
         )
         with self._set_flow_rate(pipette=hw_pipette, aspirate_flow_rate=flow_rate):
             await self._hardware_api.aspirate(
-                mount=hw_pipette.mount, volume=adjusted_volume
+                mount=hw_pipette.mount,
+                volume=adjusted_volume,
+                correction_volume=correction_volume,
             )
 
         return adjusted_volume
@@ -218,6 +223,7 @@ async def dispense_in_place(
         volume: float,
         flow_rate: float,
         push_out: Optional[float],
+        correction_volume: float = 0.0,
     ) -> float:
         """Dispense liquid without moving the pipette."""
         hw_pipette, adjusted_volume = self.get_hw_dispense_params(pipette_id, volume)
@@ -228,7 +234,10 @@ async def dispense_in_place(
             )
         with self._set_flow_rate(pipette=hw_pipette, dispense_flow_rate=flow_rate):
             await self._hardware_api.dispense(
-                mount=hw_pipette.mount, volume=adjusted_volume, push_out=push_out
+                mount=hw_pipette.mount,
+                volume=adjusted_volume,
+                push_out=push_out,
+                correction_volume=correction_volume,
             )
 
         return adjusted_volume
@@ -326,6 +335,7 @@ async def aspirate_in_place(
         volume: float,
         flow_rate: float,
         command_note_adder: CommandNoteAdder,
+        correction_volume: float = 0.0,
     ) -> float:
         """Virtually aspirate (no-op)."""
         self._validate_tip_attached(pipette_id=pipette_id, command_name="aspirate")
@@ -342,6 +352,7 @@ async def dispense_in_place(
         volume: float,
         flow_rate: float,
         push_out: Optional[float],
+        correction_volume: float = 0.0,
     ) -> float:
         """Virtually dispense (no-op)."""
         # TODO (tz, 8-23-23): add a check for push_out not larger that the max volume allowed when working on this https://opentrons.atlassian.net/browse/RSS-329
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py
index 9a3ecaad69b..8ac1ffc1dc8 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_instrument_core.py
@@ -599,6 +599,7 @@ def test_aspirate_from_well(
         rate=5.6,
         flow_rate=7.8,
         in_place=False,
+        correction_volume=123,
     )
 
     decoy.verify(
@@ -621,6 +622,7 @@ def test_aspirate_from_well(
                 ),
                 volume=12.34,
                 flowRate=7.8,
+                correctionVolume=123,
             )
         ),
         mock_protocol_core.set_last_location(location=location, mount=Mount.LEFT),
@@ -659,6 +661,7 @@ def test_aspirate_from_coordinates(
                 pipetteId="abc123",
                 volume=12.34,
                 flowRate=7.8,
+                correctionVolume=None,
             )
         ),
         mock_protocol_core.set_last_location(location=location, mount=Mount.LEFT),
@@ -725,6 +728,7 @@ def test_aspirate_from_meniscus(
                 ),
                 volume=12.34,
                 flowRate=7.8,
+                correctionVolume=None,
             )
         ),
         mock_protocol_core.set_last_location(location=location, mount=Mount.LEFT),
@@ -754,6 +758,7 @@ def test_aspirate_in_place(
                 pipetteId="abc123",
                 volume=12.34,
                 flowRate=7.8,
+                correctionVolume=None,
             )
         ),
         mock_protocol_core.set_last_location(location=location, mount=Mount.LEFT),
@@ -896,6 +901,7 @@ def test_dispense_to_well(
         rate=5.6,
         flow_rate=6.0,
         in_place=False,
+        correction_volume=321,
         push_out=7,
     )
 
@@ -919,6 +925,7 @@ def test_dispense_to_well(
                 ),
                 volume=12.34,
                 flowRate=6.0,
+                correctionVolume=321,
                 pushOut=7,
             )
         ),
@@ -948,7 +955,11 @@ def test_dispense_in_place(
     decoy.verify(
         mock_engine_client.execute_command(
             cmd.DispenseInPlaceParams(
-                pipetteId="abc123", volume=12.34, flowRate=7.8, pushOut=None
+                pipetteId="abc123",
+                volume=12.34,
+                correctionVolume=None,
+                flowRate=7.8,
+                pushOut=None,
             )
         ),
     )
@@ -985,7 +996,11 @@ def test_dispense_to_coordinates(
         ),
         mock_engine_client.execute_command(
             cmd.DispenseInPlaceParams(
-                pipetteId="abc123", volume=12.34, flowRate=7.8, pushOut=None
+                pipetteId="abc123",
+                volume=12.34,
+                correctionVolume=None,
+                flowRate=7.8,
+                pushOut=None,
             )
         ),
     )
@@ -1023,7 +1038,11 @@ def test_dispense_conditionally_clamps_volume(
         decoy.verify(
             mock_engine_client.execute_command(
                 cmd.DispenseInPlaceParams(
-                    pipetteId="abc123", volume=111.111, flowRate=7.8, pushOut=None
+                    pipetteId="abc123",
+                    volume=111.111,
+                    correctionVolume=None,
+                    flowRate=7.8,
+                    pushOut=None,
                 )
             ),
         )
@@ -1034,6 +1053,7 @@ def test_dispense_conditionally_clamps_volume(
                     pipetteId="abc123",
                     volume=99999999.99999999,
                     flowRate=7.8,
+                    correctionVolume=None,
                     pushOut=None,
                 )
             ),
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py
index 87870468590..4dadf5b503b 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py
@@ -75,6 +75,9 @@ def test_submerge(
     air_gap_removal_flow_rate = (
         sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(123)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.dispense.correction_by_volume.get_for_volume(123)
+    )
 
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
@@ -109,6 +112,7 @@ def test_submerge(
             in_place=True,
             is_meniscus=None,
             push_out=0,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.5),
         mock_instrument_core.move_to(
@@ -132,7 +136,9 @@ def test_aspirate_and_wait(
     aspirate_flow_rate = (
         sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(10)
     )
-
+    correction_volume = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(10)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -151,6 +157,7 @@ def test_aspirate_and_wait(
             flow_rate=aspirate_flow_rate,
             in_place=True,
             is_meniscus=None,
+            correction_volume=correction_volume,
         ),
         mock_instrument_core.delay(0.2),
     )
@@ -190,7 +197,9 @@ def test_dispense_and_wait(
     dispense_flow_rate = (
         sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(10)
     )
-
+    correction_volume = (
+        sample_transfer_props.dispense.correction_by_volume.get_for_volume(50)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -210,6 +219,7 @@ def test_dispense_and_wait(
             in_place=True,
             push_out=123,
             is_meniscus=None,
+            correction_volume=correction_volume,
         ),
         mock_instrument_core.delay(0.5),
     )
@@ -252,6 +262,12 @@ def test_mix(
     dispense_flow_rate = (
         sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(50)
     )
+    aspirate_correction_volume = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(50)
+    )
+    dispense_correction_volume = (
+        sample_transfer_props.dispense.correction_by_volume.get_for_volume(50)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -274,6 +290,7 @@ def test_mix(
             flow_rate=aspirate_flow_rate,
             in_place=True,
             is_meniscus=None,
+            correction_volume=aspirate_correction_volume,
         ),
         mock_instrument_core.delay(0.2),
         mock_instrument_core.dispense(
@@ -285,6 +302,7 @@ def test_mix(
             in_place=True,
             push_out=2.0,
             is_meniscus=None,
+            correction_volume=dispense_correction_volume,
         ),
         mock_instrument_core.delay(0.5),
     )
@@ -301,6 +319,9 @@ def test_mix_disabled(
     aspirate_flow_rate = (
         sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(50)
     )
+    correction_volume = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(50)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -322,6 +343,7 @@ def test_mix_disabled(
             flow_rate=aspirate_flow_rate,
             in_place=True,
             is_meniscus=None,
+            correction_volume=correction_volume,
         ),
         times=0,
     )
@@ -340,6 +362,12 @@ def test_pre_wet(
     dispense_flow_rate = (
         sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(40)
     )
+    aspirate_correction_volume = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(50)
+    )
+    dispense_correction_volume = (
+        sample_transfer_props.dispense.correction_by_volume.get_for_volume(50)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -359,6 +387,7 @@ def test_pre_wet(
             flow_rate=aspirate_flow_rate,
             in_place=True,
             is_meniscus=None,
+            correction_volume=aspirate_correction_volume,
         ),
         mock_instrument_core.delay(0.2),
         mock_instrument_core.dispense(
@@ -370,6 +399,7 @@ def test_pre_wet(
             in_place=True,
             push_out=0,
             is_meniscus=None,
+            correction_volume=dispense_correction_volume,
         ),
         mock_instrument_core.delay(0.5),
     )
@@ -386,6 +416,9 @@ def test_pre_wet_disabled(
     aspirate_flow_rate = (
         sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(40)
     )
+    aspirate_correction_volume = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(50)
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -405,6 +438,7 @@ def test_pre_wet_disabled(
             flow_rate=aspirate_flow_rate,
             in_place=True,
             is_meniscus=None,
+            correction_volume=aspirate_correction_volume,
         ),
         times=0,
     )
@@ -423,6 +457,11 @@ def test_retract_after_aspiration(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(40)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
 
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
@@ -464,6 +503,7 @@ def test_retract_after_aspiration(
         mock_instrument_core.air_gap_in_place(
             volume=air_gap_volume,
             flow_rate=air_gap_volume,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.2),
     )
@@ -485,7 +525,11 @@ def test_retract_after_aspiration_without_touch_tip_and_delay(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(40)
     )
-
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -516,6 +560,7 @@ def test_retract_after_aspiration_without_touch_tip_and_delay(
         mock_instrument_core.air_gap_in_place(
             volume=air_gap_volume,
             flow_rate=air_gap_volume,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.2),
     )
@@ -570,6 +615,11 @@ def test_retract_after_dispense_with_blowout_in_source(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
     subject = TransferComponentsExecutor(
         instrument_core=mock_instrument_core,
         transfer_properties=sample_transfer_props,
@@ -612,7 +662,9 @@ def test_retract_after_dispense_with_blowout_in_source(
             speed=None,
         ),
         mock_instrument_core.air_gap_in_place(
-            volume=air_gap_volume, flow_rate=air_gap_volume
+            volume=air_gap_volume,
+            flow_rate=air_gap_volume,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.2),
         mock_instrument_core.set_flow_rate(blow_out=100),
@@ -641,7 +693,9 @@ def test_retract_after_dispense_with_blowout_in_source(
             add_final_air_gap
             and [
                 mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
-                    volume=air_gap_volume, flow_rate=air_gap_volume
+                    volume=air_gap_volume,
+                    flow_rate=air_gap_volume,
+                    correction_volume=air_gap_correction_vol,
                 ),
                 mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
             ]
@@ -668,6 +722,11 @@ def test_retract_after_dispense_with_blowout_in_destination(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
     sample_transfer_props.dispense.retract.blowout.location = (
         BlowoutLocation.DESTINATION
     )
@@ -729,7 +788,9 @@ def test_retract_after_dispense_with_blowout_in_destination(
             add_final_air_gap
             and [
                 mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
-                    volume=air_gap_volume, flow_rate=air_gap_volume
+                    volume=air_gap_volume,
+                    flow_rate=air_gap_volume,
+                    correction_volume=air_gap_correction_vol,
                 ),
                 mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
             ]
@@ -760,6 +821,11 @@ def test_retract_after_dispense_with_blowout_in_trash_well(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
     sample_transfer_props.dispense.retract.blowout.location = BlowoutLocation.TRASH
 
     subject = TransferComponentsExecutor(
@@ -804,7 +870,9 @@ def test_retract_after_dispense_with_blowout_in_trash_well(
             speed=None,
         ),
         mock_instrument_core.air_gap_in_place(
-            volume=air_gap_volume, flow_rate=air_gap_volume
+            volume=air_gap_volume,
+            flow_rate=air_gap_volume,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.2),
         mock_instrument_core.set_flow_rate(blow_out=100),
@@ -832,7 +900,9 @@ def test_retract_after_dispense_with_blowout_in_trash_well(
             add_final_air_gap
             and [
                 mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
-                    volume=air_gap_volume, flow_rate=air_gap_volume
+                    volume=air_gap_volume,
+                    flow_rate=air_gap_volume,
+                    correction_volume=air_gap_correction_vol,
                 ),
                 mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
             ]
@@ -861,6 +931,11 @@ def test_retract_after_dispense_with_blowout_in_disposal_location(
     air_gap_volume = (
         sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
     )
+    air_gap_correction_vol = (
+        sample_transfer_props.aspirate.correction_by_volume.get_for_volume(
+            air_gap_volume
+        )
+    )
     sample_transfer_props.dispense.retract.blowout.location = BlowoutLocation.TRASH
 
     subject = TransferComponentsExecutor(
@@ -904,7 +979,9 @@ def test_retract_after_dispense_with_blowout_in_disposal_location(
             speed=None,
         ),
         mock_instrument_core.air_gap_in_place(
-            volume=air_gap_volume, flow_rate=air_gap_volume
+            volume=air_gap_volume,
+            flow_rate=air_gap_volume,
+            correction_volume=air_gap_correction_vol,
         ),
         mock_instrument_core.delay(0.2),
         mock_instrument_core.set_flow_rate(blow_out=100),
@@ -917,7 +994,9 @@ def test_retract_after_dispense_with_blowout_in_disposal_location(
             add_final_air_gap
             and [
                 mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
-                    volume=air_gap_volume, flow_rate=air_gap_volume
+                    volume=air_gap_volume,
+                    flow_rate=air_gap_volume,
+                    correction_volume=air_gap_correction_vol,
                 ),
                 mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
             ]
diff --git a/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py b/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py
index c9bd57c0997..42e3f7aab67 100644
--- a/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py
+++ b/api/tests/opentrons/protocol_api_old/core/simulator/test_instrument_context.py
@@ -59,6 +59,7 @@ def test_dispense_no_tip(subject: InstrumentCore) -> None:
             location=location,
             well_core=None,
             in_place=False,
+            correction_volume=0,
             push_out=None,
         )
 
@@ -106,6 +107,7 @@ def test_pick_up_tip_prep_after(
         rate=1,
         flow_rate=1,
         in_place=False,
+        correction_volume=0,
     )
     subject.dispense(
         volume=1,
@@ -114,6 +116,7 @@ def test_pick_up_tip_prep_after(
         location=Location(point=Point(2, 2, 3), labware=None),
         well_core=labware.get_well_core("A2"),
         in_place=False,
+        correction_volume=0,
         push_out=None,
     )
 
@@ -134,6 +137,7 @@ def test_pick_up_tip_prep_after(
         rate=1,
         flow_rate=1,
         in_place=False,
+        correction_volume=0,
     )
     subject.dispense(
         volume=1,
@@ -142,6 +146,7 @@ def test_pick_up_tip_prep_after(
         location=Location(point=Point(2, 2, 3), labware=None),
         well_core=labware.get_well_core("A2"),
         in_place=False,
+        correction_volume=0,
         push_out=None,
     )
 
@@ -173,6 +178,7 @@ def test_aspirate_too_much(
             rate=1,
             flow_rate=1,
             in_place=False,
+            correction_volume=0,
         )
 
 
@@ -224,6 +230,7 @@ def _aspirate(i: InstrumentCore, labware: LabwareCore) -> None:
         rate=10,
         flow_rate=10,
         in_place=False,
+        correction_volume=0,
     )
 
 
@@ -237,6 +244,7 @@ def _aspirate_dispense(i: InstrumentCore, labware: LabwareCore) -> None:
         rate=10,
         flow_rate=10,
         in_place=False,
+        correction_volume=0,
     )
     i.dispense(
         volume=2,
@@ -245,6 +253,7 @@ def _aspirate_dispense(i: InstrumentCore, labware: LabwareCore) -> None:
         location=Location(point=Point(2, 2, 3), labware=None),
         well_core=labware.get_well_core("A2"),
         in_place=False,
+        correction_volume=0,
         push_out=None,
     )
 
@@ -259,6 +268,7 @@ def _aspirate_blowout(i: InstrumentCore, labware: LabwareCore) -> None:
         rate=13,
         flow_rate=13,
         in_place=False,
+        correction_volume=0,
     )
     i.blow_out(
         location=Location(point=Point(1, 2, 3), labware=None),
diff --git a/api/tests/opentrons/protocol_engine/commands/test_air_gap_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_air_gap_in_place.py
index b9d110fd9c2..776912b4b18 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_air_gap_in_place.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_air_gap_in_place.py
@@ -101,6 +101,7 @@ async def test_air_gap_in_place_implementation(
         pipetteId="pipette-id-abc",
         volume=123,
         flowRate=1.234,
+        correctionVolume=321,
     )
 
     decoy.when(
@@ -115,6 +116,7 @@ async def test_air_gap_in_place_implementation(
             volume=123,
             flow_rate=1.234,
             command_note_adder=mock_command_note_adder,
+            correction_volume=321,
         )
     ).then_return(123)
 
@@ -194,6 +196,7 @@ async def test_aspirate_raises_volume_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0,
         )
     ).then_raise(AssertionError("blah blah"))
 
@@ -253,6 +256,7 @@ async def test_overpressure_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0,
         ),
     ).then_raise(PipetteOverpressureError())
 
diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate.py
index 4a8adbcdc76..ff09f9a966d 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_aspirate.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_aspirate.py
@@ -126,6 +126,7 @@ async def test_aspirate_implementation_no_prep(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0.0,
         ),
     ).then_return(50)
 
@@ -236,6 +237,7 @@ async def test_aspirate_implementation_with_prep(
             volume=volume,
             flow_rate=flow_rate,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0.0,
         ),
     ).then_return(volume)
 
@@ -326,6 +328,7 @@ async def test_aspirate_raises_volume_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0.0,
         )
     ).then_raise(AssertionError("blah blah"))
 
@@ -402,6 +405,7 @@ async def test_overpressure_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0.0,
         ),
     ).then_raise(PipetteOverpressureError())
 
@@ -502,6 +506,7 @@ async def test_aspirate_implementation_meniscus(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0,
         ),
     ).then_return(50)
 
diff --git a/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py
index 5a7ca3ee940..464f8e04a82 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_aspirate_in_place.py
@@ -129,6 +129,7 @@ async def test_aspirate_in_place_implementation(
             volume=123,
             flow_rate=1.234,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0.0,
         )
     ).then_return(123)
 
@@ -221,6 +222,7 @@ async def test_aspirate_raises_volume_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0,
         )
     ).then_raise(AssertionError("blah blah"))
 
@@ -292,6 +294,7 @@ async def test_overpressure_error(
             volume=50,
             flow_rate=1.23,
             command_note_adder=mock_command_note_adder,
+            correction_volume=0,
         ),
     ).then_raise(PipetteOverpressureError())
 
diff --git a/api/tests/opentrons/protocol_engine/commands/test_dispense.py b/api/tests/opentrons/protocol_engine/commands/test_dispense.py
index 5b60b61d4df..8fe72afe757 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_dispense.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_dispense.py
@@ -99,7 +99,11 @@ async def test_dispense_implementation(
 
     decoy.when(
         await pipetting.dispense_in_place(
-            pipette_id="pipette-id-abc123", volume=50, flow_rate=1.23, push_out=None
+            pipette_id="pipette-id-abc123",
+            volume=50,
+            flow_rate=1.23,
+            push_out=None,
+            correction_volume=0,
         )
     ).then_return(42)
     decoy.when(
@@ -193,7 +197,11 @@ async def test_overpressure_error(
 
     decoy.when(
         await pipetting.dispense_in_place(
-            pipette_id=pipette_id, volume=50, flow_rate=1.23, push_out=None
+            pipette_id=pipette_id,
+            volume=50,
+            flow_rate=1.23,
+            push_out=None,
+            correction_volume=0,
         ),
     ).then_raise(PipetteOverpressureError())
 
diff --git a/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py b/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py
index e9c715223de..15b239e8d46 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_dispense_in_place.py
@@ -78,7 +78,11 @@ async def test_dispense_in_place_implementation(
 
     decoy.when(
         await pipetting.dispense_in_place(
-            pipette_id="pipette-id-abc", volume=123, flow_rate=456, push_out=None
+            pipette_id="pipette-id-abc",
+            volume=123,
+            flow_rate=456,
+            push_out=None,
+            correction_volume=0,
         )
     ).then_return(42)
 
@@ -195,6 +199,7 @@ async def test_overpressure_error(
             volume=50,
             flow_rate=1.23,
             push_out=10,
+            correction_volume=0,
         ),
     ).then_raise(PipetteOverpressureError())
 
diff --git a/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py b/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py
index 84a425b88fc..f39853cb894 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_pipetting_handler.py
@@ -171,7 +171,9 @@ async def test_hw_dispense_in_place(
         mock_hardware_api.set_flow_rate(
             mount=Mount.RIGHT, aspirate=None, dispense=2.5, blow_out=None
         ),
-        await mock_hardware_api.dispense(mount=Mount.RIGHT, volume=25, push_out=None),
+        await mock_hardware_api.dispense(
+            mount=Mount.RIGHT, volume=25, push_out=None, correction_volume=0
+        ),
         mock_hardware_api.set_flow_rate(
             mount=Mount.RIGHT, aspirate=1.23, dispense=4.56, blow_out=7.89
         ),
@@ -263,7 +265,9 @@ async def test_hw_aspirate_in_place(
         mock_hardware_api.set_flow_rate(
             mount=Mount.LEFT, aspirate=2.5, dispense=None, blow_out=None
         ),
-        await mock_hardware_api.aspirate(mount=Mount.LEFT, volume=25),
+        await mock_hardware_api.aspirate(
+            mount=Mount.LEFT, volume=25, correction_volume=0
+        ),
         mock_hardware_api.set_flow_rate(
             mount=Mount.LEFT, aspirate=1.23, dispense=4.56, blow_out=7.89
         ),
diff --git a/shared-data/command/schemas/12.json b/shared-data/command/schemas/12.json
new file mode 100644
index 00000000000..914e32a117b
--- /dev/null
+++ b/shared-data/command/schemas/12.json
@@ -0,0 +1,6468 @@
+{
+  "$defs": {
+    "AddressableAreaLocation": {
+      "description": "The location of something place in an addressable area. This is a superset of deck slots.",
+      "properties": {
+        "addressableAreaName": {
+          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+          "title": "Addressableareaname",
+          "type": "string"
+        }
+      },
+      "required": ["addressableAreaName"],
+      "title": "AddressableAreaLocation",
+      "type": "object"
+    },
+    "AddressableOffsetVector": {
+      "description": "Offset, in deck coordinates, from nominal to actual position of an addressable area.",
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "number"
+        },
+        "y": {
+          "title": "Y",
+          "type": "number"
+        },
+        "z": {
+          "title": "Z",
+          "type": "number"
+        }
+      },
+      "required": ["x", "y", "z"],
+      "title": "AddressableOffsetVector",
+      "type": "object"
+    },
+    "AirGapInPlaceCreate": {
+      "description": "AirGapInPlace command request model.",
+      "properties": {
+        "commandType": {
+          "const": "airGapInPlace",
+          "default": "airGapInPlace",
+          "enum": ["airGapInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/AirGapInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "AirGapInPlaceCreate",
+      "type": "object"
+    },
+    "AirGapInPlaceParams": {
+      "description": "Payload required to air gap in place.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "volume": {
+          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        }
+      },
+      "required": ["flowRate", "volume", "pipetteId"],
+      "title": "AirGapInPlaceParams",
+      "type": "object"
+    },
+    "AllNozzleLayoutConfiguration": {
+      "description": "All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.",
+      "properties": {
+        "style": {
+          "const": "ALL",
+          "default": "ALL",
+          "enum": ["ALL"],
+          "title": "Style",
+          "type": "string"
+        }
+      },
+      "title": "AllNozzleLayoutConfiguration",
+      "type": "object"
+    },
+    "AspirateCreate": {
+      "description": "Create aspirate command request model.",
+      "properties": {
+        "commandType": {
+          "const": "aspirate",
+          "default": "aspirate",
+          "enum": ["aspirate"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/AspirateParams"
+        }
+      },
+      "required": ["params"],
+      "title": "AspirateCreate",
+      "type": "object"
+    },
+    "AspirateInPlaceCreate": {
+      "description": "AspirateInPlace command request model.",
+      "properties": {
+        "commandType": {
+          "const": "aspirateInPlace",
+          "default": "aspirateInPlace",
+          "enum": ["aspirateInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/AspirateInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "AspirateInPlaceCreate",
+      "type": "object"
+    },
+    "AspirateInPlaceParams": {
+      "description": "Payload required to aspirate in place.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "volume": {
+          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        }
+      },
+      "required": ["flowRate", "volume", "pipetteId"],
+      "title": "AspirateInPlaceParams",
+      "type": "object"
+    },
+    "AspirateParams": {
+      "description": "Parameters required to aspirate from a specific well.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "volume": {
+          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/LiquidHandlingWellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "AspirateParams",
+      "type": "object"
+    },
+    "AspirateProperties": {
+      "description": "Properties specific to the aspirate function.",
+      "properties": {
+        "correctionByVolume": {
+          "description": "Settings for volume correction keyed by by target aspiration volume, representing additional volume the plunger should move to accurately hit target volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "type": "integer"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Correctionbyvolume",
+          "type": "array"
+        },
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings after an aspirate"
+        },
+        "flowRateByVolume": {
+          "description": "Settings for flow rate keyed by target aspiration volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Flowratebyvolume",
+          "type": "array"
+        },
+        "mix": {
+          "$ref": "#/$defs/MixProperties",
+          "description": "Mixing settings for before an aspirate"
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for aspiration."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for aspiration."
+        },
+        "preWet": {
+          "description": "Whether to perform a pre-wet action.",
+          "title": "Prewet",
+          "type": "boolean"
+        },
+        "retract": {
+          "$ref": "#/$defs/RetractAspirate",
+          "description": "Pipette retract settings after an aspirate."
+        },
+        "submerge": {
+          "$ref": "#/$defs/Submerge",
+          "description": "Submerge settings for aspirate."
+        }
+      },
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "preWet",
+        "mix",
+        "delay"
+      ],
+      "title": "AspirateProperties",
+      "type": "object"
+    },
+    "AspirateWhileTrackingCreate": {
+      "description": "Create aspirateWhileTracking command request model.",
+      "properties": {
+        "commandType": {
+          "const": "aspirateWhileTracking",
+          "default": "aspirateWhileTracking",
+          "enum": ["aspirateWhileTracking"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/AspirateWhileTrackingParams"
+        }
+      },
+      "required": ["params"],
+      "title": "AspirateWhileTrackingCreate",
+      "type": "object"
+    },
+    "AspirateWhileTrackingParams": {
+      "description": "Parameters required to aspirate from a specific well.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "volume": {
+          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/LiquidHandlingWellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "AspirateWhileTrackingParams",
+      "type": "object"
+    },
+    "BlowOutCreate": {
+      "description": "Create blow-out command request model.",
+      "properties": {
+        "commandType": {
+          "const": "blowout",
+          "default": "blowout",
+          "enum": ["blowout"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/BlowOutParams"
+        }
+      },
+      "required": ["params"],
+      "title": "BlowOutCreate",
+      "type": "object"
+    },
+    "BlowOutInPlaceCreate": {
+      "description": "BlowOutInPlace command request model.",
+      "properties": {
+        "commandType": {
+          "const": "blowOutInPlace",
+          "default": "blowOutInPlace",
+          "enum": ["blowOutInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/BlowOutInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "BlowOutInPlaceCreate",
+      "type": "object"
+    },
+    "BlowOutInPlaceParams": {
+      "description": "Payload required to blow-out in place.",
+      "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["flowRate", "pipetteId"],
+      "title": "BlowOutInPlaceParams",
+      "type": "object"
+    },
+    "BlowOutParams": {
+      "description": "Payload required to blow-out a specific well.",
+      "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "pipetteId"],
+      "title": "BlowOutParams",
+      "type": "object"
+    },
+    "BlowoutLocation": {
+      "description": "Location for blowout during a transfer function.",
+      "enum": ["source", "destination", "trash"],
+      "title": "BlowoutLocation",
+      "type": "string"
+    },
+    "BlowoutParams": {
+      "description": "Parameters for blowout.",
+      "properties": {
+        "flowRate": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Flow rate for blow out, in microliters per second.",
+          "title": "Flowrate"
+        },
+        "location": {
+          "$ref": "#/$defs/BlowoutLocation",
+          "description": "Location well or trash entity for blow out."
+        }
+      },
+      "required": ["location", "flowRate"],
+      "title": "BlowoutParams",
+      "type": "object"
+    },
+    "BlowoutProperties": {
+      "description": "Blowout properties.",
+      "properties": {
+        "enable": {
+          "description": "Whether blow-out is enabled.",
+          "title": "Enable",
+          "type": "boolean"
+        },
+        "params": {
+          "$ref": "#/$defs/BlowoutParams",
+          "description": "Parameters for the blowout function.",
+          "title": "Params"
+        }
+      },
+      "required": ["enable"],
+      "title": "BlowoutProperties",
+      "type": "object"
+    },
+    "CalibrateGripperCreate": {
+      "description": "A request to create a `calibrateGripper` command.",
+      "properties": {
+        "commandType": {
+          "const": "calibration/calibrateGripper",
+          "default": "calibration/calibrateGripper",
+          "enum": ["calibration/calibrateGripper"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CalibrateGripperParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CalibrateGripperCreate",
+      "type": "object"
+    },
+    "CalibrateGripperParams": {
+      "description": "Parameters for a `calibrateGripper` command.",
+      "properties": {
+        "jaw": {
+          "$ref": "#/$defs/CalibrateGripperParamsJaw",
+          "description": "Which of the gripper's jaws to use to measure its offset. The robot will assume that a human operator has already attached the capacitive probe to the jaw and none is attached to the other jaw."
+        },
+        "otherJawOffset": {
+          "$ref": "#/$defs/Vec3f",
+          "description": "If an offset for the other probe is already found, then specifying it here will enable the CalibrateGripper command to complete the calibration process by calculating the total offset and saving it to disk. If this param is not specified then the command will only find and return the offset for the specified probe.",
+          "title": "Otherjawoffset"
+        }
+      },
+      "required": ["jaw"],
+      "title": "CalibrateGripperParams",
+      "type": "object"
+    },
+    "CalibrateGripperParamsJaw": {
+      "enum": ["front", "rear"],
+      "title": "CalibrateGripperParamsJaw",
+      "type": "string"
+    },
+    "CalibrateModuleCreate": {
+      "description": "Create calibrate-module command request model.",
+      "properties": {
+        "commandType": {
+          "const": "calibration/calibrateModule",
+          "default": "calibration/calibrateModule",
+          "enum": ["calibration/calibrateModule"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CalibrateModuleParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CalibrateModuleCreate",
+      "type": "object"
+    },
+    "CalibrateModuleParams": {
+      "description": "Payload required to calibrate-module.",
+      "properties": {
+        "labwareId": {
+          "description": "The unique id of module calibration adapter labware.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "moduleId": {
+          "description": "The unique id of module to calibrate.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "The instrument mount used to calibrate the module."
+        }
+      },
+      "required": ["moduleId", "labwareId", "mount"],
+      "title": "CalibrateModuleParams",
+      "type": "object"
+    },
+    "CalibratePipetteCreate": {
+      "description": "Create calibrate-pipette command request model.",
+      "properties": {
+        "commandType": {
+          "const": "calibration/calibratePipette",
+          "default": "calibration/calibratePipette",
+          "enum": ["calibration/calibratePipette"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CalibratePipetteParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CalibratePipetteCreate",
+      "type": "object"
+    },
+    "CalibratePipetteParams": {
+      "description": "Payload required to calibrate-pipette.",
+      "properties": {
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "Instrument mount to calibrate."
+        }
+      },
+      "required": ["mount"],
+      "title": "CalibratePipetteParams",
+      "type": "object"
+    },
+    "CloseLabwareLatchCreate": {
+      "description": "A request to create a Heater-Shaker's close latch command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/closeLabwareLatch",
+          "default": "heaterShaker/closeLabwareLatch",
+          "enum": ["heaterShaker/closeLabwareLatch"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CloseLabwareLatchParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CloseLabwareLatchCreate",
+      "type": "object"
+    },
+    "CloseLabwareLatchParams": {
+      "description": "Input parameters to close a Heater-Shaker Module's labware latch.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "CloseLabwareLatchParams",
+      "type": "object"
+    },
+    "ColumnNozzleLayoutConfiguration": {
+      "description": "Information required for nozzle configurations of type ROW and COLUMN.",
+      "properties": {
+        "primaryNozzle": {
+          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
+          "enum": ["A1", "H1", "A12", "H12"],
+          "title": "Primarynozzle",
+          "type": "string"
+        },
+        "style": {
+          "const": "COLUMN",
+          "default": "COLUMN",
+          "enum": ["COLUMN"],
+          "title": "Style",
+          "type": "string"
+        }
+      },
+      "required": ["primaryNozzle"],
+      "title": "ColumnNozzleLayoutConfiguration",
+      "type": "object"
+    },
+    "CommandIntent": {
+      "description": "Run intent for a given command.\n\nProps:\n    PROTOCOL: the command is part of the protocol run itself.\n    SETUP: the command is part of the setup phase of a run.",
+      "enum": ["protocol", "setup", "fixit"],
+      "title": "CommandIntent",
+      "type": "string"
+    },
+    "CommentCreate": {
+      "description": "Comment command request model.",
+      "properties": {
+        "commandType": {
+          "const": "comment",
+          "default": "comment",
+          "enum": ["comment"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CommentParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CommentCreate",
+      "type": "object"
+    },
+    "CommentParams": {
+      "description": "Payload required to annotate execution with a comment.",
+      "properties": {
+        "message": {
+          "description": "A user-facing message",
+          "title": "Message",
+          "type": "string"
+        }
+      },
+      "required": ["message"],
+      "title": "CommentParams",
+      "type": "object"
+    },
+    "ConfigureCreate": {
+      "description": "A request to execute a Flex Stacker Configure command.",
+      "properties": {
+        "commandType": {
+          "const": "flexStacker/configure",
+          "default": "flexStacker/configure",
+          "enum": ["flexStacker/configure"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ConfigureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "ConfigureCreate",
+      "type": "object"
+    },
+    "ConfigureForVolumeCreate": {
+      "description": "Configure for volume command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "configureForVolume",
+          "default": "configureForVolume",
+          "enum": ["configureForVolume"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ConfigureForVolumeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "ConfigureForVolumeCreate",
+      "type": "object"
+    },
+    "ConfigureForVolumeParams": {
+      "description": "Parameters required to configure volume for a specific pipette.",
+      "properties": {
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "tipOverlapNotAfterVersion": {
+          "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.",
+          "title": "Tipoverlapnotafterversion",
+          "type": "string"
+        },
+        "volume": {
+          "description": "Amount of liquid in uL. Must be at least 0 and no greater than a pipette-specific maximum volume.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        }
+      },
+      "required": ["pipetteId", "volume"],
+      "title": "ConfigureForVolumeParams",
+      "type": "object"
+    },
+    "ConfigureNozzleLayoutCreate": {
+      "description": "Configure nozzle layout creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "configureNozzleLayout",
+          "default": "configureNozzleLayout",
+          "enum": ["configureNozzleLayout"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ConfigureNozzleLayoutParams"
+        }
+      },
+      "required": ["params"],
+      "title": "ConfigureNozzleLayoutCreate",
+      "type": "object"
+    },
+    "ConfigureNozzleLayoutParams": {
+      "description": "Parameters required to configure the nozzle layout for a specific pipette.",
+      "properties": {
+        "configurationParams": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/AllNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/SingleNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/RowNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/ColumnNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/QuadrantNozzleLayoutConfiguration"
+            }
+          ],
+          "title": "Configurationparams"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "configurationParams"],
+      "title": "ConfigureNozzleLayoutParams",
+      "type": "object"
+    },
+    "ConfigureParams": {
+      "description": "Input parameters for a configure command.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Flex Stacker.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "static": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "Whether the Flex Stacker should be in static mode.",
+          "title": "Static"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "ConfigureParams",
+      "type": "object"
+    },
+    "Coordinate": {
+      "description": "Three-dimensional coordinates.",
+      "properties": {
+        "x": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "X"
+        },
+        "y": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "Y"
+        },
+        "z": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "Z"
+        }
+      },
+      "required": ["x", "y", "z"],
+      "title": "Coordinate",
+      "type": "object"
+    },
+    "CustomCreate": {
+      "description": "A request to create a custom command.",
+      "properties": {
+        "commandType": {
+          "const": "custom",
+          "default": "custom",
+          "enum": ["custom"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CustomParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CustomCreate",
+      "type": "object"
+    },
+    "CustomParams": {
+      "additionalProperties": true,
+      "description": "Payload used by a custom command.",
+      "properties": {},
+      "title": "CustomParams",
+      "type": "object"
+    },
+    "DeactivateBlockCreate": {
+      "description": "A request to create a Thermocycler's deactivate block command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/deactivateBlock",
+          "default": "thermocycler/deactivateBlock",
+          "enum": ["thermocycler/deactivateBlock"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateBlockParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DeactivateBlockCreate",
+      "type": "object"
+    },
+    "DeactivateBlockParams": {
+      "description": "Input parameters to unset a Thermocycler's target block temperature.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DeactivateBlockParams",
+      "type": "object"
+    },
+    "DeactivateHeaterCreate": {
+      "description": "A request to create a Heater-Shaker's deactivate heater command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/deactivateHeater",
+          "default": "heaterShaker/deactivateHeater",
+          "enum": ["heaterShaker/deactivateHeater"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateHeaterParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DeactivateHeaterCreate",
+      "type": "object"
+    },
+    "DeactivateHeaterParams": {
+      "description": "Input parameters to unset a Heater-Shaker's target temperature.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DeactivateHeaterParams",
+      "type": "object"
+    },
+    "DeactivateLidCreate": {
+      "description": "A request to create a Thermocycler's deactivate lid command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/deactivateLid",
+          "default": "thermocycler/deactivateLid",
+          "enum": ["thermocycler/deactivateLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DeactivateLidCreate",
+      "type": "object"
+    },
+    "DeactivateLidParams": {
+      "description": "Input parameters to unset a Thermocycler's target lid temperature.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DeactivateLidParams",
+      "type": "object"
+    },
+    "DeactivateShakerCreate": {
+      "description": "A request to create a Heater-Shaker's deactivate shaker command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/deactivateShaker",
+          "default": "heaterShaker/deactivateShaker",
+          "enum": ["heaterShaker/deactivateShaker"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateShakerParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DeactivateShakerCreate",
+      "type": "object"
+    },
+    "DeactivateShakerParams": {
+      "description": "Input parameters to deactivate shaker for a Heater-Shaker Module.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DeactivateShakerParams",
+      "type": "object"
+    },
+    "DeactivateTemperatureCreate": {
+      "description": "A request to deactivate a Temperature Module.",
+      "properties": {
+        "commandType": {
+          "const": "temperatureModule/deactivate",
+          "default": "temperatureModule/deactivate",
+          "enum": ["temperatureModule/deactivate"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DeactivateTemperatureCreate",
+      "type": "object"
+    },
+    "DeactivateTemperatureParams": {
+      "description": "Input parameters to deactivate a Temperature Module.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Temperature Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DeactivateTemperatureParams",
+      "type": "object"
+    },
+    "DeckPoint": {
+      "description": "Coordinates of a point in deck space.",
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "number"
+        },
+        "y": {
+          "title": "Y",
+          "type": "number"
+        },
+        "z": {
+          "title": "Z",
+          "type": "number"
+        }
+      },
+      "required": ["x", "y", "z"],
+      "title": "DeckPoint",
+      "type": "object"
+    },
+    "DeckSlotLocation": {
+      "description": "The location of something placed in a single deck slot.",
+      "properties": {
+        "slotName": {
+          "$ref": "#/$defs/DeckSlotName",
+          "description": "A slot on the robot's deck.\n\nThe plain numbers like `\"5\"` are for the OT-2, and the coordinates like `\"C2\"` are for the Flex.\n\nWhen you provide one of these values, you can use either style. It will automatically be converted to match the robot.\n\nWhen one of these values is returned, it will always match the robot."
+        }
+      },
+      "required": ["slotName"],
+      "title": "DeckSlotLocation",
+      "type": "object"
+    },
+    "DeckSlotName": {
+      "description": "Deck slot identifiers.",
+      "enum": [
+        "1",
+        "2",
+        "3",
+        "4",
+        "5",
+        "6",
+        "7",
+        "8",
+        "9",
+        "10",
+        "11",
+        "12",
+        "A1",
+        "A2",
+        "A3",
+        "B1",
+        "B2",
+        "B3",
+        "C1",
+        "C2",
+        "C3",
+        "D1",
+        "D2",
+        "D3"
+      ],
+      "title": "DeckSlotName",
+      "type": "string"
+    },
+    "DelayParams": {
+      "description": "Parameters for delay.",
+      "properties": {
+        "duration": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Duration of delay, in seconds.",
+          "title": "Duration"
+        }
+      },
+      "required": ["duration"],
+      "title": "DelayParams",
+      "type": "object"
+    },
+    "DelayProperties": {
+      "description": "Shared properties for delay..",
+      "properties": {
+        "enable": {
+          "description": "Whether delay is enabled.",
+          "title": "Enable",
+          "type": "boolean"
+        },
+        "params": {
+          "$ref": "#/$defs/DelayParams",
+          "description": "Parameters for the delay function.",
+          "title": "Params"
+        }
+      },
+      "required": ["enable"],
+      "title": "DelayProperties",
+      "type": "object"
+    },
+    "DisengageCreate": {
+      "description": "A request to create a Magnetic Module disengage command.",
+      "properties": {
+        "commandType": {
+          "const": "magneticModule/disengage",
+          "default": "magneticModule/disengage",
+          "enum": ["magneticModule/disengage"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DisengageParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DisengageCreate",
+      "type": "object"
+    },
+    "DisengageParams": {
+      "description": "Input data to disengage a Magnetic Module's magnets.",
+      "properties": {
+        "moduleId": {
+          "description": "The ID of the Magnetic Module whose magnets you want to disengage, from a prior `loadModule` command.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "DisengageParams",
+      "type": "object"
+    },
+    "DispenseCreate": {
+      "description": "Create dispense command request model.",
+      "properties": {
+        "commandType": {
+          "const": "dispense",
+          "default": "dispense",
+          "enum": ["dispense"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DispenseParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DispenseCreate",
+      "type": "object"
+    },
+    "DispenseInPlaceCreate": {
+      "description": "DispenseInPlace command request model.",
+      "properties": {
+        "commandType": {
+          "const": "dispenseInPlace",
+          "default": "dispenseInPlace",
+          "enum": ["dispenseInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DispenseInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DispenseInPlaceCreate",
+      "type": "object"
+    },
+    "DispenseInPlaceParams": {
+      "description": "Payload required to dispense in place.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "pushOut": {
+          "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing",
+          "title": "Pushout",
+          "type": "number"
+        },
+        "volume": {
+          "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        }
+      },
+      "required": ["flowRate", "volume", "pipetteId"],
+      "title": "DispenseInPlaceParams",
+      "type": "object"
+    },
+    "DispenseParams": {
+      "description": "Payload required to dispense to a specific well.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "pushOut": {
+          "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing",
+          "title": "Pushout",
+          "type": "number"
+        },
+        "volume": {
+          "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/LiquidHandlingWellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "DispenseParams",
+      "type": "object"
+    },
+    "DispenseWhileTrackingCreate": {
+      "description": "Create dispenseWhileTracking command request model.",
+      "properties": {
+        "commandType": {
+          "const": "dispenseWhileTracking",
+          "default": "dispenseWhileTracking",
+          "enum": ["dispenseWhileTracking"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DispenseWhileTrackingParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DispenseWhileTrackingCreate",
+      "type": "object"
+    },
+    "DispenseWhileTrackingParams": {
+      "description": "Payload required to dispense to a specific well.",
+      "properties": {
+        "correctionVolume": {
+          "anyOf": [
+            {
+              "minimum": 0.0,
+              "type": "number"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "description": "The correction volume in uL.",
+          "title": "Correctionvolume"
+        },
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "pushOut": {
+          "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing",
+          "title": "Pushout",
+          "type": "number"
+        },
+        "volume": {
+          "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/LiquidHandlingWellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "DispenseWhileTrackingParams",
+      "type": "object"
+    },
+    "DropTipCreate": {
+      "description": "Drop tip command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "dropTip",
+          "default": "dropTip",
+          "enum": ["dropTip"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DropTipParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DropTipCreate",
+      "type": "object"
+    },
+    "DropTipInPlaceCreate": {
+      "description": "Drop tip in place command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "dropTipInPlace",
+          "default": "dropTipInPlace",
+          "enum": ["dropTipInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DropTipInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DropTipInPlaceCreate",
+      "type": "object"
+    },
+    "DropTipInPlaceParams": {
+      "description": "Payload required to drop a tip in place.",
+      "properties": {
+        "homeAfter": {
+          "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.",
+          "title": "Homeafter",
+          "type": "boolean"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"],
+      "title": "DropTipInPlaceParams",
+      "type": "object"
+    },
+    "DropTipParams": {
+      "description": "Payload required to drop a tip in a specific well.",
+      "properties": {
+        "alternateDropLocation": {
+          "description": "Whether to alternate location where tip is dropped within the labware. If True, this command will ignore the wellLocation provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the well.",
+          "title": "Alternatedroplocation",
+          "type": "boolean"
+        },
+        "homeAfter": {
+          "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.",
+          "title": "Homeafter",
+          "type": "boolean"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/DropTipWellLocation",
+          "description": "Relative well location at which to drop the tip."
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "labwareId", "wellName"],
+      "title": "DropTipParams",
+      "type": "object"
+    },
+    "DropTipWellLocation": {
+      "description": "Like WellLocation, but for dropping tips.\n\nUnlike a typical WellLocation, the location for a drop tip\ndefaults to location based on the tip length rather than the well's top.",
+      "properties": {
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
+        },
+        "origin": {
+          "$ref": "#/$defs/DropTipWellOrigin",
+          "default": "default"
+        }
+      },
+      "title": "DropTipWellLocation",
+      "type": "object"
+    },
+    "DropTipWellOrigin": {
+      "description": "The origin of a DropTipWellLocation offset.\n\nProps:\n    TOP: the top-center of the well\n    BOTTOM: the bottom-center of the well\n    CENTER: the middle-center of the well\n    DEFAULT: the default drop-tip location of the well,\n        based on pipette configuration and length of the tip.",
+      "enum": ["top", "bottom", "center", "default"],
+      "title": "DropTipWellOrigin",
+      "type": "string"
+    },
+    "EngageCreate": {
+      "description": "A request to create a Magnetic Module engage command.",
+      "properties": {
+        "commandType": {
+          "const": "magneticModule/engage",
+          "default": "magneticModule/engage",
+          "enum": ["magneticModule/engage"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/EngageParams"
+        }
+      },
+      "required": ["params"],
+      "title": "EngageCreate",
+      "type": "object"
+    },
+    "EngageParams": {
+      "description": "Input data to engage a Magnetic Module.",
+      "properties": {
+        "height": {
+          "description": "How high, in millimeters, to raise the magnets.\n\nZero means the tops of the magnets are level with the ledge that the labware rests on. This will be slightly above the magnets' minimum height, the hardware home position. Negative values are allowed, to put the magnets below the ledge.\n\nUnits are always true millimeters. This is unlike certain labware definitions, engage commands in the Python Protocol API, and engage commands in older versions of the JSON protocol schema. Take care to convert properly.",
+          "title": "Height",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "The ID of the Magnetic Module whose magnets you want to raise, from a prior `loadModule` command.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId", "height"],
+      "title": "EngageParams",
+      "type": "object"
+    },
+    "GetNextTipCreate": {
+      "description": "Get next tip command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "getNextTip",
+          "default": "getNextTip",
+          "enum": ["getNextTip"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/GetNextTipParams"
+        }
+      },
+      "required": ["params"],
+      "title": "GetNextTipCreate",
+      "type": "object"
+    },
+    "GetNextTipParams": {
+      "description": "Payload needed to resolve the next available tip.",
+      "properties": {
+        "labwareIds": {
+          "description": "Labware ID(s) of tip racks to resolve next available tip(s) from Labware IDs will be resolved sequentially",
+          "items": {
+            "type": "string"
+          },
+          "title": "Labwareids",
+          "type": "array"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "startingTipWell": {
+          "description": "Name of starting tip rack 'well'. This only applies to the first tip rack in the list provided in labwareIDs",
+          "title": "Startingtipwell",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "labwareIds"],
+      "title": "GetNextTipParams",
+      "type": "object"
+    },
+    "GetTipPresenceCreate": {
+      "description": "GetTipPresence command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "getTipPresence",
+          "default": "getTipPresence",
+          "enum": ["getTipPresence"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/GetTipPresenceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "GetTipPresenceCreate",
+      "type": "object"
+    },
+    "GetTipPresenceParams": {
+      "description": "Payload required for a GetTipPresence command.",
+      "properties": {
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"],
+      "title": "GetTipPresenceParams",
+      "type": "object"
+    },
+    "HomeCreate": {
+      "description": "Data to create a Home command.",
+      "properties": {
+        "commandType": {
+          "const": "home",
+          "default": "home",
+          "enum": ["home"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/HomeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "HomeCreate",
+      "type": "object"
+    },
+    "HomeParams": {
+      "description": "Payload required for a Home command.",
+      "properties": {
+        "axes": {
+          "description": "Axes to return to their home positions. If omitted, will home all motors. Extra axes may be implicitly homed to ensure accurate homing of the explicitly specified axes.",
+          "items": {
+            "$ref": "#/$defs/MotorAxis"
+          },
+          "title": "Axes",
+          "type": "array"
+        },
+        "skipIfMountPositionOk": {
+          "$ref": "#/$defs/MountType",
+          "description": "If this parameter is provided, the gantry will only be homed if the specified mount has an invalid position. If omitted, the homing action will be executed unconditionally.",
+          "title": "Skipifmountpositionok"
+        }
+      },
+      "title": "HomeParams",
+      "type": "object"
+    },
+    "InitializeCreate": {
+      "description": "A request to execute an Absorbance Reader measurement.",
+      "properties": {
+        "commandType": {
+          "const": "absorbanceReader/initialize",
+          "default": "absorbanceReader/initialize",
+          "enum": ["absorbanceReader/initialize"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/InitializeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "InitializeCreate",
+      "type": "object"
+    },
+    "InitializeParams": {
+      "description": "Input parameters to initialize an absorbance reading.",
+      "properties": {
+        "measureMode": {
+          "description": "Initialize single or multi measurement mode.",
+          "enum": ["single", "multi"],
+          "title": "Measuremode",
+          "type": "string"
+        },
+        "moduleId": {
+          "description": "Unique ID of the absorbance reader.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "referenceWavelength": {
+          "description": "Optional reference wavelength in nm.",
+          "title": "Referencewavelength",
+          "type": "integer"
+        },
+        "sampleWavelengths": {
+          "description": "Sample wavelengths in nm.",
+          "items": {
+            "type": "integer"
+          },
+          "title": "Samplewavelengths",
+          "type": "array"
+        }
+      },
+      "required": ["moduleId", "measureMode", "sampleWavelengths"],
+      "title": "InitializeParams",
+      "type": "object"
+    },
+    "InstrumentSensorId": {
+      "description": "Primary and secondary sensor ids.",
+      "enum": ["primary", "secondary", "both"],
+      "title": "InstrumentSensorId",
+      "type": "string"
+    },
+    "LabwareMovementStrategy": {
+      "description": "Strategy to use for labware movement.",
+      "enum": ["usingGripper", "manualMoveWithPause", "manualMoveWithoutPause"],
+      "title": "LabwareMovementStrategy",
+      "type": "string"
+    },
+    "LabwareOffsetVector": {
+      "description": "Offset, in deck coordinates from nominal to actual position.",
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "number"
+        },
+        "y": {
+          "title": "Y",
+          "type": "number"
+        },
+        "z": {
+          "title": "Z",
+          "type": "number"
+        }
+      },
+      "required": ["x", "y", "z"],
+      "title": "LabwareOffsetVector",
+      "type": "object"
+    },
+    "LiquidClassRecord": {
+      "description": "LiquidClassRecord is our internal representation of an (immutable) liquid class.\n\nConceptually, a liquid class record is the tuple (name, pipette, tip, transfer properties).\nWe consider two liquid classes to be the same if every entry in that tuple is the same; and liquid\nclasses are different if any entry in the tuple is different.\n\nThis class defines the tuple via inheritance so that we can reuse the definitions from shared_data.",
+      "properties": {
+        "aspirate": {
+          "$ref": "#/$defs/AspirateProperties",
+          "description": "Aspirate parameters for this tip type."
+        },
+        "liquidClassName": {
+          "description": "Identifier for the liquid of this liquid class, e.g. glycerol50.",
+          "title": "Liquidclassname",
+          "type": "string"
+        },
+        "multiDispense": {
+          "$ref": "#/$defs/MultiDispenseProperties",
+          "description": "Optional multi-dispense parameters for this tip type.",
+          "title": "Multidispense"
+        },
+        "pipetteModel": {
+          "description": "Identifier for the pipette of this liquid class.",
+          "title": "Pipettemodel",
+          "type": "string"
+        },
+        "singleDispense": {
+          "$ref": "#/$defs/SingleDispenseProperties",
+          "description": "Single dispense parameters for this tip type."
+        },
+        "tiprack": {
+          "description": "The name of tiprack whose tip will be used when handling this specific liquid class with this pipette",
+          "title": "Tiprack",
+          "type": "string"
+        }
+      },
+      "required": [
+        "tiprack",
+        "aspirate",
+        "singleDispense",
+        "liquidClassName",
+        "pipetteModel"
+      ],
+      "title": "LiquidClassRecord",
+      "type": "object"
+    },
+    "LiquidClassTouchTipParams": {
+      "description": "Parameters for touch-tip.",
+      "properties": {
+        "mmToEdge": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "description": "Offset away from the the well edge, in millimeters.",
+          "title": "Mmtoedge"
+        },
+        "speed": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Touch-tip speed, in millimeters per second.",
+          "title": "Speed"
+        },
+        "zOffset": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "description": "Offset from the top of the well for touch-tip, in millimeters.",
+          "title": "Zoffset"
+        }
+      },
+      "required": ["zOffset", "mmToEdge", "speed"],
+      "title": "LiquidClassTouchTipParams",
+      "type": "object"
+    },
+    "LiquidHandlingWellLocation": {
+      "description": "A relative location in reference to a well's location.\n\nTo be used with commands that handle liquids.",
+      "properties": {
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
+        },
+        "origin": {
+          "$ref": "#/$defs/WellOrigin",
+          "default": "top"
+        },
+        "volumeOffset": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
+            {
+              "const": "operationVolume",
+              "enum": ["operationVolume"],
+              "type": "string"
+            }
+          ],
+          "default": 0.0,
+          "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset. When \"operationVolume\" is specified, this volume is pulled from the command volume parameter.",
+          "title": "Volumeoffset"
+        }
+      },
+      "title": "LiquidHandlingWellLocation",
+      "type": "object"
+    },
+    "LiquidProbeCreate": {
+      "description": "The request model for a `liquidProbe` command.",
+      "properties": {
+        "commandType": {
+          "const": "liquidProbe",
+          "default": "liquidProbe",
+          "enum": ["liquidProbe"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LiquidProbeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LiquidProbeCreate",
+      "type": "object"
+    },
+    "LiquidProbeParams": {
+      "description": "Parameters required for a `liquidProbe` command.",
+      "properties": {
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "LiquidProbeParams",
+      "type": "object"
+    },
+    "LoadLabwareCreate": {
+      "description": "Load labware command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLabware",
+          "default": "loadLabware",
+          "enum": ["loadLabware"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLabwareParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLabwareCreate",
+      "type": "object"
+    },
+    "LoadLabwareParams": {
+      "description": "Payload required to load a labware into a slot.",
+      "properties": {
+        "displayName": {
+          "description": "An optional user-specified display name or label for this labware.",
+          "title": "Displayname",
+          "type": "string"
+        },
+        "labwareId": {
+          "description": "An optional ID to assign to this labware. If None, an ID will be generated.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "loadName": {
+          "description": "Name used to reference a labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "const": "systemLocation",
+              "enum": ["systemLocation"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Location the labware should be loaded into.",
+          "title": "Location"
+        },
+        "namespace": {
+          "description": "The namespace the labware definition belongs to.",
+          "title": "Namespace",
+          "type": "string"
+        },
+        "version": {
+          "description": "The labware definition version.",
+          "title": "Version",
+          "type": "integer"
+        }
+      },
+      "required": ["location", "loadName", "namespace", "version"],
+      "title": "LoadLabwareParams",
+      "type": "object"
+    },
+    "LoadLidCreate": {
+      "description": "Load lid command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLid",
+          "default": "loadLid",
+          "enum": ["loadLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLidCreate",
+      "type": "object"
+    },
+    "LoadLidParams": {
+      "description": "Payload required to load a lid onto a labware.",
+      "properties": {
+        "loadName": {
+          "description": "Name used to reference a lid labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "const": "systemLocation",
+              "enum": ["systemLocation"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Labware the lid should be loaded onto.",
+          "title": "Location"
+        },
+        "namespace": {
+          "description": "The namespace the lid labware definition belongs to.",
+          "title": "Namespace",
+          "type": "string"
+        },
+        "version": {
+          "description": "The lid labware definition version.",
+          "title": "Version",
+          "type": "integer"
+        }
+      },
+      "required": ["location", "loadName", "namespace", "version"],
+      "title": "LoadLidParams",
+      "type": "object"
+    },
+    "LoadLidStackCreate": {
+      "description": "Load lid stack command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLidStack",
+          "default": "loadLidStack",
+          "enum": ["loadLidStack"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLidStackParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLidStackCreate",
+      "type": "object"
+    },
+    "LoadLidStackParams": {
+      "description": "Payload required to load a lid stack onto a location.",
+      "properties": {
+        "labwareIds": {
+          "description": "An optional list of IDs to assign to the lids in the stack.If None, an ID will be generated.",
+          "items": {
+            "type": "string"
+          },
+          "title": "Labwareids",
+          "type": "array"
+        },
+        "loadName": {
+          "description": "Name used to reference a lid labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "const": "systemLocation",
+              "enum": ["systemLocation"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Location the lid stack should be loaded into.",
+          "title": "Location"
+        },
+        "namespace": {
+          "description": "The namespace the lid labware definition belongs to.",
+          "title": "Namespace",
+          "type": "string"
+        },
+        "quantity": {
+          "description": "The quantity of lids to load.",
+          "title": "Quantity",
+          "type": "integer"
+        },
+        "stackLabwareId": {
+          "description": "An optional ID to assign to the lid stack labware object created.If None, an ID will be generated.",
+          "title": "Stacklabwareid",
+          "type": "string"
+        },
+        "version": {
+          "description": "The lid labware definition version.",
+          "title": "Version",
+          "type": "integer"
+        }
+      },
+      "required": ["location", "loadName", "namespace", "version", "quantity"],
+      "title": "LoadLidStackParams",
+      "type": "object"
+    },
+    "LoadLiquidClassCreate": {
+      "description": "Load Liquid Class command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLiquidClass",
+          "default": "loadLiquidClass",
+          "enum": ["loadLiquidClass"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLiquidClassParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLiquidClassCreate",
+      "type": "object"
+    },
+    "LoadLiquidClassParams": {
+      "description": "The liquid class transfer properties to store.",
+      "properties": {
+        "liquidClassId": {
+          "description": "Unique identifier for the liquid class to store. If you do not supply a liquidClassId, we will generate one.",
+          "title": "Liquidclassid",
+          "type": "string"
+        },
+        "liquidClassRecord": {
+          "$ref": "#/$defs/LiquidClassRecord",
+          "description": "The liquid class to store."
+        }
+      },
+      "required": ["liquidClassRecord"],
+      "title": "LoadLiquidClassParams",
+      "type": "object"
+    },
+    "LoadLiquidCreate": {
+      "description": "Load liquid command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLiquid",
+          "default": "loadLiquid",
+          "enum": ["loadLiquid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLiquidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLiquidCreate",
+      "type": "object"
+    },
+    "LoadLiquidParams": {
+      "description": "Payload required to load a liquid into a well.",
+      "properties": {
+        "labwareId": {
+          "description": "Unique identifier of labware to load liquid into.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "liquidId": {
+          "anyOf": [
+            {
+              "type": "string"
+            },
+            {
+              "const": "EMPTY",
+              "enum": ["EMPTY"],
+              "type": "string"
+            }
+          ],
+          "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.",
+          "title": "Liquidid"
+        },
+        "volumeByWell": {
+          "additionalProperties": {
+            "type": "number"
+          },
+          "description": "Volume of liquid, in \u00b5L, loaded into each well by name, in this labware. If the liquid id is the sentinel value EMPTY, all volumes must be 0.",
+          "title": "Volumebywell",
+          "type": "object"
+        }
+      },
+      "required": ["liquidId", "labwareId", "volumeByWell"],
+      "title": "LoadLiquidParams",
+      "type": "object"
+    },
+    "LoadModuleCreate": {
+      "description": "The model for a creation request for a load module command.",
+      "properties": {
+        "commandType": {
+          "const": "loadModule",
+          "default": "loadModule",
+          "enum": ["loadModule"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadModuleParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadModuleCreate",
+      "type": "object"
+    },
+    "LoadModuleParams": {
+      "description": "Payload required to load a module.",
+      "properties": {
+        "location": {
+          "$ref": "#/$defs/DeckSlotLocation",
+          "description": "The location into which this module should be loaded.\n\nFor the Thermocycler Module, which occupies multiple deck slots, this should be the front-most occupied slot (normally slot 7)."
+        },
+        "model": {
+          "$ref": "#/$defs/ModuleModel",
+          "description": "The model name of the module to load.\n\nProtocol Engine will look for a connected module that either exactly matches this one, or is compatible.\n\n For example, if you request a `temperatureModuleV1` here, Protocol Engine might load a `temperatureModuleV1` or a `temperatureModuleV2`.\n\n The model that it finds connected will be available through `result.model`."
+        },
+        "moduleId": {
+          "description": "An optional ID to assign to this module. If None, an ID will be generated.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["model", "location"],
+      "title": "LoadModuleParams",
+      "type": "object"
+    },
+    "LoadPipetteCreate": {
+      "description": "Load pipette command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "loadPipette",
+          "default": "loadPipette",
+          "enum": ["loadPipette"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadPipetteParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadPipetteCreate",
+      "type": "object"
+    },
+    "LoadPipetteParams": {
+      "description": "Payload needed to load a pipette on to a mount.",
+      "properties": {
+        "liquidPresenceDetection": {
+          "description": "Enable liquid presence detection for this pipette. Defaults to False.",
+          "title": "Liquidpresencedetection",
+          "type": "boolean"
+        },
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "The mount the pipette should be present on."
+        },
+        "pipetteId": {
+          "description": "An optional ID to assign to this pipette. If None, an ID will be generated.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "pipetteName": {
+          "$ref": "#/$defs/PipetteNameType",
+          "description": "The load name of the pipette to be required."
+        },
+        "tipOverlapNotAfterVersion": {
+          "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.",
+          "title": "Tipoverlapnotafterversion",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteName", "mount"],
+      "title": "LoadPipetteParams",
+      "type": "object"
+    },
+    "MaintenancePosition": {
+      "description": "Maintenance position options.",
+      "enum": ["attachPlate", "attachInstrument"],
+      "title": "MaintenancePosition",
+      "type": "string"
+    },
+    "MixParams": {
+      "description": "Parameters for mix.",
+      "properties": {
+        "repetitions": {
+          "description": "Number of mixing repetitions.",
+          "minimum": 0,
+          "title": "Repetitions",
+          "type": "integer"
+        },
+        "volume": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "description": "Volume used for mixing, in microliters.",
+          "title": "Volume"
+        }
+      },
+      "required": ["repetitions", "volume"],
+      "title": "MixParams",
+      "type": "object"
+    },
+    "MixProperties": {
+      "description": "Mixing properties.",
+      "properties": {
+        "enable": {
+          "description": "Whether mix is enabled.",
+          "title": "Enable",
+          "type": "boolean"
+        },
+        "params": {
+          "$ref": "#/$defs/MixParams",
+          "description": "Parameters for the mix function.",
+          "title": "Params"
+        }
+      },
+      "required": ["enable"],
+      "title": "MixProperties",
+      "type": "object"
+    },
+    "ModuleLocation": {
+      "description": "The location of something placed atop a hardware module.",
+      "properties": {
+        "moduleId": {
+          "description": "The ID of a loaded module from a prior `loadModule` command.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "ModuleLocation",
+      "type": "object"
+    },
+    "ModuleModel": {
+      "description": "All available modules' models.",
+      "enum": [
+        "temperatureModuleV1",
+        "temperatureModuleV2",
+        "magneticModuleV1",
+        "magneticModuleV2",
+        "thermocyclerModuleV1",
+        "thermocyclerModuleV2",
+        "heaterShakerModuleV1",
+        "magneticBlockV1",
+        "absorbanceReaderV1",
+        "flexStackerModuleV1"
+      ],
+      "title": "ModuleModel",
+      "type": "string"
+    },
+    "MotorAxis": {
+      "description": "Motor axis on which to issue a home command.",
+      "enum": [
+        "x",
+        "y",
+        "leftZ",
+        "rightZ",
+        "leftPlunger",
+        "rightPlunger",
+        "extensionZ",
+        "extensionJaw",
+        "axis96ChannelCam"
+      ],
+      "title": "MotorAxis",
+      "type": "string"
+    },
+    "MountType": {
+      "enum": ["left", "right", "extension"],
+      "title": "MountType",
+      "type": "string"
+    },
+    "MoveAxesRelativeCreate": {
+      "description": "MoveAxesRelative command request model.",
+      "properties": {
+        "commandType": {
+          "const": "robot/moveAxesRelative",
+          "default": "robot/moveAxesRelative",
+          "enum": ["robot/moveAxesRelative"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveAxesRelativeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveAxesRelativeCreate",
+      "type": "object"
+    },
+    "MoveAxesRelativeParams": {
+      "description": "Payload required to move axes relative to position.",
+      "properties": {
+        "axis_map": {
+          "additionalProperties": {
+            "type": "number"
+          },
+          "description": "A dictionary mapping axes to relative movements in mm.",
+          "title": "Axis Map",
+          "type": "object"
+        },
+        "speed": {
+          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+          "title": "Speed",
+          "type": "number"
+        }
+      },
+      "required": ["axis_map"],
+      "title": "MoveAxesRelativeParams",
+      "type": "object"
+    },
+    "MoveAxesToCreate": {
+      "description": "MoveAxesTo command request model.",
+      "properties": {
+        "commandType": {
+          "const": "robot/moveAxesTo",
+          "default": "robot/moveAxesTo",
+          "enum": ["robot/moveAxesTo"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveAxesToParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveAxesToCreate",
+      "type": "object"
+    },
+    "MoveAxesToParams": {
+      "description": "Payload required to move axes to absolute position.",
+      "properties": {
+        "axis_map": {
+          "additionalProperties": {
+            "type": "number"
+          },
+          "description": "The specified axes to move to an absolute deck position with.",
+          "title": "Axis Map",
+          "type": "object"
+        },
+        "critical_point": {
+          "additionalProperties": {
+            "type": "number"
+          },
+          "description": "The critical point to move the mount with.",
+          "title": "Critical Point",
+          "type": "object"
+        },
+        "speed": {
+          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+          "title": "Speed",
+          "type": "number"
+        }
+      },
+      "required": ["axis_map"],
+      "title": "MoveAxesToParams",
+      "type": "object"
+    },
+    "MoveLabwareCreate": {
+      "description": "A request to create a ``moveLabware`` command.",
+      "properties": {
+        "commandType": {
+          "const": "moveLabware",
+          "default": "moveLabware",
+          "enum": ["moveLabware"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveLabwareParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveLabwareCreate",
+      "type": "object"
+    },
+    "MoveLabwareParams": {
+      "description": "Input parameters for a ``moveLabware`` command.",
+      "properties": {
+        "dropOffset": {
+          "$ref": "#/$defs/LabwareOffsetVector",
+          "description": "Offset to use when dropping off labware. Experimental param, subject to change",
+          "title": "Dropoffset"
+        },
+        "labwareId": {
+          "description": "The ID of the labware to move.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "newLocation": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "const": "systemLocation",
+              "enum": ["systemLocation"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Where to move the labware.",
+          "title": "Newlocation"
+        },
+        "pickUpOffset": {
+          "$ref": "#/$defs/LabwareOffsetVector",
+          "description": "Offset to use when picking up labware. Experimental param, subject to change",
+          "title": "Pickupoffset"
+        },
+        "strategy": {
+          "$ref": "#/$defs/LabwareMovementStrategy",
+          "description": "Whether to use the gripper to perform the labware movement or to perform a manual movement with an option to pause."
+        }
+      },
+      "required": ["labwareId", "newLocation", "strategy"],
+      "title": "MoveLabwareParams",
+      "type": "object"
+    },
+    "MoveRelativeCreate": {
+      "description": "Data to create a MoveRelative command.",
+      "properties": {
+        "commandType": {
+          "const": "moveRelative",
+          "default": "moveRelative",
+          "enum": ["moveRelative"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveRelativeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveRelativeCreate",
+      "type": "object"
+    },
+    "MoveRelativeParams": {
+      "description": "Payload required for a MoveRelative command.",
+      "properties": {
+        "axis": {
+          "$ref": "#/$defs/MovementAxis",
+          "description": "Axis along which to move."
+        },
+        "distance": {
+          "description": "Distance to move in millimeters. A positive number will move towards the right (x), back (y), top (z) of the deck.",
+          "title": "Distance",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Pipette to move.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "axis", "distance"],
+      "title": "MoveRelativeParams",
+      "type": "object"
+    },
+    "MoveToAddressableAreaCreate": {
+      "description": "Move to addressable area command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "moveToAddressableArea",
+          "default": "moveToAddressableArea",
+          "enum": ["moveToAddressableArea"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToAddressableAreaParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToAddressableAreaCreate",
+      "type": "object"
+    },
+    "MoveToAddressableAreaForDropTipCreate": {
+      "description": "Move to addressable area for drop tip command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "moveToAddressableAreaForDropTip",
+          "default": "moveToAddressableAreaForDropTip",
+          "enum": ["moveToAddressableAreaForDropTip"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToAddressableAreaForDropTipParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToAddressableAreaForDropTipCreate",
+      "type": "object"
+    },
+    "MoveToAddressableAreaForDropTipParams": {
+      "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.",
+      "properties": {
+        "addressableAreaName": {
+          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+          "title": "Addressableareaname",
+          "type": "string"
+        },
+        "alternateDropLocation": {
+          "description": "Whether to alternate location where tip is dropped within the addressable area. If True, this command will ignore the offset provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the area.",
+          "title": "Alternatedroplocation",
+          "type": "boolean"
+        },
+        "forceDirect": {
+          "default": false,
+          "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.",
+          "title": "Forcedirect",
+          "type": "boolean"
+        },
+        "ignoreTipConfiguration": {
+          "description": "Whether to utilize the critical point of the tip configuraiton when moving to an addressable area. If True, this command will ignore the tip configuration and use the center of the entire instrument as the critical point for movement. If False, this command will use the critical point provided by the current tip configuration.",
+          "title": "Ignoretipconfiguration",
+          "type": "boolean"
+        },
+        "minimumZHeight": {
+          "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.",
+          "title": "Minimumzheight",
+          "type": "number"
+        },
+        "offset": {
+          "$ref": "#/$defs/AddressableOffsetVector",
+          "default": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
+          },
+          "description": "Relative offset of addressable area to move pipette's critical point."
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
+        }
+      },
+      "required": ["pipetteId", "addressableAreaName"],
+      "title": "MoveToAddressableAreaForDropTipParams",
+      "type": "object"
+    },
+    "MoveToAddressableAreaParams": {
+      "description": "Payload required to move a pipette to a specific addressable area.\n\nAn *addressable area* is a space in the robot that may or may not be usable depending on how\nthe robot's deck is configured. For example, if a Flex is configured with a waste chute, it will\nhave additional addressable areas representing the opening of the waste chute, where tips and\nlabware can be dropped.\n\nThis moves the pipette so all of its nozzles are centered over the addressable area.\nIf the pipette is currently configured with a partial tip layout, this centering is over all\nthe pipette's physical nozzles, not just the nozzles that are active.\n\nThe z-position will be chosen to put the bottom of the tips---or the bottom of the nozzles,\nif there are no tips---level with the top of the addressable area.\n\nWhen this command is executed, Protocol Engine will make sure the robot's deck is configured\nsuch that the requested addressable area actually exists. For example, if you request\nthe addressable area B4, it will make sure the robot is set up with a B3/B4 staging area slot.\nIf that's not the case, the command will fail.",
+      "properties": {
+        "addressableAreaName": {
+          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+          "title": "Addressableareaname",
+          "type": "string"
+        },
+        "forceDirect": {
+          "default": false,
+          "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.",
+          "title": "Forcedirect",
+          "type": "boolean"
+        },
+        "minimumZHeight": {
+          "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.",
+          "title": "Minimumzheight",
+          "type": "number"
+        },
+        "offset": {
+          "$ref": "#/$defs/AddressableOffsetVector",
+          "default": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
+          },
+          "description": "Relative offset of addressable area to move pipette's critical point."
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
+        },
+        "stayAtHighestPossibleZ": {
+          "default": false,
+          "description": "If `true`, the pipette will retract to its highest possible height and stay there instead of descending to the destination. `minimumZHeight` will be ignored.",
+          "title": "Stayathighestpossiblez",
+          "type": "boolean"
+        }
+      },
+      "required": ["pipetteId", "addressableAreaName"],
+      "title": "MoveToAddressableAreaParams",
+      "type": "object"
+    },
+    "MoveToCoordinatesCreate": {
+      "description": "Move to coordinates command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "moveToCoordinates",
+          "default": "moveToCoordinates",
+          "enum": ["moveToCoordinates"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToCoordinatesParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToCoordinatesCreate",
+      "type": "object"
+    },
+    "MoveToCoordinatesParams": {
+      "description": "Payload required to move a pipette to coordinates.",
+      "properties": {
+        "coordinates": {
+          "$ref": "#/$defs/DeckPoint",
+          "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)"
+        },
+        "forceDirect": {
+          "default": false,
+          "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.",
+          "title": "Forcedirect",
+          "type": "boolean"
+        },
+        "minimumZHeight": {
+          "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.",
+          "title": "Minimumzheight",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
+        }
+      },
+      "required": ["pipetteId", "coordinates"],
+      "title": "MoveToCoordinatesParams",
+      "type": "object"
+    },
+    "MoveToCreate": {
+      "description": "MoveTo command request model.",
+      "properties": {
+        "commandType": {
+          "const": "robot/moveTo",
+          "default": "robot/moveTo",
+          "enum": ["robot/moveTo"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToCreate",
+      "type": "object"
+    },
+    "MoveToMaintenancePositionCreate": {
+      "description": "Calibration set up position command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "calibration/moveToMaintenancePosition",
+          "default": "calibration/moveToMaintenancePosition",
+          "enum": ["calibration/moveToMaintenancePosition"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToMaintenancePositionParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToMaintenancePositionCreate",
+      "type": "object"
+    },
+    "MoveToMaintenancePositionParams": {
+      "description": "Calibration set up position command parameters.",
+      "properties": {
+        "maintenancePosition": {
+          "$ref": "#/$defs/MaintenancePosition",
+          "default": "attachInstrument",
+          "description": "The position the gantry mount needs to move to."
+        },
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "Gantry mount to move maintenance position."
+        }
+      },
+      "required": ["mount"],
+      "title": "MoveToMaintenancePositionParams",
+      "type": "object"
+    },
+    "MoveToParams": {
+      "description": "Payload required to move to a destination position.",
+      "properties": {
+        "destination": {
+          "$ref": "#/$defs/DeckPoint",
+          "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)"
+        },
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "The mount to move to the destination point."
+        },
+        "speed": {
+          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+          "title": "Speed",
+          "type": "number"
+        }
+      },
+      "required": ["mount", "destination"],
+      "title": "MoveToParams",
+      "type": "object"
+    },
+    "MoveToWellCreate": {
+      "description": "Move to well command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "moveToWell",
+          "default": "moveToWell",
+          "enum": ["moveToWell"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveToWellParams"
+        }
+      },
+      "required": ["params"],
+      "title": "MoveToWellCreate",
+      "type": "object"
+    },
+    "MoveToWellParams": {
+      "description": "Payload required to move a pipette to a specific well.",
+      "properties": {
+        "forceDirect": {
+          "default": false,
+          "description": "If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the `minimumZHeight` param to be ignored. A 'direct' movement is in X/Y/Z simultaneously.",
+          "title": "Forcedirect",
+          "type": "boolean"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "minimumZHeight": {
+          "description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect.",
+          "title": "Minimumzheight",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "MoveToWellParams",
+      "type": "object"
+    },
+    "MovementAxis": {
+      "description": "Axis on which to issue a relative movement.",
+      "enum": ["x", "y", "z"],
+      "title": "MovementAxis",
+      "type": "string"
+    },
+    "MultiDispenseProperties": {
+      "description": "Properties specific to the multi-dispense function.",
+      "properties": {
+        "conditioningByVolume": {
+          "description": "Settings for conditioning volume keyed by target dispense volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Conditioningbyvolume",
+          "type": "array"
+        },
+        "correctionByVolume": {
+          "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "type": "integer"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Correctionbyvolume",
+          "type": "array"
+        },
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings after each dispense"
+        },
+        "disposalByVolume": {
+          "description": "Settings for disposal volume keyed by target dispense volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Disposalbyvolume",
+          "type": "array"
+        },
+        "flowRateByVolume": {
+          "description": "Settings for flow rate keyed by target dispense volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Flowratebyvolume",
+          "type": "array"
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for single multi-dispense."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for multi-dispense."
+        },
+        "retract": {
+          "$ref": "#/$defs/RetractDispense",
+          "description": "Pipette retract settings after a multi-dispense."
+        },
+        "submerge": {
+          "$ref": "#/$defs/Submerge",
+          "description": "Submerge settings for multi-dispense."
+        }
+      },
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "conditioningByVolume",
+        "disposalByVolume",
+        "delay"
+      ],
+      "title": "MultiDispenseProperties",
+      "type": "object"
+    },
+    "OnLabwareLocation": {
+      "description": "The location of something placed atop another labware.",
+      "properties": {
+        "labwareId": {
+          "description": "The ID of a loaded Labware from a prior `loadLabware` command.",
+          "title": "Labwareid",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId"],
+      "title": "OnLabwareLocation",
+      "type": "object"
+    },
+    "OpenLabwareLatchCreate": {
+      "description": "A request to create a Heater-Shaker's open labware latch command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/openLabwareLatch",
+          "default": "heaterShaker/openLabwareLatch",
+          "enum": ["heaterShaker/openLabwareLatch"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/OpenLabwareLatchParams"
+        }
+      },
+      "required": ["params"],
+      "title": "OpenLabwareLatchCreate",
+      "type": "object"
+    },
+    "OpenLabwareLatchParams": {
+      "description": "Input parameters to open a Heater-Shaker Module's labware latch.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "OpenLabwareLatchParams",
+      "type": "object"
+    },
+    "PickUpTipCreate": {
+      "description": "Pick up tip command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "pickUpTip",
+          "default": "pickUpTip",
+          "enum": ["pickUpTip"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/PickUpTipParams"
+        }
+      },
+      "required": ["params"],
+      "title": "PickUpTipCreate",
+      "type": "object"
+    },
+    "PickUpTipParams": {
+      "description": "Payload needed to move a pipette to a specific well.",
+      "properties": {
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/PickUpTipWellLocation",
+          "description": "Relative well location at which to pick up the tip."
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "labwareId", "wellName"],
+      "title": "PickUpTipParams",
+      "type": "object"
+    },
+    "PickUpTipWellLocation": {
+      "description": "A relative location in reference to a well's location.\n\nTo be used for picking up tips.",
+      "properties": {
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
+        },
+        "origin": {
+          "$ref": "#/$defs/PickUpTipWellOrigin",
+          "default": "top"
+        }
+      },
+      "title": "PickUpTipWellLocation",
+      "type": "object"
+    },
+    "PickUpTipWellOrigin": {
+      "description": "The origin of a PickUpTipWellLocation offset.\n\nProps:\n    TOP: the top-center of the well\n    BOTTOM: the bottom-center of the well\n    CENTER: the middle-center of the well",
+      "enum": ["top", "bottom", "center"],
+      "title": "PickUpTipWellOrigin",
+      "type": "string"
+    },
+    "PipetteNameType": {
+      "description": "Pipette load name values.",
+      "enum": [
+        "p10_single",
+        "p10_multi",
+        "p20_single_gen2",
+        "p20_multi_gen2",
+        "p50_single",
+        "p50_multi",
+        "p50_single_flex",
+        "p50_multi_flex",
+        "p300_single",
+        "p300_multi",
+        "p300_single_gen2",
+        "p300_multi_gen2",
+        "p1000_single",
+        "p1000_single_gen2",
+        "p1000_single_flex",
+        "p1000_multi_flex",
+        "p1000_multi_em_flex",
+        "p1000_96",
+        "p200_96"
+      ],
+      "title": "PipetteNameType",
+      "type": "string"
+    },
+    "PositionReference": {
+      "description": "Positional reference for liquid handling operations.",
+      "enum": ["well-bottom", "well-top", "well-center", "liquid-meniscus"],
+      "title": "PositionReference",
+      "type": "string"
+    },
+    "PrepareToAspirateCreate": {
+      "description": "Prepare for aspirate command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "prepareToAspirate",
+          "default": "prepareToAspirate",
+          "enum": ["prepareToAspirate"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/PrepareToAspirateParams"
+        }
+      },
+      "required": ["params"],
+      "title": "PrepareToAspirateCreate",
+      "type": "object"
+    },
+    "PrepareToAspirateParams": {
+      "description": "Parameters required to prepare a specific pipette for aspiration.",
+      "properties": {
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"],
+      "title": "PrepareToAspirateParams",
+      "type": "object"
+    },
+    "ProfileCycle": {
+      "description": "An individual cycle in a Thermocycler extended profile.",
+      "properties": {
+        "repetitions": {
+          "description": "Number of times to repeat the steps.",
+          "title": "Repetitions",
+          "type": "integer"
+        },
+        "steps": {
+          "description": "Steps to repeat.",
+          "items": {
+            "$ref": "#/$defs/ProfileStep"
+          },
+          "title": "Steps",
+          "type": "array"
+        }
+      },
+      "required": ["steps", "repetitions"],
+      "title": "ProfileCycle",
+      "type": "object"
+    },
+    "ProfileStep": {
+      "description": "An individual step in a Thermocycler extended profile.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "holdSeconds": {
+          "description": "Time to hold target temperature in seconds.",
+          "title": "Holdseconds",
+          "type": "number"
+        }
+      },
+      "required": ["celsius", "holdSeconds"],
+      "title": "ProfileStep",
+      "type": "object"
+    },
+    "QuadrantNozzleLayoutConfiguration": {
+      "description": "Information required for nozzle configurations of type QUADRANT.",
+      "properties": {
+        "backLeftNozzle": {
+          "description": "The back left nozzle in your configuration.",
+          "pattern": "[A-Z]\\d{1,2}",
+          "title": "Backleftnozzle",
+          "type": "string"
+        },
+        "frontRightNozzle": {
+          "description": "The front right nozzle in your configuration.",
+          "pattern": "[A-Z]\\d{1,2}",
+          "title": "Frontrightnozzle",
+          "type": "string"
+        },
+        "primaryNozzle": {
+          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
+          "enum": ["A1", "H1", "A12", "H12"],
+          "title": "Primarynozzle",
+          "type": "string"
+        },
+        "style": {
+          "const": "QUADRANT",
+          "default": "QUADRANT",
+          "enum": ["QUADRANT"],
+          "title": "Style",
+          "type": "string"
+        }
+      },
+      "required": ["primaryNozzle", "frontRightNozzle", "backLeftNozzle"],
+      "title": "QuadrantNozzleLayoutConfiguration",
+      "type": "object"
+    },
+    "ReadAbsorbanceCreate": {
+      "description": "A request to execute an Absorbance Reader measurement.",
+      "properties": {
+        "commandType": {
+          "const": "absorbanceReader/read",
+          "default": "absorbanceReader/read",
+          "enum": ["absorbanceReader/read"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ReadAbsorbanceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "ReadAbsorbanceCreate",
+      "type": "object"
+    },
+    "ReadAbsorbanceParams": {
+      "description": "Input parameters for an absorbance reading.",
+      "properties": {
+        "fileName": {
+          "description": "Optional file name to use when storing the results of a measurement.",
+          "title": "Filename",
+          "type": "string"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Absorbance Reader.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "ReadAbsorbanceParams",
+      "type": "object"
+    },
+    "ReloadLabwareCreate": {
+      "description": "Reload labware command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "reloadLabware",
+          "default": "reloadLabware",
+          "enum": ["reloadLabware"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ReloadLabwareParams"
+        }
+      },
+      "required": ["params"],
+      "title": "ReloadLabwareCreate",
+      "type": "object"
+    },
+    "ReloadLabwareParams": {
+      "description": "Payload required to load a labware into a slot.",
+      "properties": {
+        "labwareId": {
+          "description": "The already-loaded labware instance to update.",
+          "title": "Labwareid",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId"],
+      "title": "ReloadLabwareParams",
+      "type": "object"
+    },
+    "RetractAspirate": {
+      "description": "Shared properties for the retract function after aspiration.",
+      "properties": {
+        "airGapByVolume": {
+          "description": "Settings for air gap keyed by target aspiration volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Airgapbyvolume",
+          "type": "array"
+        },
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for retract after aspirate."
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for retract after aspirate."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for retract after aspirate."
+        },
+        "speed": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Speed of retraction, in millimeters per second.",
+          "title": "Speed"
+        },
+        "touchTip": {
+          "$ref": "#/$defs/TouchTipProperties",
+          "description": "Touch tip settings for retract after aspirate."
+        }
+      },
+      "required": [
+        "positionReference",
+        "offset",
+        "speed",
+        "airGapByVolume",
+        "touchTip",
+        "delay"
+      ],
+      "title": "RetractAspirate",
+      "type": "object"
+    },
+    "RetractAxisCreate": {
+      "description": "Data to create a Retract Axis command.",
+      "properties": {
+        "commandType": {
+          "const": "retractAxis",
+          "default": "retractAxis",
+          "enum": ["retractAxis"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/RetractAxisParams"
+        }
+      },
+      "required": ["params"],
+      "title": "RetractAxisCreate",
+      "type": "object"
+    },
+    "RetractAxisParams": {
+      "description": "Payload required for a Retract Axis command.",
+      "properties": {
+        "axis": {
+          "$ref": "#/$defs/MotorAxis",
+          "description": "Axis to retract to its home position as quickly as safely possible. The difference between retracting an axis and homing an axis using the home command is that a home will always probe the limit switch and will work as the first motion command a robot will need to execute; On the other hand, retraction will rely on this previously determined  home position to move to it as fast as safely possible. So on the Flex, it will move (fast) the axis to the previously recorded home position and on the OT2, it will move (fast) the axis a safe distance from the previously recorded home position, and then slowly approach the limit switch."
+        }
+      },
+      "required": ["axis"],
+      "title": "RetractAxisParams",
+      "type": "object"
+    },
+    "RetractDispense": {
+      "description": "Shared properties for the retract function after dispense.",
+      "properties": {
+        "airGapByVolume": {
+          "description": "Settings for air gap keyed by target aspiration volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Airgapbyvolume",
+          "type": "array"
+        },
+        "blowout": {
+          "$ref": "#/$defs/BlowoutProperties",
+          "description": "Blowout properties for retract after dispense."
+        },
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for retract after dispense."
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for retract after dispense."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for retract after dispense."
+        },
+        "speed": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Speed of retraction, in millimeters per second.",
+          "title": "Speed"
+        },
+        "touchTip": {
+          "$ref": "#/$defs/TouchTipProperties",
+          "description": "Touch tip settings for retract after dispense."
+        }
+      },
+      "required": [
+        "positionReference",
+        "offset",
+        "speed",
+        "airGapByVolume",
+        "blowout",
+        "touchTip",
+        "delay"
+      ],
+      "title": "RetractDispense",
+      "type": "object"
+    },
+    "RetrieveCreate": {
+      "description": "A request to execute a Flex Stacker retrieve command.",
+      "properties": {
+        "commandType": {
+          "const": "flexStacker/retrieve",
+          "default": "flexStacker/retrieve",
+          "enum": ["flexStacker/retrieve"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/RetrieveParams"
+        }
+      },
+      "required": ["params"],
+      "title": "RetrieveCreate",
+      "type": "object"
+    },
+    "RetrieveParams": {
+      "description": "Input parameters for a labware retrieval command.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Flex Stacker.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "RetrieveParams",
+      "type": "object"
+    },
+    "RowNozzleLayoutConfiguration": {
+      "description": "Minimum information required for a new nozzle configuration.",
+      "properties": {
+        "primaryNozzle": {
+          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
+          "enum": ["A1", "H1", "A12", "H12"],
+          "title": "Primarynozzle",
+          "type": "string"
+        },
+        "style": {
+          "const": "ROW",
+          "default": "ROW",
+          "enum": ["ROW"],
+          "title": "Style",
+          "type": "string"
+        }
+      },
+      "required": ["primaryNozzle"],
+      "title": "RowNozzleLayoutConfiguration",
+      "type": "object"
+    },
+    "RunExtendedProfileCreate": {
+      "description": "A request to execute a Thermocycler profile run.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/runExtendedProfile",
+          "default": "thermocycler/runExtendedProfile",
+          "enum": ["thermocycler/runExtendedProfile"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/RunExtendedProfileParams"
+        }
+      },
+      "required": ["params"],
+      "title": "RunExtendedProfileCreate",
+      "type": "object"
+    },
+    "RunExtendedProfileParams": {
+      "description": "Input parameters for an individual Thermocycler profile step.",
+      "properties": {
+        "blockMaxVolumeUl": {
+          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
+          "title": "Blockmaxvolumeul",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "profileElements": {
+          "description": "Elements of the profile. Each can be either a step or a cycle.",
+          "items": {
+            "anyOf": [
+              {
+                "$ref": "#/$defs/ProfileStep"
+              },
+              {
+                "$ref": "#/$defs/ProfileCycle"
+              }
+            ]
+          },
+          "title": "Profileelements",
+          "type": "array"
+        }
+      },
+      "required": ["moduleId", "profileElements"],
+      "title": "RunExtendedProfileParams",
+      "type": "object"
+    },
+    "RunProfileCreate": {
+      "description": "A request to execute a Thermocycler profile run.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/runProfile",
+          "default": "thermocycler/runProfile",
+          "enum": ["thermocycler/runProfile"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/RunProfileParams"
+        }
+      },
+      "required": ["params"],
+      "title": "RunProfileCreate",
+      "type": "object"
+    },
+    "RunProfileParams": {
+      "description": "Input parameters to run a Thermocycler profile.",
+      "properties": {
+        "blockMaxVolumeUl": {
+          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
+          "title": "Blockmaxvolumeul",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "profile": {
+          "description": "Array of profile steps with target temperature and temperature hold time.",
+          "items": {
+            "$ref": "#/$defs/RunProfileStepParams"
+          },
+          "title": "Profile",
+          "type": "array"
+        }
+      },
+      "required": ["moduleId", "profile"],
+      "title": "RunProfileParams",
+      "type": "object"
+    },
+    "RunProfileStepParams": {
+      "description": "Input parameters for an individual Thermocycler profile step.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "holdSeconds": {
+          "description": "Time to hold target temperature at in seconds.",
+          "title": "Holdseconds",
+          "type": "number"
+        }
+      },
+      "required": ["celsius", "holdSeconds"],
+      "title": "RunProfileStepParams",
+      "type": "object"
+    },
+    "SavePositionCreate": {
+      "description": "Save position command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "savePosition",
+          "default": "savePosition",
+          "enum": ["savePosition"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SavePositionParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SavePositionCreate",
+      "type": "object"
+    },
+    "SavePositionParams": {
+      "description": "Payload needed to save a pipette's current position.",
+      "properties": {
+        "failOnNotHomed": {
+          "description": "Require all axes to be homed before saving position.",
+          "title": "Failonnothomed",
+          "type": "boolean"
+        },
+        "pipetteId": {
+          "description": "Unique identifier of the pipette in question.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "positionId": {
+          "description": "An optional ID to assign to this command instance. Auto-assigned if not defined.",
+          "title": "Positionid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"],
+      "title": "SavePositionParams",
+      "type": "object"
+    },
+    "SetAndWaitForShakeSpeedCreate": {
+      "description": "A request to create a Heater-Shaker's set and wait for shake speed command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/setAndWaitForShakeSpeed",
+          "default": "heaterShaker/setAndWaitForShakeSpeed",
+          "enum": ["heaterShaker/setAndWaitForShakeSpeed"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SetAndWaitForShakeSpeedParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetAndWaitForShakeSpeedCreate",
+      "type": "object"
+    },
+    "SetAndWaitForShakeSpeedParams": {
+      "description": "Input parameters to set and wait for a shake speed for a Heater-Shaker Module.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        },
+        "rpm": {
+          "description": "Target speed in rotations per minute.",
+          "title": "Rpm",
+          "type": "number"
+        }
+      },
+      "required": ["moduleId", "rpm"],
+      "title": "SetAndWaitForShakeSpeedParams",
+      "type": "object"
+    },
+    "SetRailLightsCreate": {
+      "description": "setRailLights command request model.",
+      "properties": {
+        "commandType": {
+          "const": "setRailLights",
+          "default": "setRailLights",
+          "enum": ["setRailLights"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SetRailLightsParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetRailLightsCreate",
+      "type": "object"
+    },
+    "SetRailLightsParams": {
+      "description": "Payload required to set the rail lights on or off.",
+      "properties": {
+        "on": {
+          "description": "The field that determines if the light is turned off or on.",
+          "title": "On",
+          "type": "boolean"
+        }
+      },
+      "required": ["on"],
+      "title": "SetRailLightsParams",
+      "type": "object"
+    },
+    "SetStatusBarCreate": {
+      "description": "setStatusBar command request model.",
+      "properties": {
+        "commandType": {
+          "const": "setStatusBar",
+          "default": "setStatusBar",
+          "enum": ["setStatusBar"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SetStatusBarParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetStatusBarCreate",
+      "type": "object"
+    },
+    "SetStatusBarParams": {
+      "description": "Payload required to set the status bar to run an animation.",
+      "properties": {
+        "animation": {
+          "$ref": "#/$defs/StatusBarAnimation",
+          "description": "The animation that should be executed on the status bar."
+        }
+      },
+      "required": ["animation"],
+      "title": "SetStatusBarParams",
+      "type": "object"
+    },
+    "SetTargetBlockTemperatureCreate": {
+      "description": "A request to create a Thermocycler's set block temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/setTargetBlockTemperature",
+          "default": "thermocycler/setTargetBlockTemperature",
+          "enum": ["thermocycler/setTargetBlockTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SetTargetBlockTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetTargetBlockTemperatureCreate",
+      "type": "object"
+    },
+    "SetTargetBlockTemperatureParams": {
+      "description": "Input parameters to set a Thermocycler's target block temperature.",
+      "properties": {
+        "blockMaxVolumeUl": {
+          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
+          "title": "Blockmaxvolumeul",
+          "type": "number"
+        },
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "holdTimeSeconds": {
+          "description": "Amount of time, in seconds, to hold the temperature for. If specified, a waitForBlockTemperature command will block until the given hold time has elapsed.",
+          "title": "Holdtimeseconds",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetBlockTemperatureParams",
+      "type": "object"
+    },
+    "SetTargetLidTemperatureCreate": {
+      "description": "A request to create a Thermocycler's set lid temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/setTargetLidTemperature",
+          "default": "thermocycler/setTargetLidTemperature",
+          "enum": ["thermocycler/setTargetLidTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/SetTargetLidTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetTargetLidTemperatureCreate",
+      "type": "object"
+    },
+    "SetTargetLidTemperatureParams": {
+      "description": "Input parameters to set a Thermocycler's target lid temperature.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetLidTemperatureParams",
+      "type": "object"
+    },
+    "SingleDispenseProperties": {
+      "description": "Properties specific to the single-dispense function.",
+      "properties": {
+        "correctionByVolume": {
+          "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "type": "integer"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Correctionbyvolume",
+          "type": "array"
+        },
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay after dispense, in seconds."
+        },
+        "flowRateByVolume": {
+          "description": "Settings for flow rate keyed by target dispense volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Flowratebyvolume",
+          "type": "array"
+        },
+        "mix": {
+          "$ref": "#/$defs/MixProperties",
+          "description": "Mixing settings for after a dispense"
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for single dispense."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for single dispense."
+        },
+        "pushOutByVolume": {
+          "description": "Settings for pushout keyed by target dispense volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Pushoutbyvolume",
+          "type": "array"
+        },
+        "retract": {
+          "$ref": "#/$defs/RetractDispense",
+          "description": "Pipette retract settings after a single dispense."
+        },
+        "submerge": {
+          "$ref": "#/$defs/Submerge",
+          "description": "Submerge settings for single dispense."
+        }
+      },
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "mix",
+        "pushOutByVolume",
+        "delay"
+      ],
+      "title": "SingleDispenseProperties",
+      "type": "object"
+    },
+    "SingleNozzleLayoutConfiguration": {
+      "description": "Minimum information required for a new nozzle configuration.",
+      "properties": {
+        "primaryNozzle": {
+          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
+          "enum": ["A1", "H1", "A12", "H12"],
+          "title": "Primarynozzle",
+          "type": "string"
+        },
+        "style": {
+          "const": "SINGLE",
+          "default": "SINGLE",
+          "enum": ["SINGLE"],
+          "title": "Style",
+          "type": "string"
+        }
+      },
+      "required": ["primaryNozzle"],
+      "title": "SingleNozzleLayoutConfiguration",
+      "type": "object"
+    },
+    "StatusBarAnimation": {
+      "description": "Status Bar animation options.",
+      "enum": ["idle", "confirm", "updating", "disco", "off"],
+      "title": "StatusBarAnimation",
+      "type": "string"
+    },
+    "StoreCreate": {
+      "description": "A request to execute a Flex Stacker store command.",
+      "properties": {
+        "commandType": {
+          "const": "flexStacker/store",
+          "default": "flexStacker/store",
+          "enum": ["flexStacker/store"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/StoreParams"
+        }
+      },
+      "required": ["params"],
+      "title": "StoreCreate",
+      "type": "object"
+    },
+    "StoreParams": {
+      "description": "Input parameters for a labware storage command.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the flex stacker.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "StoreParams",
+      "type": "object"
+    },
+    "Submerge": {
+      "description": "Shared properties for the submerge function before aspiration or dispense.",
+      "properties": {
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for submerge."
+        },
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for submerge."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for submerge."
+        },
+        "speed": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
+            }
+          ],
+          "description": "Speed of submerging, in millimeters per second.",
+          "title": "Speed"
+        }
+      },
+      "required": ["positionReference", "offset", "speed", "delay"],
+      "title": "Submerge",
+      "type": "object"
+    },
+    "TipPresenceStatus": {
+      "description": "Tip presence status reported by a pipette.",
+      "enum": ["present", "absent", "unknown"],
+      "title": "TipPresenceStatus",
+      "type": "string"
+    },
+    "TouchTipCreate": {
+      "description": "Touch tip command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "touchTip",
+          "default": "touchTip",
+          "enum": ["touchTip"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/TouchTipParams"
+        }
+      },
+      "required": ["params"],
+      "title": "TouchTipCreate",
+      "type": "object"
+    },
+    "TouchTipParams": {
+      "description": "Payload needed to touch a pipette tip the sides of a specific well.",
+      "properties": {
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "mmFromEdge": {
+          "description": "Offset away from the the well edge, in millimeters.Incompatible when a radius is included as a non 1.0 value.",
+          "title": "Mmfromedge",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "radius": {
+          "default": 1.0,
+          "description": "The proportion of the target well's radius the pipette tip will move towards.",
+          "title": "Radius",
+          "type": "number"
+        },
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "TouchTipParams",
+      "type": "object"
+    },
+    "TouchTipProperties": {
+      "description": "Shared properties for the touch-tip function.",
+      "properties": {
+        "enable": {
+          "description": "Whether touch-tip is enabled.",
+          "title": "Enable",
+          "type": "boolean"
+        },
+        "params": {
+          "$ref": "#/$defs/LiquidClassTouchTipParams",
+          "description": "Parameters for the touch-tip function.",
+          "title": "Params"
+        }
+      },
+      "required": ["enable"],
+      "title": "TouchTipProperties",
+      "type": "object"
+    },
+    "TryLiquidProbeCreate": {
+      "description": "The request model for a `tryLiquidProbe` command.",
+      "properties": {
+        "commandType": {
+          "const": "tryLiquidProbe",
+          "default": "tryLiquidProbe",
+          "enum": ["tryLiquidProbe"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/TryLiquidProbeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "TryLiquidProbeCreate",
+      "type": "object"
+    },
+    "TryLiquidProbeParams": {
+      "description": "Parameters required for a `tryLiquidProbe` command.",
+      "properties": {
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "TryLiquidProbeParams",
+      "type": "object"
+    },
+    "UnsafeBlowOutInPlaceCreate": {
+      "description": "UnsafeBlowOutInPlace command request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/blowOutInPlace",
+          "default": "unsafe/blowOutInPlace",
+          "enum": ["unsafe/blowOutInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UnsafeBlowOutInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UnsafeBlowOutInPlaceCreate",
+      "type": "object"
+    },
+    "UnsafeBlowOutInPlaceParams": {
+      "description": "Payload required to blow-out in place while position is unknown.",
+      "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["flowRate", "pipetteId"],
+      "title": "UnsafeBlowOutInPlaceParams",
+      "type": "object"
+    },
+    "UnsafeDropTipInPlaceCreate": {
+      "description": "Drop tip in place command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/dropTipInPlace",
+          "default": "unsafe/dropTipInPlace",
+          "enum": ["unsafe/dropTipInPlace"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UnsafeDropTipInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UnsafeDropTipInPlaceCreate",
+      "type": "object"
+    },
+    "UnsafeDropTipInPlaceParams": {
+      "description": "Payload required to drop a tip in place even if the plunger position is not known.",
+      "properties": {
+        "homeAfter": {
+          "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.",
+          "title": "Homeafter",
+          "type": "boolean"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId"],
+      "title": "UnsafeDropTipInPlaceParams",
+      "type": "object"
+    },
+    "UnsafeEngageAxesCreate": {
+      "description": "UnsafeEngageAxes command request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/engageAxes",
+          "default": "unsafe/engageAxes",
+          "enum": ["unsafe/engageAxes"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UnsafeEngageAxesParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UnsafeEngageAxesCreate",
+      "type": "object"
+    },
+    "UnsafeEngageAxesParams": {
+      "description": "Payload required for an UnsafeEngageAxes command.",
+      "properties": {
+        "axes": {
+          "description": "The axes for which to enable.",
+          "items": {
+            "$ref": "#/$defs/MotorAxis"
+          },
+          "title": "Axes",
+          "type": "array"
+        }
+      },
+      "required": ["axes"],
+      "title": "UnsafeEngageAxesParams",
+      "type": "object"
+    },
+    "UnsafePlaceLabwareCreate": {
+      "description": "UnsafePlaceLabware command request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/placeLabware",
+          "default": "unsafe/placeLabware",
+          "enum": ["unsafe/placeLabware"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UnsafePlaceLabwareParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UnsafePlaceLabwareCreate",
+      "type": "object"
+    },
+    "UnsafePlaceLabwareParams": {
+      "description": "Payload required for an UnsafePlaceLabware command.",
+      "properties": {
+        "labwareURI": {
+          "description": "Labware URI for labware.",
+          "title": "Labwareuri",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Where to place the labware.",
+          "title": "Location"
+        }
+      },
+      "required": ["labwareURI", "location"],
+      "title": "UnsafePlaceLabwareParams",
+      "type": "object"
+    },
+    "UnsafeUngripLabwareCreate": {
+      "description": "UnsafeEngageAxes command request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/ungripLabware",
+          "default": "unsafe/ungripLabware",
+          "enum": ["unsafe/ungripLabware"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UnsafeUngripLabwareParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UnsafeUngripLabwareCreate",
+      "type": "object"
+    },
+    "UnsafeUngripLabwareParams": {
+      "description": "Payload required for an UngripLabware command.",
+      "properties": {},
+      "title": "UnsafeUngripLabwareParams",
+      "type": "object"
+    },
+    "UpdatePositionEstimatorsCreate": {
+      "description": "UpdatePositionEstimators command request model.",
+      "properties": {
+        "commandType": {
+          "const": "unsafe/updatePositionEstimators",
+          "default": "unsafe/updatePositionEstimators",
+          "enum": ["unsafe/updatePositionEstimators"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/UpdatePositionEstimatorsParams"
+        }
+      },
+      "required": ["params"],
+      "title": "UpdatePositionEstimatorsCreate",
+      "type": "object"
+    },
+    "UpdatePositionEstimatorsParams": {
+      "description": "Payload required for an UpdatePositionEstimators command.",
+      "properties": {
+        "axes": {
+          "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.",
+          "items": {
+            "$ref": "#/$defs/MotorAxis"
+          },
+          "title": "Axes",
+          "type": "array"
+        }
+      },
+      "required": ["axes"],
+      "title": "UpdatePositionEstimatorsParams",
+      "type": "object"
+    },
+    "Vec3f": {
+      "description": "A 3D vector of floats.",
+      "properties": {
+        "x": {
+          "title": "X",
+          "type": "number"
+        },
+        "y": {
+          "title": "Y",
+          "type": "number"
+        },
+        "z": {
+          "title": "Z",
+          "type": "number"
+        }
+      },
+      "required": ["x", "y", "z"],
+      "title": "Vec3f",
+      "type": "object"
+    },
+    "VerifyTipPresenceCreate": {
+      "description": "VerifyTipPresence command creation request model.",
+      "properties": {
+        "commandType": {
+          "const": "verifyTipPresence",
+          "default": "verifyTipPresence",
+          "enum": ["verifyTipPresence"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/VerifyTipPresenceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "VerifyTipPresenceCreate",
+      "type": "object"
+    },
+    "VerifyTipPresenceParams": {
+      "description": "Payload required for a VerifyTipPresence command.",
+      "properties": {
+        "expectedState": {
+          "$ref": "#/$defs/TipPresenceStatus",
+          "description": "The expected tip presence status on the pipette."
+        },
+        "followSingularSensor": {
+          "$ref": "#/$defs/InstrumentSensorId",
+          "description": "The sensor id to follow if the other can be ignored.",
+          "title": "Followsingularsensor"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["pipetteId", "expectedState"],
+      "title": "VerifyTipPresenceParams",
+      "type": "object"
+    },
+    "WaitForBlockTemperatureCreate": {
+      "description": "A request to create Thermocycler's wait for block temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/waitForBlockTemperature",
+          "default": "thermocycler/waitForBlockTemperature",
+          "enum": ["thermocycler/waitForBlockTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/WaitForBlockTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForBlockTemperatureCreate",
+      "type": "object"
+    },
+    "WaitForBlockTemperatureParams": {
+      "description": "Input parameters to wait for Thermocycler's target block temperature.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "WaitForBlockTemperatureParams",
+      "type": "object"
+    },
+    "WaitForDurationCreate": {
+      "description": "Wait for duration command request model.",
+      "properties": {
+        "commandType": {
+          "const": "waitForDuration",
+          "default": "waitForDuration",
+          "enum": ["waitForDuration"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/WaitForDurationParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForDurationCreate",
+      "type": "object"
+    },
+    "WaitForDurationParams": {
+      "description": "Payload required to pause the protocol.",
+      "properties": {
+        "message": {
+          "description": "A user-facing message associated with the pause",
+          "title": "Message",
+          "type": "string"
+        },
+        "seconds": {
+          "description": "Duration, in seconds, to wait for.",
+          "title": "Seconds",
+          "type": "number"
+        }
+      },
+      "required": ["seconds"],
+      "title": "WaitForDurationParams",
+      "type": "object"
+    },
+    "WaitForLidTemperatureCreate": {
+      "description": "A request to create Thermocycler's wait for lid temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/waitForLidTemperature",
+          "default": "thermocycler/waitForLidTemperature",
+          "enum": ["thermocycler/waitForLidTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/WaitForLidTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForLidTemperatureCreate",
+      "type": "object"
+    },
+    "WaitForLidTemperatureParams": {
+      "description": "Input parameters to wait for Thermocycler's lid temperature.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "WaitForLidTemperatureParams",
+      "type": "object"
+    },
+    "WaitForResumeCreate": {
+      "description": "Wait for resume command request model.",
+      "properties": {
+        "commandType": {
+          "default": "waitForResume",
+          "enum": ["waitForResume", "pause"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/WaitForResumeParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForResumeCreate",
+      "type": "object"
+    },
+    "WaitForResumeParams": {
+      "description": "Payload required to pause the protocol.",
+      "properties": {
+        "message": {
+          "description": "A user-facing message associated with the pause",
+          "title": "Message",
+          "type": "string"
+        }
+      },
+      "title": "WaitForResumeParams",
+      "type": "object"
+    },
+    "WellLocation": {
+      "description": "A relative location in reference to a well's location.",
+      "properties": {
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
+        },
+        "origin": {
+          "$ref": "#/$defs/WellOrigin",
+          "default": "top"
+        },
+        "volumeOffset": {
+          "default": 0.0,
+          "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset.",
+          "title": "Volumeoffset",
+          "type": "number"
+        }
+      },
+      "title": "WellLocation",
+      "type": "object"
+    },
+    "WellOffset": {
+      "description": "An offset vector in (x, y, z).",
+      "properties": {
+        "x": {
+          "default": 0,
+          "title": "X",
+          "type": "number"
+        },
+        "y": {
+          "default": 0,
+          "title": "Y",
+          "type": "number"
+        },
+        "z": {
+          "default": 0,
+          "title": "Z",
+          "type": "number"
+        }
+      },
+      "title": "WellOffset",
+      "type": "object"
+    },
+    "WellOrigin": {
+      "description": "Origin of WellLocation offset.\n\nProps:\n    TOP: the top-center of the well\n    BOTTOM: the bottom-center of the well\n    CENTER: the middle-center of the well\n    MENISCUS: the meniscus-center of the well",
+      "enum": ["top", "bottom", "center", "meniscus"],
+      "title": "WellOrigin",
+      "type": "string"
+    },
+    "closeGripperJawCreate": {
+      "description": "closeGripperJaw command request model.",
+      "properties": {
+        "commandType": {
+          "const": "robot/closeGripperJaw",
+          "default": "robot/closeGripperJaw",
+          "enum": ["robot/closeGripperJaw"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/closeGripperJawParams"
+        }
+      },
+      "required": ["params"],
+      "title": "closeGripperJawCreate",
+      "type": "object"
+    },
+    "closeGripperJawParams": {
+      "description": "Payload required to close a gripper.",
+      "properties": {
+        "force": {
+          "description": "The force the gripper should use to hold the jaws, falls to default if none is provided.",
+          "title": "Force",
+          "type": "number"
+        }
+      },
+      "title": "closeGripperJawParams",
+      "type": "object"
+    },
+    "openGripperJawCreate": {
+      "description": "openGripperJaw command request model.",
+      "properties": {
+        "commandType": {
+          "const": "robot/openGripperJaw",
+          "default": "robot/openGripperJaw",
+          "enum": ["robot/openGripperJaw"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/openGripperJawParams"
+        }
+      },
+      "required": ["params"],
+      "title": "openGripperJawCreate",
+      "type": "object"
+    },
+    "openGripperJawParams": {
+      "description": "Payload required to release a gripper.",
+      "properties": {},
+      "title": "openGripperJawParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate": {
+      "description": "A request to execute an Absorbance Reader close lid command.",
+      "properties": {
+        "commandType": {
+          "const": "absorbanceReader/closeLid",
+          "default": "absorbanceReader/closeLid",
+          "enum": ["absorbanceReader/closeLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CloseLidCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams": {
+      "description": "Input parameters to close the lid on an absorbance reading.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the absorbance reader.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "CloseLidParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate": {
+      "description": "A request to execute an Absorbance Reader open lid command.",
+      "properties": {
+        "commandType": {
+          "const": "absorbanceReader/openLid",
+          "default": "absorbanceReader/openLid",
+          "enum": ["absorbanceReader/openLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "OpenLidCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams": {
+      "description": "Input parameters to open the lid on an absorbance reading.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the absorbance reader.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "OpenLidParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate": {
+      "description": "A request to create a Heater-Shaker's set temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/setTargetTemperature",
+          "default": "heaterShaker/setTargetTemperature",
+          "enum": ["heaterShaker/setTargetTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetTargetTemperatureCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams": {
+      "description": "Input parameters to set a Heater-Shaker's target temperature.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetTemperatureParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate": {
+      "description": "A request to create a Heater-Shaker's wait for temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "heaterShaker/waitForTemperature",
+          "default": "heaterShaker/waitForTemperature",
+          "enum": ["heaterShaker/waitForTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForTemperatureCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams": {
+      "description": "Input parameters to wait for a Heater-Shaker's target temperature.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C. If not specified, will default to the module's target temperature. Specifying a celsius parameter other than the target temperature could lead to unpredictable behavior and hence is not recommended for use. This parameter can be removed in a future version without prior notice.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "WaitForTemperatureParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate": {
+      "description": "A request to create a Temperature Module's set temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "temperatureModule/setTargetTemperature",
+          "default": "temperatureModule/setTargetTemperature",
+          "enum": ["temperatureModule/setTargetTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "SetTargetTemperatureCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams": {
+      "description": "Input parameters to set a Temperature Module's target temperature.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Temperature Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetTemperatureParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate": {
+      "description": "A request to create a Temperature Module's wait for temperature command.",
+      "properties": {
+        "commandType": {
+          "const": "temperatureModule/waitForTemperature",
+          "default": "temperatureModule/waitForTemperature",
+          "enum": ["temperatureModule/waitForTemperature"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams"
+        }
+      },
+      "required": ["params"],
+      "title": "WaitForTemperatureCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams": {
+      "description": "Input parameters to wait for a Temperature Module's target temperature.",
+      "properties": {
+        "celsius": {
+          "description": "Target temperature in \u00b0C. If not specified, will default to the module's target temperature. Specifying a celsius parameter other than the target temperature could lead to unpredictable behavior and hence is not recommended for use. This parameter can be removed in a future version without prior notice.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Temperature Module.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "WaitForTemperatureParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate": {
+      "description": "A request to close a Thermocycler's lid.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/closeLid",
+          "default": "thermocycler/closeLid",
+          "enum": ["thermocycler/closeLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "CloseLidCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams": {
+      "description": "Input parameters to close a Thermocycler's lid.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "CloseLidParams",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate": {
+      "description": "A request to open a Thermocycler's lid.",
+      "properties": {
+        "commandType": {
+          "const": "thermocycler/openLid",
+          "default": "thermocycler/openLid",
+          "enum": ["thermocycler/openLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "OpenLidCreate",
+      "type": "object"
+    },
+    "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams": {
+      "description": "Input parameters to open a Thermocycler's lid.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "OpenLidParams",
+      "type": "object"
+    }
+  },
+  "$id": "opentronsCommandSchemaV12",
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "discriminator": {
+    "mapping": {
+      "absorbanceReader/closeLid": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate",
+      "absorbanceReader/initialize": "#/$defs/InitializeCreate",
+      "absorbanceReader/openLid": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate",
+      "absorbanceReader/read": "#/$defs/ReadAbsorbanceCreate",
+      "airGapInPlace": "#/$defs/AirGapInPlaceCreate",
+      "aspirate": "#/$defs/AspirateCreate",
+      "aspirateInPlace": "#/$defs/AspirateInPlaceCreate",
+      "aspirateWhileTracking": "#/$defs/AspirateWhileTrackingCreate",
+      "blowOutInPlace": "#/$defs/BlowOutInPlaceCreate",
+      "blowout": "#/$defs/BlowOutCreate",
+      "calibration/calibrateGripper": "#/$defs/CalibrateGripperCreate",
+      "calibration/calibrateModule": "#/$defs/CalibrateModuleCreate",
+      "calibration/calibratePipette": "#/$defs/CalibratePipetteCreate",
+      "calibration/moveToMaintenancePosition": "#/$defs/MoveToMaintenancePositionCreate",
+      "comment": "#/$defs/CommentCreate",
+      "configureForVolume": "#/$defs/ConfigureForVolumeCreate",
+      "configureNozzleLayout": "#/$defs/ConfigureNozzleLayoutCreate",
+      "custom": "#/$defs/CustomCreate",
+      "dispense": "#/$defs/DispenseCreate",
+      "dispenseInPlace": "#/$defs/DispenseInPlaceCreate",
+      "dispenseWhileTracking": "#/$defs/DispenseWhileTrackingCreate",
+      "dropTip": "#/$defs/DropTipCreate",
+      "dropTipInPlace": "#/$defs/DropTipInPlaceCreate",
+      "flexStacker/configure": "#/$defs/ConfigureCreate",
+      "flexStacker/retrieve": "#/$defs/RetrieveCreate",
+      "flexStacker/store": "#/$defs/StoreCreate",
+      "getNextTip": "#/$defs/GetNextTipCreate",
+      "getTipPresence": "#/$defs/GetTipPresenceCreate",
+      "heaterShaker/closeLabwareLatch": "#/$defs/CloseLabwareLatchCreate",
+      "heaterShaker/deactivateHeater": "#/$defs/DeactivateHeaterCreate",
+      "heaterShaker/deactivateShaker": "#/$defs/DeactivateShakerCreate",
+      "heaterShaker/openLabwareLatch": "#/$defs/OpenLabwareLatchCreate",
+      "heaterShaker/setAndWaitForShakeSpeed": "#/$defs/SetAndWaitForShakeSpeedCreate",
+      "heaterShaker/setTargetTemperature": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate",
+      "heaterShaker/waitForTemperature": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate",
+      "home": "#/$defs/HomeCreate",
+      "liquidProbe": "#/$defs/LiquidProbeCreate",
+      "loadLabware": "#/$defs/LoadLabwareCreate",
+      "loadLid": "#/$defs/LoadLidCreate",
+      "loadLidStack": "#/$defs/LoadLidStackCreate",
+      "loadLiquid": "#/$defs/LoadLiquidCreate",
+      "loadLiquidClass": "#/$defs/LoadLiquidClassCreate",
+      "loadModule": "#/$defs/LoadModuleCreate",
+      "loadPipette": "#/$defs/LoadPipetteCreate",
+      "magneticModule/disengage": "#/$defs/DisengageCreate",
+      "magneticModule/engage": "#/$defs/EngageCreate",
+      "moveLabware": "#/$defs/MoveLabwareCreate",
+      "moveRelative": "#/$defs/MoveRelativeCreate",
+      "moveToAddressableArea": "#/$defs/MoveToAddressableAreaCreate",
+      "moveToAddressableAreaForDropTip": "#/$defs/MoveToAddressableAreaForDropTipCreate",
+      "moveToCoordinates": "#/$defs/MoveToCoordinatesCreate",
+      "moveToWell": "#/$defs/MoveToWellCreate",
+      "pause": "#/$defs/WaitForResumeCreate",
+      "pickUpTip": "#/$defs/PickUpTipCreate",
+      "prepareToAspirate": "#/$defs/PrepareToAspirateCreate",
+      "reloadLabware": "#/$defs/ReloadLabwareCreate",
+      "retractAxis": "#/$defs/RetractAxisCreate",
+      "robot/closeGripperJaw": "#/$defs/closeGripperJawCreate",
+      "robot/moveAxesRelative": "#/$defs/MoveAxesRelativeCreate",
+      "robot/moveAxesTo": "#/$defs/MoveAxesToCreate",
+      "robot/moveTo": "#/$defs/MoveToCreate",
+      "robot/openGripperJaw": "#/$defs/openGripperJawCreate",
+      "savePosition": "#/$defs/SavePositionCreate",
+      "setRailLights": "#/$defs/SetRailLightsCreate",
+      "setStatusBar": "#/$defs/SetStatusBarCreate",
+      "temperatureModule/deactivate": "#/$defs/DeactivateTemperatureCreate",
+      "temperatureModule/setTargetTemperature": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate",
+      "temperatureModule/waitForTemperature": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate",
+      "thermocycler/closeLid": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate",
+      "thermocycler/deactivateBlock": "#/$defs/DeactivateBlockCreate",
+      "thermocycler/deactivateLid": "#/$defs/DeactivateLidCreate",
+      "thermocycler/openLid": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate",
+      "thermocycler/runExtendedProfile": "#/$defs/RunExtendedProfileCreate",
+      "thermocycler/runProfile": "#/$defs/RunProfileCreate",
+      "thermocycler/setTargetBlockTemperature": "#/$defs/SetTargetBlockTemperatureCreate",
+      "thermocycler/setTargetLidTemperature": "#/$defs/SetTargetLidTemperatureCreate",
+      "thermocycler/waitForBlockTemperature": "#/$defs/WaitForBlockTemperatureCreate",
+      "thermocycler/waitForLidTemperature": "#/$defs/WaitForLidTemperatureCreate",
+      "touchTip": "#/$defs/TouchTipCreate",
+      "tryLiquidProbe": "#/$defs/TryLiquidProbeCreate",
+      "unsafe/blowOutInPlace": "#/$defs/UnsafeBlowOutInPlaceCreate",
+      "unsafe/dropTipInPlace": "#/$defs/UnsafeDropTipInPlaceCreate",
+      "unsafe/engageAxes": "#/$defs/UnsafeEngageAxesCreate",
+      "unsafe/placeLabware": "#/$defs/UnsafePlaceLabwareCreate",
+      "unsafe/ungripLabware": "#/$defs/UnsafeUngripLabwareCreate",
+      "unsafe/updatePositionEstimators": "#/$defs/UpdatePositionEstimatorsCreate",
+      "verifyTipPresence": "#/$defs/VerifyTipPresenceCreate",
+      "waitForDuration": "#/$defs/WaitForDurationCreate",
+      "waitForResume": "#/$defs/WaitForResumeCreate"
+    },
+    "propertyName": "commandType"
+  },
+  "oneOf": [
+    {
+      "$ref": "#/$defs/AirGapInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/AspirateCreate"
+    },
+    {
+      "$ref": "#/$defs/AspirateWhileTrackingCreate"
+    },
+    {
+      "$ref": "#/$defs/AspirateInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/CommentCreate"
+    },
+    {
+      "$ref": "#/$defs/ConfigureForVolumeCreate"
+    },
+    {
+      "$ref": "#/$defs/ConfigureNozzleLayoutCreate"
+    },
+    {
+      "$ref": "#/$defs/CustomCreate"
+    },
+    {
+      "$ref": "#/$defs/DispenseCreate"
+    },
+    {
+      "$ref": "#/$defs/DispenseInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/DispenseWhileTrackingCreate"
+    },
+    {
+      "$ref": "#/$defs/BlowOutCreate"
+    },
+    {
+      "$ref": "#/$defs/BlowOutInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/DropTipCreate"
+    },
+    {
+      "$ref": "#/$defs/DropTipInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/HomeCreate"
+    },
+    {
+      "$ref": "#/$defs/RetractAxisCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLabwareCreate"
+    },
+    {
+      "$ref": "#/$defs/ReloadLabwareCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLiquidCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLiquidClassCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadModuleCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadPipetteCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLidStackCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLidCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveLabwareCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveRelativeCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToCoordinatesCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToWellCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToAddressableAreaCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToAddressableAreaForDropTipCreate"
+    },
+    {
+      "$ref": "#/$defs/PrepareToAspirateCreate"
+    },
+    {
+      "$ref": "#/$defs/WaitForResumeCreate"
+    },
+    {
+      "$ref": "#/$defs/WaitForDurationCreate"
+    },
+    {
+      "$ref": "#/$defs/PickUpTipCreate"
+    },
+    {
+      "$ref": "#/$defs/SavePositionCreate"
+    },
+    {
+      "$ref": "#/$defs/SetRailLightsCreate"
+    },
+    {
+      "$ref": "#/$defs/TouchTipCreate"
+    },
+    {
+      "$ref": "#/$defs/SetStatusBarCreate"
+    },
+    {
+      "$ref": "#/$defs/VerifyTipPresenceCreate"
+    },
+    {
+      "$ref": "#/$defs/GetTipPresenceCreate"
+    },
+    {
+      "$ref": "#/$defs/GetNextTipCreate"
+    },
+    {
+      "$ref": "#/$defs/LiquidProbeCreate"
+    },
+    {
+      "$ref": "#/$defs/TryLiquidProbeCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/DeactivateHeaterCreate"
+    },
+    {
+      "$ref": "#/$defs/SetAndWaitForShakeSpeedCreate"
+    },
+    {
+      "$ref": "#/$defs/DeactivateShakerCreate"
+    },
+    {
+      "$ref": "#/$defs/OpenLabwareLatchCreate"
+    },
+    {
+      "$ref": "#/$defs/CloseLabwareLatchCreate"
+    },
+    {
+      "$ref": "#/$defs/DisengageCreate"
+    },
+    {
+      "$ref": "#/$defs/EngageCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/DeactivateTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/SetTargetBlockTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/WaitForBlockTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/SetTargetLidTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/WaitForLidTemperatureCreate"
+    },
+    {
+      "$ref": "#/$defs/DeactivateBlockCreate"
+    },
+    {
+      "$ref": "#/$defs/DeactivateLidCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate"
+    },
+    {
+      "$ref": "#/$defs/RunProfileCreate"
+    },
+    {
+      "$ref": "#/$defs/RunExtendedProfileCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate"
+    },
+    {
+      "$ref": "#/$defs/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate"
+    },
+    {
+      "$ref": "#/$defs/InitializeCreate"
+    },
+    {
+      "$ref": "#/$defs/ReadAbsorbanceCreate"
+    },
+    {
+      "$ref": "#/$defs/ConfigureCreate"
+    },
+    {
+      "$ref": "#/$defs/RetrieveCreate"
+    },
+    {
+      "$ref": "#/$defs/StoreCreate"
+    },
+    {
+      "$ref": "#/$defs/CalibrateGripperCreate"
+    },
+    {
+      "$ref": "#/$defs/CalibratePipetteCreate"
+    },
+    {
+      "$ref": "#/$defs/CalibrateModuleCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToMaintenancePositionCreate"
+    },
+    {
+      "$ref": "#/$defs/UnsafeBlowOutInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/UnsafeDropTipInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/UpdatePositionEstimatorsCreate"
+    },
+    {
+      "$ref": "#/$defs/UnsafeEngageAxesCreate"
+    },
+    {
+      "$ref": "#/$defs/UnsafeUngripLabwareCreate"
+    },
+    {
+      "$ref": "#/$defs/UnsafePlaceLabwareCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveAxesRelativeCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveAxesToCreate"
+    },
+    {
+      "$ref": "#/$defs/MoveToCreate"
+    },
+    {
+      "$ref": "#/$defs/openGripperJawCreate"
+    },
+    {
+      "$ref": "#/$defs/closeGripperJawCreate"
+    }
+  ]
+}

From c630b883101e98e79bccdea70fc9de5b16a27f4a Mon Sep 17 00:00:00 2001
From: Nick Diehl <47604184+ncdiehl11@users.noreply.github.com>
Date: Tue, 28 Jan 2025 14:56:15 -0500
Subject: [PATCH 7/8] fix(protocol-designer): set PathField width to 100%
 (#17370)

Fixes width of `PathField` `PathButton` used in move liquid step form
---
 .../ProtocolSteps/StepForm/PipetteFields/PathField.tsx | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PathField.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PathField.tsx
index 691706a2884..86824e122cd 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PathField.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PathField.tsx
@@ -69,7 +69,7 @@ interface PathButtonProps {
 }
 
 function PathButton(props: PathButtonProps): JSX.Element {
-  const { disabled, onClick, id, path, selected, subtitle } = props
+  const { disabled, onClick, path, selected, subtitle } = props
   const [targetProps, tooltipProps] = useHoverTooltip({
     placement: TOOLTIP_TOP_START,
   })
@@ -79,14 +79,18 @@ function PathButton(props: PathButtonProps): JSX.Element {
     <Tooltip tooltipProps={tooltipProps} maxWidth="24.5rem">
       <Flex gridGap={SPACING.spacing8} flexDirection={DIRECTION_COLUMN}>
         <Box>{t(`step_edit_form.field.path.title.${path}`)}</Box>
-        <img src={PATH_ANIMATION_IMAGES[path]} width="361px" />
+        <img
+          src={PATH_ANIMATION_IMAGES[path]}
+          width="361px"
+          alt="path animation"
+        />
         <Box>{subtitle}</Box>
       </Flex>
     </Tooltip>
   )
 
   return (
-    <Flex {...targetProps} key={id}>
+    <Flex {...targetProps} flexDirection={DIRECTION_COLUMN}>
       {tooltip}
       <RadioButton
         width="100%"

From 8f8b0550087ba27cfb2db7ee95cfb7d683b4d771 Mon Sep 17 00:00:00 2001
From: koji <koji.kanao@opentrons.com>
Date: Tue, 28 Jan 2025 15:10:48 -0500
Subject: [PATCH 8/8] fix(protocol-designer): update logic to add modules and
 fixtures with plate reader (#17344)

* fix(protocol-designer): update logic to add modules and fixtures with plate reader
---
 .../SelectFixtures.tsx                        | 27 ++++++--
 .../CreateNewProtocolWizard/SelectModules.tsx |  8 ++-
 .../__tests__/utils.test.ts                   | 58 ++++++++++++++++-
 .../CreateNewProtocolWizard/constants.ts      |  2 +-
 .../pages/CreateNewProtocolWizard/index.tsx   | 16 ++++-
 .../pages/CreateNewProtocolWizard/utils.tsx   | 65 +++++++++++--------
 6 files changed, 138 insertions(+), 38 deletions(-)

diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectFixtures.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectFixtures.tsx
index 400da9a6235..19eb12cb2db 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectFixtures.tsx
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectFixtures.tsx
@@ -70,6 +70,15 @@ export function SelectFixtures(props: WizardTileProps): JSX.Element | null {
         subHeader={t('fixtures_replace')}
         disabled={!hasTrash}
         goBack={() => {
+          // Note this is avoid the following case issue.
+          // https://github.com/Opentrons/opentrons/pull/17344#pullrequestreview-2576591908
+          setValue(
+            'additionalEquipment',
+            additionalEquipment.filter(
+              ae => ae === 'gripper' || ae === 'trashBin'
+            )
+          )
+
           goBack(1)
         }}
         proceed={handleProceed}
@@ -135,11 +144,18 @@ export function SelectFixtures(props: WizardTileProps): JSX.Element | null {
                   filterOptions: getNumOptions(
                     numSlotsAvailable >= MAX_SLOTS
                       ? MAX_SLOTS
-                      : numSlotsAvailable + numStagingAreas
+                      : numSlotsAvailable
                   ),
                   onClick: (value: string) => {
                     const inputNum = parseInt(value)
-                    let updatedStagingAreas = [...additionalEquipment]
+                    const currentStagingAreas = additionalEquipment.filter(
+                      additional => additional === 'stagingArea'
+                    )
+                    const otherEquipment = additionalEquipment.filter(
+                      additional => additional !== 'stagingArea'
+                    )
+                    let updatedStagingAreas = currentStagingAreas
+                    // let updatedStagingAreas = [...additionalEquipment]
 
                     if (inputNum > numStagingAreas) {
                       const difference = inputNum - numStagingAreas
@@ -148,13 +164,16 @@ export function SelectFixtures(props: WizardTileProps): JSX.Element | null {
                         ...Array(difference).fill(ae),
                       ]
                     } else {
-                      updatedStagingAreas = updatedStagingAreas.slice(
+                      updatedStagingAreas = currentStagingAreas.slice(
                         0,
                         inputNum
                       )
                     }
 
-                    setValue('additionalEquipment', updatedStagingAreas)
+                    setValue('additionalEquipment', [
+                      ...otherEquipment,
+                      ...updatedStagingAreas,
+                    ])
                   },
                 }
                 return (
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectModules.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectModules.tsx
index 8365c62de5a..19e757ee0dc 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectModules.tsx
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectModules.tsx
@@ -178,6 +178,7 @@ export function SelectModules(props: WizardTileProps): JSX.Element | null {
             ) : null}
             <Flex gridGap={SPACING.spacing4} flexWrap={WRAP}>
               {filteredSupportedModules
+                .sort((moduleA, moduleB) => moduleA.localeCompare(moduleB))
                 .filter(module =>
                   enableAbsorbanceReader
                     ? module
@@ -219,6 +220,9 @@ export function SelectModules(props: WizardTileProps): JSX.Element | null {
                   gridGap={SPACING.spacing4}
                 >
                   {Object.entries(modules)
+                    .sort(([, moduleA], [, moduleB]) =>
+                      moduleA.model.localeCompare(moduleB.model)
+                    )
                     .reduce<Array<FormModule & { count: number; key: string }>>(
                       (acc, [key, module]) => {
                         const existingModule = acc.find(
@@ -253,7 +257,9 @@ export function SelectModules(props: WizardTileProps): JSX.Element | null {
                         },
                         dropdownType: 'neutral' as DropdownBorder,
                         filterOptions: getNumOptions(
-                          numSlotsAvailable + module.count
+                          module.model !== ABSORBANCE_READER_V1
+                            ? numSlotsAvailable + module.count
+                            : numSlotsAvailable
                         ),
                       }
                       return (
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts
index bda3d71da18..a167217bf25 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/__tests__/utils.test.ts
@@ -1,14 +1,19 @@
 import { it, describe, expect } from 'vitest'
 import {
   FLEX_ROBOT_TYPE,
+  ABSORBANCE_READER_V1,
+  ABSORBANCE_READER_TYPE,
   HEATERSHAKER_MODULE_TYPE,
   HEATERSHAKER_MODULE_V1,
   MAGNETIC_BLOCK_TYPE,
   MAGNETIC_BLOCK_V1,
+  MAGNETIC_MODULE_V1,
+  MAGNETIC_MODULE_V2,
   TEMPERATURE_MODULE_TYPE,
   TEMPERATURE_MODULE_V1,
   TEMPERATURE_MODULE_V2,
   THERMOCYCLER_MODULE_TYPE,
+  THERMOCYCLER_MODULE_V1,
   THERMOCYCLER_MODULE_V2,
 } from '@opentrons/shared-data'
 import { getNumSlotsAvailable, getTrashSlot } from '../utils'
@@ -36,18 +41,60 @@ describe('getNumSlotsAvailable', () => {
     const result = getNumSlotsAvailable(null, [], 'gripper')
     expect(result).toBe(0)
   })
-  it('should return 1 for a non MoaM module', () => {
+
+  it('should return 1 for a non MoaM module - temperature module', () => {
     const result = getNumSlotsAvailable(null, [], TEMPERATURE_MODULE_V1)
     expect(result).toBe(1)
   })
+
+  it('should return 1 for a non MoaM module - absorbance plate reader', () => {
+    const result = getNumSlotsAvailable(null, [], ABSORBANCE_READER_V1)
+    expect(result).toBe(1)
+  })
+
+  it('should return 1 for a non MoaM module - thermocycler v1', () => {
+    const result = getNumSlotsAvailable(null, [], THERMOCYCLER_MODULE_V1)
+    expect(result).toBe(1)
+  })
+
+  it('should return 1 for a non MoaM module -  magnetic module v1', () => {
+    const result = getNumSlotsAvailable(null, [], MAGNETIC_MODULE_V1)
+    expect(result).toBe(1)
+  })
+
+  it('should return 1 for a non MoaM module - magnetic module v2', () => {
+    const result = getNumSlotsAvailable(null, [], MAGNETIC_MODULE_V2)
+    expect(result).toBe(1)
+  })
+
   it('should return 2 for a thermocycler', () => {
     const result = getNumSlotsAvailable(null, [], THERMOCYCLER_MODULE_V2)
     expect(result).toBe(2)
   })
+
   it('should return 8 when there are no modules or additional equipment for a heater-shaker', () => {
     const result = getNumSlotsAvailable(null, [], HEATERSHAKER_MODULE_V1)
     expect(result).toBe(8)
   })
+
+  it('should return 3 when there a plate reader', () => {
+    const mockModules = {
+      0: {
+        model: ABSORBANCE_READER_V1,
+        type: ABSORBANCE_READER_TYPE,
+        slot: 'B3',
+      },
+    }
+    const mockAdditionalEquipment: AdditionalEquipment[] = ['trashBin']
+    const result = getNumSlotsAvailable(
+      mockModules,
+      mockAdditionalEquipment,
+      'stagingArea'
+    )
+    // Note: the return value is 3 because trashBin can be placed slot1 and plate reader is on B3
+    expect(result).toBe(3)
+  })
+
   it('should return 0 when there is a TC and 7 modules for a temperature module v2', () => {
     const mockModules = {
       0: {
@@ -90,6 +137,7 @@ describe('getNumSlotsAvailable', () => {
     const result = getNumSlotsAvailable(mockModules, [], TEMPERATURE_MODULE_V2)
     expect(result).toBe(0)
   })
+
   it('should return 1 when there are 9 additional equipment and 1 is a waste chute on the staging area and one is a gripper for a heater-shaker', () => {
     const mockAdditionalEquipment: AdditionalEquipment[] = [
       'trashBin',
@@ -109,6 +157,7 @@ describe('getNumSlotsAvailable', () => {
     )
     expect(result).toBe(1)
   })
+
   it('should return 1 when there is a full deck but one staging area for waste chute', () => {
     const mockModules = {
       0: {
@@ -148,6 +197,7 @@ describe('getNumSlotsAvailable', () => {
     )
     expect(result).toBe(1)
   })
+
   it('should return 1 when there are 7 modules (with one magnetic block) and one trash for staging area', () => {
     const mockModules = {
       0: {
@@ -187,8 +237,10 @@ describe('getNumSlotsAvailable', () => {
       mockAdditionalEquipment,
       'stagingArea'
     )
-    expect(result).toBe(1)
+    // Note: the return value is 2 because trashBin can be placed slot1
+    expect(result).toBe(2)
   })
+
   it('should return 1 when there are 8 modules with 2 magnetic blocks and one trash for staging area', () => {
     const mockModules = {
       0: {
@@ -233,7 +285,7 @@ describe('getNumSlotsAvailable', () => {
       mockAdditionalEquipment,
       'stagingArea'
     )
-    expect(result).toBe(1)
+    expect(result).toBe(2)
   })
   it('should return 4 when there are 12 magnetic blocks for staging area', () => {
     const mockModules = {
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/constants.ts b/protocol-designer/src/pages/CreateNewProtocolWizard/constants.ts
index 6e762e48f0a..5e1179c58f4 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/constants.ts
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/constants.ts
@@ -127,7 +127,7 @@ export const DEFAULT_SLOT_MAP_FLEX: {
   [HEATERSHAKER_MODULE_V1]: 'D1',
   [MAGNETIC_BLOCK_V1]: 'D2',
   [TEMPERATURE_MODULE_V2]: 'C1',
-  [ABSORBANCE_READER_V1]: 'D3',
+  [ABSORBANCE_READER_V1]: 'B3',
 }
 
 export const DEFAULT_SLOT_MAP_OT2: { [moduleType in ModuleType]?: string } = {
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx
index d3451605756..2e29273b9ac 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/index.tsx
@@ -12,6 +12,7 @@ import { useNavigate } from 'react-router-dom'
 import {
   FLEX_ROBOT_TYPE,
   getAreSlotsAdjacent,
+  ABSORBANCE_READER_MODELS,
   HEATERSHAKER_MODULE_TYPE,
   MAGNETIC_BLOCK_TYPE,
   MAGNETIC_MODULE_TYPE,
@@ -283,11 +284,20 @@ export function CreateNewProtocolWizard(): JSX.Element | null {
     const stagingAreas = values.additionalEquipment.filter(
       equipment => equipment === 'stagingArea'
     )
+
     if (stagingAreas.length > 0) {
+      // Note: when plate reader is present, cutoutB3 is not available for StagingArea
+      const hasPlateReader = modules.some(
+        module => module.model === ABSORBANCE_READER_MODELS[0]
+      )
       stagingAreas.forEach((_, index) => {
-        return dispatch(
-          createDeckFixture('stagingArea', STAGING_AREA_CUTOUTS_ORDERED[index])
-        )
+        const stagingAreaCutout = hasPlateReader
+          ? STAGING_AREA_CUTOUTS_ORDERED.filter(
+              cutout => cutout !== 'cutoutB3'
+            )[index]
+          : STAGING_AREA_CUTOUTS_ORDERED[index]
+
+        return dispatch(createDeckFixture('stagingArea', stagingAreaCutout))
       })
     }
 
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx
index 3ffb60d10f2..69abb7e6ae7 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/utils.tsx
@@ -30,10 +30,11 @@ import type {
 import type { DropdownOption } from '@opentrons/components'
 import type { AdditionalEquipment, WizardFormState } from './types'
 
-const TOTAL_OUTER_SLOTS = 8
-const MIDDLE_SLOT_NUM = 4
-const MAX_MAGNETIC_BLOCK_SLOTS = 12
-const TOTAL_LEFT_SLOTS = 4
+const NUM_SLOTS_OUTER = 8
+const NUM_SLOTS_MIDDLE = 4
+const NUM_SLOTS_COLUMN3 = 4
+const NUM_SLOTS_MAGNETIC_BLOCK = 12
+
 export const getNumOptions = (length: number): DropdownOption[] => {
   return Array.from({ length }, (_, i) => ({
     name: `${i + 1}`,
@@ -66,12 +67,12 @@ export const getNumSlotsAvailable = (
   const magneticBlockCount = magneticBlocks.length
   const moduleCount = modules != null ? Object.keys(modules).length : 0
   let filteredModuleLength = moduleCount
-  if (magneticBlockCount <= MIDDLE_SLOT_NUM) {
+  if (magneticBlockCount <= NUM_SLOTS_MIDDLE) {
     // Subtract magnetic blocks directly if their count is ≤ 4
     filteredModuleLength -= magneticBlockCount
   } else {
     // Subtract the excess magnetic blocks beyond 4
-    const extraMagneticBlocks = magneticBlockCount - MIDDLE_SLOT_NUM
+    const extraMagneticBlocks = magneticBlockCount - NUM_SLOTS_MIDDLE
     filteredModuleLength -= extraMagneticBlocks
   }
   if (hasTC) {
@@ -86,11 +87,9 @@ export const getNumSlotsAvailable = (
     case 'gripper': {
       return 0
     }
-    // TODO: wire up absorbance reader
-    case ABSORBANCE_READER_V1: {
-      return 1
-    }
+
     //  these modules don't support MoaM
+    case ABSORBANCE_READER_V1:
     case THERMOCYCLER_MODULE_V1:
     case TEMPERATURE_MODULE_V1:
     case MAGNETIC_MODULE_V1:
@@ -105,43 +104,45 @@ export const getNumSlotsAvailable = (
         return 2
       }
     }
+
     case 'trashBin':
     case HEATERSHAKER_MODULE_V1:
     case TEMPERATURE_MODULE_V2: {
       return (
-        TOTAL_OUTER_SLOTS -
+        NUM_SLOTS_OUTER -
         (filteredModuleLength + filteredAdditionalEquipmentLength)
       )
     }
 
     case 'stagingArea': {
-      const lengthMinusMagneticBlock =
-        moduleCount + (hasTC ? 1 : 0) - magneticBlockCount
-      let adjustedModuleLength = 0
-      if (lengthMinusMagneticBlock > TOTAL_LEFT_SLOTS) {
-        adjustedModuleLength = lengthMinusMagneticBlock - TOTAL_LEFT_SLOTS
-      }
-
-      const occupiedSlots =
-        adjustedModuleLength + filteredAdditionalEquipmentLength
-
-      return TOTAL_LEFT_SLOTS - occupiedSlots
+      const modulesWithColumn3 =
+        modules !== null
+          ? Object.values(modules).filter(module => module.slot?.includes('3'))
+              .length
+          : 0
+      const fixtureSlotsWithColumn3 =
+        additionalEquipment !== null
+          ? additionalEquipment.filter(slot => slot.includes('3')).length
+          : 0
+      return NUM_SLOTS_COLUMN3 - modulesWithColumn3 - fixtureSlotsWithColumn3
     }
+
     case 'wasteChute': {
       const adjustmentForStagingArea = numStagingAreas >= 1 ? 1 : 0
       return (
-        TOTAL_OUTER_SLOTS -
+        NUM_SLOTS_OUTER -
         (filteredModuleLength +
           filteredAdditionalEquipmentLength -
           adjustmentForStagingArea)
       )
     }
+
     case MAGNETIC_BLOCK_V1: {
       const filteredAdditionalEquipmentForMagneticBlockLength = additionalEquipment.filter(
         ae => ae !== 'gripper' && ae !== 'stagingArea'
       )?.length
       return (
-        MAX_MAGNETIC_BLOCK_SLOTS -
+        NUM_SLOTS_MAGNETIC_BLOCK -
         (filteredModuleLength +
           filteredAdditionalEquipmentForMagneticBlockLength)
       )
@@ -292,9 +293,21 @@ export const getTrashSlot = (values: WizardFormState): string => {
     equipment.includes('stagingArea')
   )
 
-  const cutouts = stagingAreas.map(
-    (_, index) => STAGING_AREA_CUTOUTS_ORDERED[index]
+  // when plate reader is present, cutoutB3 is not available for StagingArea
+  const hasPlateReader =
+    modules !== null
+      ? Object.values(modules).some(
+          module => module.model === ABSORBANCE_READER_V1
+        )
+      : false
+  const cutouts = stagingAreas.map((_, index) =>
+    hasPlateReader
+      ? STAGING_AREA_CUTOUTS_ORDERED.filter(cutout => cutout !== 'cutoutB3')[
+          index
+        ]
+      : STAGING_AREA_CUTOUTS_ORDERED[index]
   )
+
   const hasWasteChute = additionalEquipment.find(equipment =>
     equipment.includes('wasteChute')
   )