diff --git a/abr-testing/Pipfile.lock b/abr-testing/Pipfile.lock
index a1b677f52bb..a2f82b44925 100644
--- a/abr-testing/Pipfile.lock
+++ b/abr-testing/Pipfile.lock
@@ -22,108 +22,93 @@
         },
         "aiohappyeyeballs": {
             "hashes": [
-                "sha256:75cf88a15106a5002a8eb1dab212525c00d1f4c0fa96e551c9fbe6f09a621586",
-                "sha256:8a7a83727b2756f394ab2895ea0765a0a8c475e3c71e98d43d76f22b4b435572"
+                "sha256:5fdd7d87889c63183afc18ce9271f9b0a7d32c2303e394468dd45d514a757745",
+                "sha256:a980909d50efcd44795c4afeca523296716d50cd756ddca6af8c65b996e27de8"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==2.4.3"
+            "version": "==2.4.4"
         },
         "aiohttp": {
             "hashes": [
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@@ -141,6 +126,14 @@
             "markers": "python_version >= '3.7'",
             "version": "==1.3.1"
         },
+        "annotated-types": {
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@@ -151,11 +144,11 @@
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@@ -167,36 +160,34 @@
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@@ -284,7 +275,7 @@
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@@ -406,53 +397,45 @@
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@@ -555,20 +538,20 @@
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@@ -595,11 +578,11 @@
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@@ -633,11 +616,81 @@
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@@ -776,7 +829,7 @@
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@@ -874,12 +927,12 @@
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@@ -1240,6 +1304,115 @@
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@@ -1694,79 +1862,80 @@
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@@ -1805,20 +1974,20 @@
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@@ -1846,11 +2015,11 @@
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@@ -1928,11 +2097,11 @@
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@@ -1968,20 +2137,20 @@
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@@ -2082,11 +2251,41 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json
index 1e59022b2a8..8dc5a722eab 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[004ebb2b82][OT2_S_v2_11_P10S_P300M_MM_TC1_TM_Swift].json
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@@ -7373,9 +7373,9 @@
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@@ -7407,9 +7407,9 @@
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@@ -7441,9 +7441,9 @@
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@@ -7475,9 +7475,9 @@
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@@ -7570,9 +7570,9 @@
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@@ -7669,9 +7669,9 @@
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@@ -7735,9 +7735,9 @@
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@@ -7769,9 +7769,9 @@
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@@ -7803,9 +7803,9 @@
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@@ -8031,9 +8031,9 @@
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@@ -8097,9 +8097,9 @@
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@@ -8131,9 +8131,9 @@
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@@ -8165,9 +8165,9 @@
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@@ -8199,9 +8199,9 @@
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@@ -8262,9 +8262,9 @@
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@@ -8459,9 +8459,9 @@
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@@ -8527,9 +8527,9 @@
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@@ -8561,9 +8561,9 @@
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@@ -8656,9 +8656,9 @@
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@@ -8721,9 +8721,9 @@
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@@ -8755,9 +8755,9 @@
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@@ -8788,9 +8788,9 @@
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@@ -8821,9 +8821,9 @@
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@@ -8855,9 +8855,9 @@
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@@ -8889,9 +8889,9 @@
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@@ -8923,9 +8923,9 @@
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@@ -8986,9 +8986,9 @@
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@@ -9018,9 +9018,9 @@
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@@ -9083,9 +9083,9 @@
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@@ -9117,9 +9117,9 @@
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@@ -9150,9 +9150,9 @@
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@@ -9183,9 +9183,9 @@
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@@ -9217,9 +9217,9 @@
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@@ -9251,9 +9251,9 @@
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@@ -9285,9 +9285,9 @@
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@@ -9348,9 +9348,9 @@
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@@ -9380,9 +9380,9 @@
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@@ -9445,9 +9445,9 @@
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@@ -9479,9 +9479,9 @@
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@@ -9512,9 +9512,9 @@
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@@ -9545,9 +9545,9 @@
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@@ -9579,9 +9579,9 @@
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@@ -9613,9 +9613,9 @@
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@@ -9647,9 +9647,9 @@
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@@ -9710,9 +9710,9 @@
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@@ -9742,9 +9742,9 @@
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@@ -9892,9 +9892,9 @@
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@@ -9927,9 +9927,9 @@
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@@ -9961,9 +9961,9 @@
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@@ -9994,9 +9994,9 @@
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@@ -10026,9 +10026,9 @@
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@@ -10070,9 +10070,9 @@
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@@ -10091,9 +10091,9 @@
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@@ -10125,9 +10125,9 @@
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@@ -10159,9 +10159,9 @@
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@@ -10193,9 +10193,9 @@
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@@ -10227,9 +10227,9 @@
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@@ -10276,9 +10276,9 @@
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@@ -10309,9 +10309,9 @@
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@@ -10342,9 +10342,9 @@
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@@ -10376,9 +10376,9 @@
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@@ -10410,9 +10410,9 @@
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@@ -10444,9 +10444,9 @@
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@@ -10477,9 +10477,9 @@
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@@ -10509,9 +10509,9 @@
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@@ -10568,9 +10568,9 @@
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@@ -10589,9 +10589,9 @@
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@@ -10623,9 +10623,9 @@
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@@ -10672,9 +10672,9 @@
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@@ -10706,9 +10706,9 @@
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@@ -10739,9 +10739,9 @@
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@@ -10769,9 +10769,9 @@
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@@ -10783,9 +10783,9 @@
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@@ -10804,9 +10804,9 @@
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@@ -10837,9 +10837,9 @@
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@@ -10947,9 +10947,9 @@
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@@ -10981,9 +10981,9 @@
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@@ -11014,9 +11014,9 @@
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@@ -11046,9 +11046,9 @@
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@@ -11105,9 +11105,9 @@
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@@ -11126,9 +11126,9 @@
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@@ -11160,9 +11160,9 @@
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@@ -11193,9 +11193,9 @@
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@@ -11225,9 +11225,9 @@
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@@ -11255,9 +11255,9 @@
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@@ -11269,9 +11269,9 @@
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@@ -11290,9 +11290,9 @@
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@@ -11324,9 +11324,9 @@
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@@ -11357,9 +11357,9 @@
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@@ -11389,9 +11389,9 @@
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@@ -11419,9 +11419,9 @@
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@@ -11433,9 +11433,9 @@
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@@ -11454,9 +11454,9 @@
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@@ -11488,9 +11488,9 @@
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@@ -11521,9 +11521,9 @@
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@@ -11553,9 +11553,9 @@
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@@ -11583,9 +11583,9 @@
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@@ -11597,9 +11597,9 @@
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@@ -11618,9 +11618,9 @@
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@@ -11652,9 +11652,9 @@
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@@ -11685,9 +11685,9 @@
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@@ -11717,9 +11717,9 @@
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@@ -11747,9 +11747,9 @@
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@@ -11761,9 +11761,9 @@
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@@ -11816,9 +11816,9 @@
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@@ -11881,9 +11881,9 @@
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@@ -11980,9 +11980,9 @@
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@@ -12144,9 +12144,9 @@
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@@ -12308,9 +12308,9 @@
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@@ -12540,9 +12540,9 @@
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@@ -12672,9 +12672,9 @@
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@@ -12836,9 +12836,9 @@
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@@ -12870,9 +12870,9 @@
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@@ -12972,9 +12972,9 @@
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@@ -13136,9 +13136,9 @@
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@@ -13300,9 +13300,9 @@
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@@ -13334,9 +13334,9 @@
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@@ -13368,9 +13368,9 @@
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@@ -13402,9 +13402,9 @@
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@@ -13436,9 +13436,9 @@
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@@ -13469,9 +13469,9 @@
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@@ -13566,9 +13566,9 @@
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@@ -13600,9 +13600,9 @@
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@@ -13633,9 +13633,9 @@
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@@ -13665,9 +13665,9 @@
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@@ -15156,9 +15156,9 @@
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@@ -15224,9 +15224,9 @@
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@@ -15258,9 +15258,9 @@
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@@ -15325,9 +15325,9 @@
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@@ -15456,9 +15456,9 @@
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@@ -15688,9 +15688,9 @@
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@@ -15722,9 +15722,9 @@
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@@ -15756,9 +15756,9 @@
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@@ -15821,9 +15821,9 @@
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@@ -15865,9 +15865,9 @@
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         "tipLength": 35.910000000000004,
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@@ -15886,9 +15886,9 @@
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@@ -15920,9 +15920,9 @@
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@@ -15953,9 +15953,9 @@
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@@ -15985,9 +15985,9 @@
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@@ -16015,9 +16015,9 @@
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@@ -16029,9 +16029,9 @@
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@@ -16050,9 +16050,9 @@
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@@ -16084,9 +16084,9 @@
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@@ -16118,9 +16118,9 @@
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@@ -16152,9 +16152,9 @@
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@@ -16186,9 +16186,9 @@
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@@ -16220,9 +16220,9 @@
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@@ -16253,9 +16253,9 @@
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@@ -16285,9 +16285,9 @@
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@@ -16405,9 +16405,9 @@
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@@ -16419,9 +16419,9 @@
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@@ -16440,9 +16440,9 @@
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@@ -16474,9 +16474,9 @@
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@@ -16507,9 +16507,9 @@
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@@ -16539,9 +16539,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json
index 387b9f0e3f5..3a1a9bca236 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[011481812b][OT2_S_v2_7_P20S_None_Walkthrough].json
@@ -2348,9 +2348,9 @@
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@@ -2362,9 +2362,9 @@
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@@ -2398,9 +2398,9 @@
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@@ -2432,9 +2432,9 @@
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@@ -2466,9 +2466,9 @@
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@@ -2500,9 +2500,9 @@
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@@ -2534,9 +2534,9 @@
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@@ -2568,9 +2568,9 @@
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@@ -2602,9 +2602,9 @@
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@@ -2636,9 +2636,9 @@
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@@ -2670,9 +2670,9 @@
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@@ -2704,9 +2704,9 @@
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@@ -2738,9 +2738,9 @@
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@@ -2772,9 +2772,9 @@
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@@ -2806,9 +2806,9 @@
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@@ -2840,9 +2840,9 @@
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@@ -2908,9 +2908,9 @@
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@@ -2942,9 +2942,9 @@
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@@ -2976,9 +2976,9 @@
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@@ -3010,9 +3010,9 @@
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@@ -3059,9 +3059,9 @@
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@@ -3093,9 +3093,9 @@
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@@ -3142,9 +3142,9 @@
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@@ -3176,9 +3176,9 @@
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@@ -3210,9 +3210,9 @@
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@@ -3243,9 +3243,9 @@
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@@ -3276,9 +3276,9 @@
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@@ -3310,9 +3310,9 @@
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@@ -3376,9 +3376,9 @@
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@@ -3410,9 +3410,9 @@
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@@ -3443,9 +3443,9 @@
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@@ -3475,9 +3475,9 @@
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@@ -3505,9 +3505,9 @@
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@@ -3519,9 +3519,9 @@
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@@ -3555,9 +3555,9 @@
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@@ -3589,9 +3589,9 @@
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@@ -3638,9 +3638,9 @@
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@@ -3672,9 +3672,9 @@
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@@ -3706,9 +3706,9 @@
         "volume": 6.666666666666667,
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@@ -3755,9 +3755,9 @@
         "volume": 13.333333333333334,
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-            "y": 0,
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+            "x": 0.0,
+            "y": 0.0,
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@@ -3789,9 +3789,9 @@
         "volume": 4.444444444444445,
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@@ -3823,9 +3823,9 @@
         "volume": 6.666666666666667,
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@@ -3872,9 +3872,9 @@
         "volume": 13.333333333333334,
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@@ -3906,9 +3906,9 @@
         "volume": 1.6666666666666667,
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@@ -3940,9 +3940,9 @@
         "volume": 2.5,
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@@ -3974,9 +3974,9 @@
         "volume": 1.6666666666666667,
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@@ -4008,9 +4008,9 @@
         "volume": 2.5,
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@@ -4056,9 +4056,9 @@
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@@ -4088,9 +4088,9 @@
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@@ -4118,9 +4118,9 @@
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@@ -4132,9 +4132,9 @@
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+        "tipDiameter": 0.0,
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@@ -4153,9 +4153,9 @@
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@@ -4187,9 +4187,9 @@
         "volume": 1.6666666666666667,
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@@ -4221,9 +4221,9 @@
         "volume": 1.6666666666666667,
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@@ -4255,9 +4255,9 @@
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@@ -4289,9 +4289,9 @@
         "volume": 1.6666666666666667,
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@@ -4323,9 +4323,9 @@
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@@ -4357,9 +4357,9 @@
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@@ -4391,9 +4391,9 @@
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@@ -4425,9 +4425,9 @@
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@@ -4458,9 +4458,9 @@
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@@ -4488,9 +4488,9 @@
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@@ -4502,9 +4502,9 @@
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@@ -4523,9 +4523,9 @@
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@@ -4557,9 +4557,9 @@
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@@ -4591,9 +4591,9 @@
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@@ -4625,9 +4625,9 @@
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@@ -4659,9 +4659,9 @@
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@@ -4693,9 +4693,9 @@
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@@ -4727,9 +4727,9 @@
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@@ -4761,9 +4761,9 @@
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@@ -4795,9 +4795,9 @@
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@@ -4828,9 +4828,9 @@
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@@ -4860,9 +4860,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0190369ce5][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_DeckConfiguration1NoFixtures].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0190369ce5][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_DeckConfiguration1NoFixtures].json
index df7062d67b5..3d1cdd1d3c1 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0190369ce5][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_DeckConfiguration1NoFixtures].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0190369ce5][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_DeckConfiguration1NoFixtures].json
@@ -10789,9 +10789,9 @@
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@@ -10921,9 +10921,9 @@
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@@ -11121,9 +11121,9 @@
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@@ -11253,9 +11253,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0903a95825][Flex_S_v2_19_QIASeq_FX_48x].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0903a95825][Flex_S_v2_19_QIASeq_FX_48x].json
index d1d7e581f85..a7e09aba292 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0903a95825][Flex_S_v2_19_QIASeq_FX_48x].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0903a95825][Flex_S_v2_19_QIASeq_FX_48x].json
@@ -20183,9 +20183,9 @@
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@@ -20583,9 +20583,9 @@
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@@ -20983,9 +20983,9 @@
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@@ -23990,9 +23990,9 @@
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@@ -24487,9 +24487,9 @@
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@@ -24984,9 +24984,9 @@
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@@ -29265,9 +29265,9 @@
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@@ -35050,9 +35050,9 @@
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@@ -35547,9 +35547,9 @@
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@@ -36044,9 +36044,9 @@
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@@ -37850,9 +37850,9 @@
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index c5a57c18fc4..84e33cd17bd 100644
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+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[0c4ae179bb][OT2_S_v2_15_P300M_P20S_HS_TC_TM_SmokeTestV3].json
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index d4ea924e585..29df1897867 100644
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@@ -46433,9 +46433,9 @@
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@@ -46663,9 +46663,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json
index fc41febf592..25c3ac466ec 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[1c19a2055c][OT2_S_v2_4_P300M_None_MM_TM_Zymo].json
@@ -10682,9 +10682,9 @@
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@@ -10696,9 +10696,9 @@
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+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
-        "tipVolume": 20
+        "tipVolume": 20.0
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       "status": "succeeded"
@@ -10717,9 +10717,9 @@
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@@ -10751,9 +10751,9 @@
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@@ -10785,9 +10785,9 @@
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@@ -10819,9 +10819,9 @@
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@@ -10853,9 +10853,9 @@
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@@ -10887,9 +10887,9 @@
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@@ -10921,9 +10921,9 @@
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@@ -10955,9 +10955,9 @@
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@@ -10989,9 +10989,9 @@
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@@ -11023,9 +11023,9 @@
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@@ -11057,9 +11057,9 @@
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@@ -11091,9 +11091,9 @@
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@@ -11125,9 +11125,9 @@
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@@ -11227,9 +11227,9 @@
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@@ -11261,9 +11261,9 @@
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@@ -11397,9 +11397,9 @@
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@@ -11431,9 +11431,9 @@
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@@ -11465,9 +11465,9 @@
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@@ -11499,9 +11499,9 @@
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@@ -11533,9 +11533,9 @@
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@@ -11567,9 +11567,9 @@
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@@ -11601,9 +11601,9 @@
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@@ -11635,9 +11635,9 @@
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@@ -11669,9 +11669,9 @@
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@@ -11703,9 +11703,9 @@
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@@ -11737,9 +11737,9 @@
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@@ -11771,9 +11771,9 @@
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@@ -11805,9 +11805,9 @@
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@@ -11839,9 +11839,9 @@
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@@ -11873,9 +11873,9 @@
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@@ -11907,9 +11907,9 @@
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@@ -11941,9 +11941,9 @@
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@@ -11975,9 +11975,9 @@
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@@ -12009,9 +12009,9 @@
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@@ -12043,9 +12043,9 @@
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@@ -12077,9 +12077,9 @@
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@@ -12111,9 +12111,9 @@
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@@ -12145,9 +12145,9 @@
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@@ -12179,9 +12179,9 @@
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@@ -12213,9 +12213,9 @@
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@@ -12247,9 +12247,9 @@
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@@ -12281,9 +12281,9 @@
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@@ -12315,9 +12315,9 @@
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@@ -12349,9 +12349,9 @@
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@@ -12383,9 +12383,9 @@
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@@ -12417,9 +12417,9 @@
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@@ -12451,9 +12451,9 @@
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@@ -12485,9 +12485,9 @@
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@@ -12519,9 +12519,9 @@
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@@ -14083,9 +14083,9 @@
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@@ -14117,9 +14117,9 @@
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@@ -14151,9 +14151,9 @@
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@@ -14185,9 +14185,9 @@
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@@ -14219,9 +14219,9 @@
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@@ -14253,9 +14253,9 @@
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@@ -14287,9 +14287,9 @@
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@@ -14321,9 +14321,9 @@
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@@ -14355,9 +14355,9 @@
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@@ -14389,9 +14389,9 @@
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@@ -14423,9 +14423,9 @@
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@@ -14457,9 +14457,9 @@
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@@ -14525,9 +14525,9 @@
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@@ -14559,9 +14559,9 @@
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@@ -14627,9 +14627,9 @@
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@@ -14661,9 +14661,9 @@
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@@ -14729,9 +14729,9 @@
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@@ -14831,9 +14831,9 @@
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@@ -14899,9 +14899,9 @@
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@@ -14933,9 +14933,9 @@
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@@ -14967,9 +14967,9 @@
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@@ -15001,9 +15001,9 @@
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@@ -15035,9 +15035,9 @@
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@@ -15069,9 +15069,9 @@
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@@ -15103,9 +15103,9 @@
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@@ -15137,9 +15137,9 @@
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@@ -15171,9 +15171,9 @@
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@@ -15205,9 +15205,9 @@
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@@ -15239,9 +15239,9 @@
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@@ -15273,9 +15273,9 @@
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@@ -15307,9 +15307,9 @@
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@@ -15341,9 +15341,9 @@
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@@ -15375,9 +15375,9 @@
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@@ -15409,9 +15409,9 @@
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@@ -15443,9 +15443,9 @@
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@@ -15477,9 +15477,9 @@
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@@ -15511,9 +15511,9 @@
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@@ -15545,9 +15545,9 @@
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@@ -15579,9 +15579,9 @@
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@@ -15613,9 +15613,9 @@
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@@ -15647,9 +15647,9 @@
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@@ -15681,9 +15681,9 @@
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@@ -15715,9 +15715,9 @@
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@@ -15749,9 +15749,9 @@
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@@ -15782,9 +15782,9 @@
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@@ -15815,9 +15815,9 @@
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@@ -15848,9 +15848,9 @@
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@@ -15971,9 +15971,9 @@
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@@ -16005,9 +16005,9 @@
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@@ -16039,9 +16039,9 @@
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@@ -16073,9 +16073,9 @@
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@@ -16107,9 +16107,9 @@
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@@ -16141,9 +16141,9 @@
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@@ -16175,9 +16175,9 @@
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@@ -16209,9 +16209,9 @@
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@@ -16243,9 +16243,9 @@
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@@ -16277,9 +16277,9 @@
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@@ -16311,9 +16311,9 @@
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@@ -16345,9 +16345,9 @@
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@@ -16379,9 +16379,9 @@
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@@ -16413,9 +16413,9 @@
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@@ -16447,9 +16447,9 @@
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@@ -16481,9 +16481,9 @@
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@@ -16515,9 +16515,9 @@
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@@ -16549,9 +16549,9 @@
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@@ -16583,9 +16583,9 @@
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@@ -16617,9 +16617,9 @@
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@@ -16651,9 +16651,9 @@
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@@ -16685,9 +16685,9 @@
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@@ -16719,9 +16719,9 @@
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@@ -16753,9 +16753,9 @@
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@@ -16787,9 +16787,9 @@
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@@ -16821,9 +16821,9 @@
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@@ -16855,9 +16855,9 @@
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@@ -16889,9 +16889,9 @@
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@@ -16923,9 +16923,9 @@
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@@ -16957,9 +16957,9 @@
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@@ -16991,9 +16991,9 @@
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@@ -17025,9 +17025,9 @@
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@@ -17059,9 +17059,9 @@
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@@ -17093,9 +17093,9 @@
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@@ -17127,9 +17127,9 @@
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@@ -17161,9 +17161,9 @@
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@@ -17195,9 +17195,9 @@
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@@ -17229,9 +17229,9 @@
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@@ -17263,9 +17263,9 @@
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@@ -17297,9 +17297,9 @@
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@@ -17331,9 +17331,9 @@
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@@ -17365,9 +17365,9 @@
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@@ -17399,9 +17399,9 @@
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@@ -17433,9 +17433,9 @@
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@@ -17467,9 +17467,9 @@
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@@ -17501,9 +17501,9 @@
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@@ -17535,9 +17535,9 @@
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@@ -17569,9 +17569,9 @@
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@@ -17603,9 +17603,9 @@
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@@ -17637,9 +17637,9 @@
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@@ -17671,9 +17671,9 @@
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@@ -17704,9 +17704,9 @@
         "pipetteId": "UUID",
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@@ -17737,9 +17737,9 @@
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@@ -17771,9 +17771,9 @@
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@@ -17820,9 +17820,9 @@
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@@ -17854,9 +17854,9 @@
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@@ -17888,9 +17888,9 @@
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@@ -17922,9 +17922,9 @@
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@@ -17956,9 +17956,9 @@
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@@ -17990,9 +17990,9 @@
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@@ -18024,9 +18024,9 @@
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@@ -18058,9 +18058,9 @@
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@@ -18092,9 +18092,9 @@
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@@ -18126,9 +18126,9 @@
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@@ -18160,9 +18160,9 @@
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@@ -18194,9 +18194,9 @@
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@@ -18228,9 +18228,9 @@
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@@ -18262,9 +18262,9 @@
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@@ -18296,9 +18296,9 @@
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@@ -18330,9 +18330,9 @@
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@@ -18364,9 +18364,9 @@
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@@ -18398,9 +18398,9 @@
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@@ -18432,9 +18432,9 @@
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@@ -18466,9 +18466,9 @@
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@@ -18500,9 +18500,9 @@
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@@ -18534,9 +18534,9 @@
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@@ -18568,9 +18568,9 @@
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@@ -18602,9 +18602,9 @@
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@@ -18636,9 +18636,9 @@
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@@ -18670,9 +18670,9 @@
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@@ -18704,9 +18704,9 @@
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@@ -18738,9 +18738,9 @@
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@@ -18772,9 +18772,9 @@
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@@ -18806,9 +18806,9 @@
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@@ -18840,9 +18840,9 @@
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@@ -18874,9 +18874,9 @@
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@@ -18908,9 +18908,9 @@
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@@ -18942,9 +18942,9 @@
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@@ -18976,9 +18976,9 @@
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@@ -19010,9 +19010,9 @@
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@@ -19044,9 +19044,9 @@
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@@ -19078,9 +19078,9 @@
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@@ -19112,9 +19112,9 @@
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@@ -19146,9 +19146,9 @@
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@@ -19180,9 +19180,9 @@
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@@ -19214,9 +19214,9 @@
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@@ -19248,9 +19248,9 @@
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@@ -19282,9 +19282,9 @@
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@@ -19316,9 +19316,9 @@
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@@ -19350,9 +19350,9 @@
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@@ -19384,9 +19384,9 @@
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@@ -19418,9 +19418,9 @@
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@@ -19452,9 +19452,9 @@
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@@ -19486,9 +19486,9 @@
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@@ -20587,9 +20587,9 @@
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@@ -20621,9 +20621,9 @@
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@@ -20655,9 +20655,9 @@
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@@ -20689,9 +20689,9 @@
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@@ -20723,9 +20723,9 @@
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@@ -20757,9 +20757,9 @@
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@@ -20791,9 +20791,9 @@
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@@ -20825,9 +20825,9 @@
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@@ -20859,9 +20859,9 @@
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@@ -20927,9 +20927,9 @@
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@@ -20961,9 +20961,9 @@
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@@ -20995,9 +20995,9 @@
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@@ -21029,9 +21029,9 @@
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@@ -21063,9 +21063,9 @@
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@@ -21097,9 +21097,9 @@
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@@ -21131,9 +21131,9 @@
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@@ -21165,9 +21165,9 @@
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@@ -21199,9 +21199,9 @@
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@@ -21233,9 +21233,9 @@
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@@ -21267,9 +21267,9 @@
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@@ -21301,9 +21301,9 @@
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@@ -21335,9 +21335,9 @@
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@@ -21369,9 +21369,9 @@
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@@ -21402,9 +21402,9 @@
         "pipetteId": "UUID",
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@@ -21435,9 +21435,9 @@
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@@ -21469,9 +21469,9 @@
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@@ -21518,9 +21518,9 @@
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@@ -21552,9 +21552,9 @@
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@@ -21586,9 +21586,9 @@
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@@ -21620,9 +21620,9 @@
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@@ -21654,9 +21654,9 @@
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@@ -21688,9 +21688,9 @@
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@@ -21722,9 +21722,9 @@
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@@ -21756,9 +21756,9 @@
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@@ -21790,9 +21790,9 @@
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@@ -21824,9 +21824,9 @@
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@@ -21892,9 +21892,9 @@
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@@ -21926,9 +21926,9 @@
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@@ -21960,9 +21960,9 @@
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@@ -21994,9 +21994,9 @@
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@@ -22028,9 +22028,9 @@
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@@ -22062,9 +22062,9 @@
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@@ -22096,9 +22096,9 @@
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@@ -22130,9 +22130,9 @@
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@@ -22164,9 +22164,9 @@
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@@ -22198,9 +22198,9 @@
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@@ -22232,9 +22232,9 @@
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@@ -22266,9 +22266,9 @@
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@@ -22300,9 +22300,9 @@
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@@ -22334,9 +22334,9 @@
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@@ -22368,9 +22368,9 @@
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@@ -22402,9 +22402,9 @@
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@@ -22436,9 +22436,9 @@
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@@ -22470,9 +22470,9 @@
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@@ -22504,9 +22504,9 @@
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@@ -22538,9 +22538,9 @@
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@@ -22572,9 +22572,9 @@
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@@ -22606,9 +22606,9 @@
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@@ -22640,9 +22640,9 @@
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@@ -22674,9 +22674,9 @@
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@@ -22708,9 +22708,9 @@
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@@ -22742,9 +22742,9 @@
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@@ -22776,9 +22776,9 @@
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@@ -22810,9 +22810,9 @@
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@@ -22844,9 +22844,9 @@
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@@ -22878,9 +22878,9 @@
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@@ -22912,9 +22912,9 @@
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@@ -22946,9 +22946,9 @@
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@@ -22980,9 +22980,9 @@
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@@ -23014,9 +23014,9 @@
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@@ -23048,9 +23048,9 @@
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@@ -23082,9 +23082,9 @@
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@@ -23116,9 +23116,9 @@
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@@ -23150,9 +23150,9 @@
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@@ -23184,9 +23184,9 @@
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@@ -23218,9 +23218,9 @@
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@@ -23251,9 +23251,9 @@
         "pipetteId": "UUID",
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@@ -23284,9 +23284,9 @@
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@@ -23318,9 +23318,9 @@
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@@ -23367,9 +23367,9 @@
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@@ -23401,9 +23401,9 @@
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@@ -23435,9 +23435,9 @@
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@@ -23469,9 +23469,9 @@
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@@ -23503,9 +23503,9 @@
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@@ -23537,9 +23537,9 @@
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@@ -23571,9 +23571,9 @@
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@@ -23605,9 +23605,9 @@
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@@ -23639,9 +23639,9 @@
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@@ -23673,9 +23673,9 @@
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@@ -23707,9 +23707,9 @@
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@@ -23741,9 +23741,9 @@
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@@ -23775,9 +23775,9 @@
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@@ -23809,9 +23809,9 @@
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@@ -23843,9 +23843,9 @@
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@@ -23877,9 +23877,9 @@
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@@ -23911,9 +23911,9 @@
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@@ -23945,9 +23945,9 @@
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@@ -23979,9 +23979,9 @@
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@@ -24013,9 +24013,9 @@
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@@ -24047,9 +24047,9 @@
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@@ -24081,9 +24081,9 @@
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@@ -24115,9 +24115,9 @@
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@@ -24149,9 +24149,9 @@
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@@ -24183,9 +24183,9 @@
         "volume": 10.0,
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-            "x": 0,
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+            "x": 0.0,
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@@ -24217,9 +24217,9 @@
         "volume": 10.0,
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-            "x": 0,
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+            "x": 0.0,
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@@ -24251,9 +24251,9 @@
         "volume": 20.0,
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+            "x": 0.0,
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@@ -24285,9 +24285,9 @@
         "volume": 10.0,
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@@ -24319,9 +24319,9 @@
         "volume": 10.0,
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@@ -24353,9 +24353,9 @@
         "volume": 20.0,
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@@ -24387,9 +24387,9 @@
         "volume": 10.0,
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@@ -24421,9 +24421,9 @@
         "volume": 10.0,
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@@ -24455,9 +24455,9 @@
         "volume": 20.0,
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@@ -24489,9 +24489,9 @@
         "volume": 10.0,
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@@ -24523,9 +24523,9 @@
         "volume": 10.0,
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@@ -24557,9 +24557,9 @@
         "volume": 20.0,
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@@ -24591,9 +24591,9 @@
         "volume": 10.0,
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@@ -24625,9 +24625,9 @@
         "volume": 10.0,
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@@ -24659,9 +24659,9 @@
         "volume": 20.0,
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@@ -24693,9 +24693,9 @@
         "volume": 10.0,
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@@ -24727,9 +24727,9 @@
         "volume": 10.0,
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@@ -24761,9 +24761,9 @@
         "volume": 20.0,
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@@ -24795,9 +24795,9 @@
         "volume": 10.0,
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@@ -24829,9 +24829,9 @@
         "volume": 10.0,
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@@ -24863,9 +24863,9 @@
         "volume": 20.0,
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@@ -24897,9 +24897,9 @@
         "volume": 10.0,
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@@ -24931,9 +24931,9 @@
         "volume": 10.0,
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@@ -24965,9 +24965,9 @@
         "volume": 20.0,
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@@ -24999,9 +24999,9 @@
         "volume": 6.0,
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@@ -25033,9 +25033,9 @@
         "volume": 10.0,
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@@ -25067,9 +25067,9 @@
         "volume": 16.0,
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@@ -25100,9 +25100,9 @@
         "pipetteId": "UUID",
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@@ -25133,9 +25133,9 @@
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@@ -25166,9 +25166,9 @@
         "pipetteId": "UUID",
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@@ -25211,9 +25211,9 @@
         "pipetteId": "UUID",
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@@ -25225,9 +25225,9 @@
           "y": 0.0,
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         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
-        "tipVolume": 20
+        "tipVolume": 20.0
       },
       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -25246,9 +25246,9 @@
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@@ -25280,9 +25280,9 @@
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@@ -25314,9 +25314,9 @@
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@@ -25348,9 +25348,9 @@
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@@ -25382,9 +25382,9 @@
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@@ -25416,9 +25416,9 @@
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@@ -25450,9 +25450,9 @@
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@@ -25484,9 +25484,9 @@
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@@ -25518,9 +25518,9 @@
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@@ -25552,9 +25552,9 @@
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@@ -25586,9 +25586,9 @@
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@@ -25620,9 +25620,9 @@
         "volume": 20.0,
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@@ -25654,9 +25654,9 @@
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@@ -25688,9 +25688,9 @@
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@@ -25722,9 +25722,9 @@
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@@ -25756,9 +25756,9 @@
         "volume": 10.0,
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@@ -25790,9 +25790,9 @@
         "volume": 10.0,
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@@ -25824,9 +25824,9 @@
         "volume": 20.0,
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@@ -25858,9 +25858,9 @@
         "volume": 10.0,
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@@ -25892,9 +25892,9 @@
         "volume": 10.0,
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@@ -25926,9 +25926,9 @@
         "volume": 20.0,
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@@ -25960,9 +25960,9 @@
         "volume": 10.0,
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@@ -25994,9 +25994,9 @@
         "volume": 10.0,
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@@ -26028,9 +26028,9 @@
         "volume": 20.0,
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@@ -26062,9 +26062,9 @@
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@@ -26096,9 +26096,9 @@
         "volume": 10.0,
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@@ -26130,9 +26130,9 @@
         "volume": 20.0,
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@@ -26164,9 +26164,9 @@
         "volume": 10.0,
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@@ -26198,9 +26198,9 @@
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@@ -26232,9 +26232,9 @@
         "volume": 20.0,
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@@ -26266,9 +26266,9 @@
         "volume": 10.0,
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@@ -26300,9 +26300,9 @@
         "volume": 10.0,
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@@ -26334,9 +26334,9 @@
         "volume": 20.0,
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@@ -26368,9 +26368,9 @@
         "volume": 10.0,
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@@ -26402,9 +26402,9 @@
         "volume": 10.0,
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@@ -26436,9 +26436,9 @@
         "volume": 20.0,
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@@ -26470,9 +26470,9 @@
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@@ -26504,9 +26504,9 @@
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@@ -26538,9 +26538,9 @@
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@@ -26572,9 +26572,9 @@
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@@ -26606,9 +26606,9 @@
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@@ -26640,9 +26640,9 @@
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@@ -26674,9 +26674,9 @@
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@@ -26708,9 +26708,9 @@
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@@ -26742,9 +26742,9 @@
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@@ -26776,9 +26776,9 @@
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@@ -26810,9 +26810,9 @@
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@@ -26844,9 +26844,9 @@
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@@ -26878,9 +26878,9 @@
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@@ -26912,9 +26912,9 @@
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@@ -26946,9 +26946,9 @@
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@@ -26980,9 +26980,9 @@
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@@ -27014,9 +27014,9 @@
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@@ -27048,9 +27048,9 @@
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@@ -27082,9 +27082,9 @@
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@@ -27116,9 +27116,9 @@
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@@ -27150,9 +27150,9 @@
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@@ -27184,9 +27184,9 @@
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@@ -27218,9 +27218,9 @@
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@@ -27252,9 +27252,9 @@
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@@ -27286,9 +27286,9 @@
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@@ -27320,9 +27320,9 @@
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@@ -27354,9 +27354,9 @@
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@@ -27388,9 +27388,9 @@
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@@ -27422,9 +27422,9 @@
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@@ -27456,9 +27456,9 @@
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@@ -27490,9 +27490,9 @@
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@@ -27524,9 +27524,9 @@
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@@ -27558,9 +27558,9 @@
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@@ -27592,9 +27592,9 @@
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@@ -27626,9 +27626,9 @@
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@@ -27660,9 +27660,9 @@
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@@ -27694,9 +27694,9 @@
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@@ -27728,9 +27728,9 @@
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@@ -27762,9 +27762,9 @@
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@@ -27796,9 +27796,9 @@
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@@ -27830,9 +27830,9 @@
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@@ -27864,9 +27864,9 @@
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@@ -27898,9 +27898,9 @@
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@@ -27932,9 +27932,9 @@
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@@ -27966,9 +27966,9 @@
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@@ -28000,9 +28000,9 @@
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@@ -28034,9 +28034,9 @@
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@@ -28068,9 +28068,9 @@
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@@ -28102,9 +28102,9 @@
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@@ -28136,9 +28136,9 @@
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@@ -28170,9 +28170,9 @@
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@@ -28204,9 +28204,9 @@
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@@ -28238,9 +28238,9 @@
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@@ -28272,9 +28272,9 @@
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@@ -28306,9 +28306,9 @@
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@@ -28340,9 +28340,9 @@
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@@ -28374,9 +28374,9 @@
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@@ -28408,9 +28408,9 @@
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@@ -28442,9 +28442,9 @@
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@@ -28476,9 +28476,9 @@
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@@ -28510,9 +28510,9 @@
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@@ -28544,9 +28544,9 @@
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@@ -28578,9 +28578,9 @@
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@@ -28612,9 +28612,9 @@
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@@ -28646,9 +28646,9 @@
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@@ -28680,9 +28680,9 @@
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@@ -28714,9 +28714,9 @@
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@@ -28748,9 +28748,9 @@
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@@ -28816,9 +28816,9 @@
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@@ -28850,9 +28850,9 @@
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@@ -28884,9 +28884,9 @@
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@@ -28918,9 +28918,9 @@
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@@ -28952,9 +28952,9 @@
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@@ -28986,9 +28986,9 @@
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@@ -29020,9 +29020,9 @@
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@@ -29054,9 +29054,9 @@
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@@ -29088,9 +29088,9 @@
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@@ -29122,9 +29122,9 @@
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@@ -29156,9 +29156,9 @@
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@@ -29190,9 +29190,9 @@
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@@ -29224,9 +29224,9 @@
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@@ -29258,9 +29258,9 @@
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@@ -29292,9 +29292,9 @@
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@@ -29326,9 +29326,9 @@
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@@ -29360,9 +29360,9 @@
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@@ -29394,9 +29394,9 @@
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@@ -29428,9 +29428,9 @@
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@@ -29462,9 +29462,9 @@
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@@ -29496,9 +29496,9 @@
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@@ -29530,9 +29530,9 @@
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@@ -29564,9 +29564,9 @@
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@@ -29598,9 +29598,9 @@
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@@ -29632,9 +29632,9 @@
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@@ -29666,9 +29666,9 @@
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@@ -29700,9 +29700,9 @@
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@@ -29734,9 +29734,9 @@
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@@ -29768,9 +29768,9 @@
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@@ -29802,9 +29802,9 @@
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@@ -29836,9 +29836,9 @@
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@@ -29870,9 +29870,9 @@
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@@ -29904,9 +29904,9 @@
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@@ -29938,9 +29938,9 @@
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@@ -29972,9 +29972,9 @@
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@@ -30006,9 +30006,9 @@
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@@ -30040,9 +30040,9 @@
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@@ -30074,9 +30074,9 @@
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@@ -30108,9 +30108,9 @@
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@@ -30142,9 +30142,9 @@
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@@ -30176,9 +30176,9 @@
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@@ -30210,9 +30210,9 @@
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@@ -30244,9 +30244,9 @@
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@@ -30278,9 +30278,9 @@
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@@ -30312,9 +30312,9 @@
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@@ -30346,9 +30346,9 @@
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@@ -30380,9 +30380,9 @@
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@@ -30414,9 +30414,9 @@
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@@ -30448,9 +30448,9 @@
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@@ -30482,9 +30482,9 @@
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@@ -30516,9 +30516,9 @@
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@@ -30550,9 +30550,9 @@
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@@ -30599,9 +30599,9 @@
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@@ -30633,9 +30633,9 @@
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@@ -30667,9 +30667,9 @@
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@@ -30701,9 +30701,9 @@
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@@ -30735,9 +30735,9 @@
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@@ -30769,9 +30769,9 @@
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@@ -30803,9 +30803,9 @@
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@@ -30837,9 +30837,9 @@
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@@ -30871,9 +30871,9 @@
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@@ -30905,9 +30905,9 @@
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@@ -30939,9 +30939,9 @@
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@@ -30973,9 +30973,9 @@
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@@ -31007,9 +31007,9 @@
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@@ -31041,9 +31041,9 @@
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@@ -31075,9 +31075,9 @@
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@@ -31109,9 +31109,9 @@
         "volume": 18.0,
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@@ -31143,9 +31143,9 @@
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@@ -31177,9 +31177,9 @@
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@@ -31211,9 +31211,9 @@
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@@ -31245,9 +31245,9 @@
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@@ -31279,9 +31279,9 @@
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@@ -31313,9 +31313,9 @@
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@@ -31347,9 +31347,9 @@
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@@ -31381,9 +31381,9 @@
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@@ -31415,9 +31415,9 @@
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@@ -31449,9 +31449,9 @@
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@@ -31483,9 +31483,9 @@
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@@ -31517,9 +31517,9 @@
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@@ -31551,9 +31551,9 @@
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@@ -31585,9 +31585,9 @@
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@@ -31619,9 +31619,9 @@
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@@ -31653,9 +31653,9 @@
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@@ -31687,9 +31687,9 @@
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@@ -31721,9 +31721,9 @@
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@@ -31755,9 +31755,9 @@
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@@ -31789,9 +31789,9 @@
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@@ -31823,9 +31823,9 @@
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@@ -31857,9 +31857,9 @@
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@@ -31891,9 +31891,9 @@
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@@ -31925,9 +31925,9 @@
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@@ -31958,9 +31958,9 @@
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@@ -31991,9 +31991,9 @@
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@@ -32024,9 +32024,9 @@
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@@ -32084,9 +32084,9 @@
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@@ -32098,9 +32098,9 @@
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+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
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+        "tipVolume": 20.0
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@@ -32134,9 +32134,9 @@
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@@ -32168,9 +32168,9 @@
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@@ -32202,9 +32202,9 @@
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@@ -32236,9 +32236,9 @@
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@@ -32270,9 +32270,9 @@
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@@ -32304,9 +32304,9 @@
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@@ -32338,9 +32338,9 @@
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@@ -32372,9 +32372,9 @@
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@@ -32406,9 +32406,9 @@
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@@ -32440,9 +32440,9 @@
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@@ -32474,9 +32474,9 @@
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@@ -32508,9 +32508,9 @@
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@@ -32542,9 +32542,9 @@
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@@ -32576,9 +32576,9 @@
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@@ -32610,9 +32610,9 @@
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@@ -32644,9 +32644,9 @@
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@@ -32678,9 +32678,9 @@
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@@ -32712,9 +32712,9 @@
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@@ -32746,9 +32746,9 @@
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@@ -32780,9 +32780,9 @@
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@@ -32814,9 +32814,9 @@
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@@ -32848,9 +32848,9 @@
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@@ -32882,9 +32882,9 @@
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@@ -32916,9 +32916,9 @@
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@@ -32950,9 +32950,9 @@
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@@ -32984,9 +32984,9 @@
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@@ -33018,9 +33018,9 @@
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@@ -33052,9 +33052,9 @@
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@@ -33086,9 +33086,9 @@
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@@ -33120,9 +33120,9 @@
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@@ -33154,9 +33154,9 @@
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@@ -33188,9 +33188,9 @@
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@@ -33222,9 +33222,9 @@
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@@ -33256,9 +33256,9 @@
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@@ -33290,9 +33290,9 @@
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@@ -33324,9 +33324,9 @@
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@@ -33358,9 +33358,9 @@
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@@ -33392,9 +33392,9 @@
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@@ -33426,9 +33426,9 @@
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@@ -33460,9 +33460,9 @@
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@@ -33494,9 +33494,9 @@
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@@ -33528,9 +33528,9 @@
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@@ -33562,9 +33562,9 @@
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@@ -33596,9 +33596,9 @@
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@@ -33630,9 +33630,9 @@
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@@ -33664,9 +33664,9 @@
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@@ -33698,9 +33698,9 @@
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@@ -33732,9 +33732,9 @@
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@@ -33766,9 +33766,9 @@
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@@ -33800,9 +33800,9 @@
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@@ -33834,9 +33834,9 @@
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@@ -33867,9 +33867,9 @@
         "pipetteId": "UUID",
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@@ -33900,9 +33900,9 @@
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@@ -33934,9 +33934,9 @@
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@@ -33983,9 +33983,9 @@
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@@ -34017,9 +34017,9 @@
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@@ -34051,9 +34051,9 @@
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@@ -34085,9 +34085,9 @@
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@@ -34119,9 +34119,9 @@
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@@ -34153,9 +34153,9 @@
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@@ -34187,9 +34187,9 @@
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@@ -34221,9 +34221,9 @@
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@@ -34255,9 +34255,9 @@
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@@ -34289,9 +34289,9 @@
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@@ -34323,9 +34323,9 @@
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@@ -34357,9 +34357,9 @@
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@@ -34391,9 +34391,9 @@
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@@ -34425,9 +34425,9 @@
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@@ -34459,9 +34459,9 @@
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@@ -34493,9 +34493,9 @@
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@@ -34527,9 +34527,9 @@
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@@ -34561,9 +34561,9 @@
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@@ -34595,9 +34595,9 @@
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@@ -34629,9 +34629,9 @@
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@@ -34663,9 +34663,9 @@
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@@ -34697,9 +34697,9 @@
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@@ -34731,9 +34731,9 @@
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@@ -34765,9 +34765,9 @@
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@@ -34799,9 +34799,9 @@
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@@ -34833,9 +34833,9 @@
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@@ -34867,9 +34867,9 @@
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@@ -34901,9 +34901,9 @@
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@@ -34935,9 +34935,9 @@
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@@ -34969,9 +34969,9 @@
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@@ -35003,9 +35003,9 @@
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@@ -35037,9 +35037,9 @@
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@@ -35071,9 +35071,9 @@
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@@ -35105,9 +35105,9 @@
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@@ -35139,9 +35139,9 @@
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@@ -35173,9 +35173,9 @@
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@@ -35207,9 +35207,9 @@
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@@ -35241,9 +35241,9 @@
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@@ -35275,9 +35275,9 @@
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@@ -35309,9 +35309,9 @@
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@@ -35343,9 +35343,9 @@
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@@ -35377,9 +35377,9 @@
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@@ -35411,9 +35411,9 @@
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@@ -35445,9 +35445,9 @@
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@@ -35479,9 +35479,9 @@
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@@ -35513,9 +35513,9 @@
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@@ -35547,9 +35547,9 @@
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@@ -35581,9 +35581,9 @@
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@@ -35615,9 +35615,9 @@
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@@ -35649,9 +35649,9 @@
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@@ -35683,9 +35683,9 @@
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@@ -35716,9 +35716,9 @@
         "pipetteId": "UUID",
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@@ -35749,9 +35749,9 @@
         "volume": 10.0,
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@@ -35783,9 +35783,9 @@
         "volume": 10.0,
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@@ -35832,9 +35832,9 @@
         "volume": 10.0,
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@@ -35866,9 +35866,9 @@
         "volume": 10.0,
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@@ -35900,9 +35900,9 @@
         "volume": 20.0,
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@@ -35934,9 +35934,9 @@
         "volume": 10.0,
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@@ -35968,9 +35968,9 @@
         "volume": 10.0,
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@@ -36002,9 +36002,9 @@
         "volume": 20.0,
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@@ -36036,9 +36036,9 @@
         "volume": 10.0,
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@@ -36070,9 +36070,9 @@
         "volume": 10.0,
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@@ -36104,9 +36104,9 @@
         "volume": 20.0,
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@@ -36138,9 +36138,9 @@
         "volume": 10.0,
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@@ -36172,9 +36172,9 @@
         "volume": 10.0,
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@@ -36206,9 +36206,9 @@
         "volume": 20.0,
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@@ -36240,9 +36240,9 @@
         "volume": 10.0,
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@@ -36274,9 +36274,9 @@
         "volume": 10.0,
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@@ -36308,9 +36308,9 @@
         "volume": 20.0,
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@@ -36342,9 +36342,9 @@
         "volume": 10.0,
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@@ -36376,9 +36376,9 @@
         "volume": 10.0,
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@@ -36410,9 +36410,9 @@
         "volume": 20.0,
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@@ -36444,9 +36444,9 @@
         "volume": 10.0,
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@@ -36478,9 +36478,9 @@
         "volume": 10.0,
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@@ -36512,9 +36512,9 @@
         "volume": 20.0,
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@@ -36546,9 +36546,9 @@
         "volume": 10.0,
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@@ -36580,9 +36580,9 @@
         "volume": 10.0,
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@@ -36614,9 +36614,9 @@
         "volume": 20.0,
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@@ -36648,9 +36648,9 @@
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@@ -36682,9 +36682,9 @@
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@@ -36716,9 +36716,9 @@
         "volume": 20.0,
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@@ -36750,9 +36750,9 @@
         "volume": 10.0,
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@@ -36784,9 +36784,9 @@
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@@ -36818,9 +36818,9 @@
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@@ -36852,9 +36852,9 @@
         "volume": 10.0,
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@@ -36886,9 +36886,9 @@
         "volume": 10.0,
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@@ -36920,9 +36920,9 @@
         "volume": 20.0,
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@@ -36954,9 +36954,9 @@
         "volume": 10.0,
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@@ -36988,9 +36988,9 @@
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@@ -37022,9 +37022,9 @@
         "volume": 20.0,
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@@ -37056,9 +37056,9 @@
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@@ -37090,9 +37090,9 @@
         "volume": 10.0,
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@@ -37124,9 +37124,9 @@
         "volume": 20.0,
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@@ -37158,9 +37158,9 @@
         "volume": 10.0,
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@@ -37192,9 +37192,9 @@
         "volume": 10.0,
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@@ -37226,9 +37226,9 @@
         "volume": 20.0,
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@@ -37260,9 +37260,9 @@
         "volume": 10.0,
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@@ -37294,9 +37294,9 @@
         "volume": 10.0,
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@@ -37328,9 +37328,9 @@
         "volume": 20.0,
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@@ -37362,9 +37362,9 @@
         "volume": 10.0,
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@@ -37396,9 +37396,9 @@
         "volume": 10.0,
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@@ -37430,9 +37430,9 @@
         "volume": 20.0,
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@@ -37464,9 +37464,9 @@
         "volume": 6.666666666666657,
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@@ -37498,9 +37498,9 @@
         "volume": 10.0,
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@@ -37532,9 +37532,9 @@
         "volume": 16.666666666666657,
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@@ -37565,9 +37565,9 @@
         "pipetteId": "UUID",
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@@ -37598,9 +37598,9 @@
         "volume": 10.0,
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@@ -37631,9 +37631,9 @@
         "pipetteId": "UUID",
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@@ -37676,9 +37676,9 @@
         "pipetteId": "UUID",
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@@ -37690,9 +37690,9 @@
           "y": 0.0,
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         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
-        "tipVolume": 20
+        "tipVolume": 20.0
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       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -37711,9 +37711,9 @@
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@@ -37745,9 +37745,9 @@
         "volume": 10.0,
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@@ -37779,9 +37779,9 @@
         "volume": 20.0,
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@@ -37813,9 +37813,9 @@
         "volume": 10.0,
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@@ -37847,9 +37847,9 @@
         "volume": 10.0,
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@@ -37881,9 +37881,9 @@
         "volume": 20.0,
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@@ -37915,9 +37915,9 @@
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@@ -37949,9 +37949,9 @@
         "volume": 10.0,
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@@ -37983,9 +37983,9 @@
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@@ -38017,9 +38017,9 @@
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@@ -38085,9 +38085,9 @@
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@@ -38119,9 +38119,9 @@
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@@ -38153,9 +38153,9 @@
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@@ -38187,9 +38187,9 @@
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@@ -38221,9 +38221,9 @@
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@@ -38255,9 +38255,9 @@
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@@ -38289,9 +38289,9 @@
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@@ -38323,9 +38323,9 @@
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@@ -38357,9 +38357,9 @@
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@@ -38391,9 +38391,9 @@
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@@ -38425,9 +38425,9 @@
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@@ -38459,9 +38459,9 @@
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@@ -38493,9 +38493,9 @@
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@@ -38527,9 +38527,9 @@
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@@ -38561,9 +38561,9 @@
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@@ -38595,9 +38595,9 @@
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@@ -38629,9 +38629,9 @@
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@@ -38663,9 +38663,9 @@
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@@ -38697,9 +38697,9 @@
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@@ -38731,9 +38731,9 @@
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@@ -38765,9 +38765,9 @@
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@@ -38799,9 +38799,9 @@
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@@ -38833,9 +38833,9 @@
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@@ -38867,9 +38867,9 @@
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@@ -38901,9 +38901,9 @@
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@@ -38935,9 +38935,9 @@
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@@ -38969,9 +38969,9 @@
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@@ -39003,9 +39003,9 @@
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@@ -39037,9 +39037,9 @@
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@@ -39071,9 +39071,9 @@
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@@ -39105,9 +39105,9 @@
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@@ -39139,9 +39139,9 @@
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@@ -39173,9 +39173,9 @@
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@@ -39207,9 +39207,9 @@
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@@ -39241,9 +39241,9 @@
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@@ -39275,9 +39275,9 @@
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@@ -39309,9 +39309,9 @@
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@@ -39343,9 +39343,9 @@
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@@ -39377,9 +39377,9 @@
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@@ -39411,9 +39411,9 @@
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@@ -39445,9 +39445,9 @@
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@@ -39479,9 +39479,9 @@
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@@ -39513,9 +39513,9 @@
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@@ -39547,9 +39547,9 @@
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@@ -39581,9 +39581,9 @@
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@@ -39615,9 +39615,9 @@
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@@ -39649,9 +39649,9 @@
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@@ -39683,9 +39683,9 @@
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@@ -39717,9 +39717,9 @@
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@@ -39751,9 +39751,9 @@
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@@ -39785,9 +39785,9 @@
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@@ -39819,9 +39819,9 @@
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@@ -39853,9 +39853,9 @@
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@@ -39887,9 +39887,9 @@
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@@ -39921,9 +39921,9 @@
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@@ -39955,9 +39955,9 @@
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@@ -39989,9 +39989,9 @@
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@@ -40023,9 +40023,9 @@
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@@ -40057,9 +40057,9 @@
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@@ -40091,9 +40091,9 @@
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@@ -40125,9 +40125,9 @@
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@@ -40159,9 +40159,9 @@
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@@ -40193,9 +40193,9 @@
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@@ -40227,9 +40227,9 @@
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@@ -40261,9 +40261,9 @@
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@@ -40295,9 +40295,9 @@
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@@ -40329,9 +40329,9 @@
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@@ -40397,9 +40397,9 @@
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@@ -40431,9 +40431,9 @@
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@@ -40465,9 +40465,9 @@
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@@ -40499,9 +40499,9 @@
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@@ -40533,9 +40533,9 @@
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@@ -40567,9 +40567,9 @@
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@@ -40601,9 +40601,9 @@
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@@ -40635,9 +40635,9 @@
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@@ -40669,9 +40669,9 @@
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@@ -40703,9 +40703,9 @@
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@@ -40737,9 +40737,9 @@
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@@ -40771,9 +40771,9 @@
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@@ -40805,9 +40805,9 @@
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@@ -40839,9 +40839,9 @@
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@@ -40873,9 +40873,9 @@
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@@ -40907,9 +40907,9 @@
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@@ -40941,9 +40941,9 @@
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@@ -40975,9 +40975,9 @@
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@@ -41009,9 +41009,9 @@
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@@ -41043,9 +41043,9 @@
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@@ -41077,9 +41077,9 @@
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@@ -41111,9 +41111,9 @@
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@@ -41145,9 +41145,9 @@
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@@ -41179,9 +41179,9 @@
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@@ -41213,9 +41213,9 @@
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@@ -41247,9 +41247,9 @@
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@@ -41281,9 +41281,9 @@
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@@ -41315,9 +41315,9 @@
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@@ -41349,9 +41349,9 @@
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@@ -41383,9 +41383,9 @@
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@@ -41417,9 +41417,9 @@
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@@ -41451,9 +41451,9 @@
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@@ -41485,9 +41485,9 @@
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@@ -41519,9 +41519,9 @@
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@@ -41553,9 +41553,9 @@
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@@ -41587,9 +41587,9 @@
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@@ -41621,9 +41621,9 @@
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@@ -41655,9 +41655,9 @@
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@@ -41689,9 +41689,9 @@
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@@ -41723,9 +41723,9 @@
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@@ -41757,9 +41757,9 @@
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@@ -41791,9 +41791,9 @@
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@@ -41825,9 +41825,9 @@
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@@ -41859,9 +41859,9 @@
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@@ -41893,9 +41893,9 @@
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@@ -41927,9 +41927,9 @@
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@@ -41961,9 +41961,9 @@
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@@ -41995,9 +41995,9 @@
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@@ -42029,9 +42029,9 @@
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@@ -42063,9 +42063,9 @@
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@@ -42097,9 +42097,9 @@
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@@ -42131,9 +42131,9 @@
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@@ -42165,9 +42165,9 @@
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@@ -42199,9 +42199,9 @@
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@@ -42233,9 +42233,9 @@
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@@ -42267,9 +42267,9 @@
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@@ -42301,9 +42301,9 @@
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@@ -42335,9 +42335,9 @@
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@@ -42369,9 +42369,9 @@
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@@ -42403,9 +42403,9 @@
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@@ -42437,9 +42437,9 @@
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@@ -42471,9 +42471,9 @@
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@@ -42505,9 +42505,9 @@
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@@ -42539,9 +42539,9 @@
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@@ -42573,9 +42573,9 @@
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@@ -42607,9 +42607,9 @@
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@@ -42641,9 +42641,9 @@
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@@ -42675,9 +42675,9 @@
         "volume": 10.0,
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+            "x": 0.0,
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@@ -42709,9 +42709,9 @@
         "volume": 20.0,
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+            "x": 0.0,
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@@ -42743,9 +42743,9 @@
         "volume": 10.0,
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@@ -42777,9 +42777,9 @@
         "volume": 10.0,
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+            "x": 0.0,
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@@ -42811,9 +42811,9 @@
         "volume": 20.0,
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+            "x": 0.0,
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@@ -42845,9 +42845,9 @@
         "volume": 10.0,
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@@ -42879,9 +42879,9 @@
         "volume": 10.0,
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@@ -42913,9 +42913,9 @@
         "volume": 20.0,
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+            "x": 0.0,
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@@ -42947,9 +42947,9 @@
         "volume": 6.666666666666657,
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-            "x": 0,
-            "y": 0,
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+            "x": 0.0,
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@@ -42981,9 +42981,9 @@
         "volume": 10.0,
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@@ -43015,9 +43015,9 @@
         "volume": 16.666666666666657,
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-            "x": 0,
-            "y": 0,
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+            "x": 0.0,
+            "y": 0.0,
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@@ -43064,9 +43064,9 @@
         "volume": 18.0,
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+            "x": 0.0,
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@@ -43098,9 +43098,9 @@
         "volume": 18.0,
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-            "x": 0,
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+            "x": 0.0,
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@@ -43132,9 +43132,9 @@
         "volume": 18.0,
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+            "x": 0.0,
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@@ -43166,9 +43166,9 @@
         "volume": 18.0,
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+            "x": 0.0,
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@@ -43200,9 +43200,9 @@
         "volume": 18.0,
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@@ -43234,9 +43234,9 @@
         "volume": 18.0,
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-            "x": 0,
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+            "x": 0.0,
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@@ -43268,9 +43268,9 @@
         "volume": 18.0,
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-            "x": 0,
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@@ -43302,9 +43302,9 @@
         "volume": 18.0,
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-            "x": 0,
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+            "x": 0.0,
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@@ -43336,9 +43336,9 @@
         "volume": 18.0,
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+            "x": 0.0,
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@@ -43370,9 +43370,9 @@
         "volume": 18.0,
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@@ -43404,9 +43404,9 @@
         "volume": 18.0,
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@@ -43438,9 +43438,9 @@
         "volume": 18.0,
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@@ -43472,9 +43472,9 @@
         "volume": 18.0,
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@@ -43506,9 +43506,9 @@
         "volume": 18.0,
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@@ -43540,9 +43540,9 @@
         "volume": 18.0,
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@@ -43574,9 +43574,9 @@
         "volume": 18.0,
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@@ -43608,9 +43608,9 @@
         "volume": 18.0,
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@@ -43642,9 +43642,9 @@
         "volume": 18.0,
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@@ -43676,9 +43676,9 @@
         "volume": 18.0,
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@@ -43710,9 +43710,9 @@
         "volume": 18.0,
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@@ -43744,9 +43744,9 @@
         "volume": 18.0,
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@@ -43778,9 +43778,9 @@
         "volume": 18.0,
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@@ -43812,9 +43812,9 @@
         "volume": 18.0,
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@@ -43846,9 +43846,9 @@
         "volume": 18.0,
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@@ -43880,9 +43880,9 @@
         "volume": 18.0,
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@@ -43914,9 +43914,9 @@
         "volume": 18.0,
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@@ -43948,9 +43948,9 @@
         "volume": 18.0,
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@@ -43982,9 +43982,9 @@
         "volume": 18.0,
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@@ -44016,9 +44016,9 @@
         "volume": 18.0,
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@@ -44050,9 +44050,9 @@
         "volume": 18.0,
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@@ -44084,9 +44084,9 @@
         "volume": 18.0,
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@@ -44118,9 +44118,9 @@
         "volume": 18.0,
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@@ -44152,9 +44152,9 @@
         "volume": 18.0,
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@@ -44186,9 +44186,9 @@
         "volume": 18.0,
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@@ -44220,9 +44220,9 @@
         "volume": 18.0,
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@@ -44254,9 +44254,9 @@
         "volume": 18.0,
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@@ -44288,9 +44288,9 @@
         "volume": 18.0,
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@@ -44322,9 +44322,9 @@
         "volume": 18.0,
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@@ -44356,9 +44356,9 @@
         "volume": 18.0,
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@@ -44390,9 +44390,9 @@
         "volume": 18.0,
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@@ -44423,9 +44423,9 @@
         "pipetteId": "UUID",
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+            "x": 0.0,
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@@ -44456,9 +44456,9 @@
         "volume": 10.0,
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@@ -44489,9 +44489,9 @@
         "pipetteId": "UUID",
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-            "x": 0,
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+            "x": 0.0,
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           "origin": "default"
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@@ -44549,9 +44549,9 @@
         "pipetteId": "UUID",
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           "origin": "top"
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@@ -44563,9 +44563,9 @@
           "y": 0.0,
           "z": 0.0
         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
-        "tipVolume": 20
+        "tipVolume": 20.0
       },
       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -44599,9 +44599,9 @@
         "volume": 10.0,
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@@ -44633,9 +44633,9 @@
         "volume": 10.0,
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@@ -44667,9 +44667,9 @@
         "volume": 20.0,
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@@ -44701,9 +44701,9 @@
         "volume": 10.0,
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@@ -44735,9 +44735,9 @@
         "volume": 10.0,
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@@ -44769,9 +44769,9 @@
         "volume": 20.0,
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@@ -44803,9 +44803,9 @@
         "volume": 10.0,
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@@ -44837,9 +44837,9 @@
         "volume": 10.0,
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@@ -44871,9 +44871,9 @@
         "volume": 20.0,
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@@ -44905,9 +44905,9 @@
         "volume": 10.0,
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@@ -44939,9 +44939,9 @@
         "volume": 10.0,
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@@ -44973,9 +44973,9 @@
         "volume": 20.0,
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@@ -45007,9 +45007,9 @@
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@@ -45041,9 +45041,9 @@
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@@ -45075,9 +45075,9 @@
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@@ -45109,9 +45109,9 @@
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@@ -45143,9 +45143,9 @@
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@@ -45177,9 +45177,9 @@
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@@ -45211,9 +45211,9 @@
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@@ -45245,9 +45245,9 @@
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@@ -45279,9 +45279,9 @@
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@@ -45313,9 +45313,9 @@
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@@ -45347,9 +45347,9 @@
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@@ -45381,9 +45381,9 @@
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@@ -45415,9 +45415,9 @@
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@@ -45449,9 +45449,9 @@
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@@ -45483,9 +45483,9 @@
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@@ -45517,9 +45517,9 @@
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@@ -45551,9 +45551,9 @@
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@@ -45585,9 +45585,9 @@
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@@ -45619,9 +45619,9 @@
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@@ -45653,9 +45653,9 @@
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@@ -45687,9 +45687,9 @@
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@@ -45721,9 +45721,9 @@
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@@ -45755,9 +45755,9 @@
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@@ -45789,9 +45789,9 @@
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@@ -45823,9 +45823,9 @@
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@@ -45857,9 +45857,9 @@
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@@ -45891,9 +45891,9 @@
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@@ -45925,9 +45925,9 @@
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@@ -45959,9 +45959,9 @@
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@@ -45993,9 +45993,9 @@
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@@ -46027,9 +46027,9 @@
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@@ -46061,9 +46061,9 @@
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@@ -46095,9 +46095,9 @@
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@@ -46129,9 +46129,9 @@
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@@ -46163,9 +46163,9 @@
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@@ -46197,9 +46197,9 @@
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@@ -46231,9 +46231,9 @@
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@@ -46265,9 +46265,9 @@
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@@ -46299,9 +46299,9 @@
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@@ -46332,9 +46332,9 @@
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@@ -46365,9 +46365,9 @@
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@@ -46399,9 +46399,9 @@
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@@ -46448,9 +46448,9 @@
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@@ -46482,9 +46482,9 @@
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@@ -46516,9 +46516,9 @@
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@@ -46550,9 +46550,9 @@
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@@ -46584,9 +46584,9 @@
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@@ -46618,9 +46618,9 @@
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@@ -46652,9 +46652,9 @@
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@@ -46686,9 +46686,9 @@
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@@ -46720,9 +46720,9 @@
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@@ -46754,9 +46754,9 @@
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@@ -46788,9 +46788,9 @@
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@@ -46822,9 +46822,9 @@
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@@ -46856,9 +46856,9 @@
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@@ -46890,9 +46890,9 @@
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@@ -46924,9 +46924,9 @@
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@@ -46958,9 +46958,9 @@
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@@ -46992,9 +46992,9 @@
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@@ -47026,9 +47026,9 @@
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@@ -47060,9 +47060,9 @@
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@@ -47094,9 +47094,9 @@
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@@ -47128,9 +47128,9 @@
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@@ -47162,9 +47162,9 @@
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@@ -47196,9 +47196,9 @@
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@@ -47230,9 +47230,9 @@
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@@ -47264,9 +47264,9 @@
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@@ -47298,9 +47298,9 @@
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@@ -47366,9 +47366,9 @@
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@@ -47400,9 +47400,9 @@
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@@ -47434,9 +47434,9 @@
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@@ -47468,9 +47468,9 @@
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@@ -47502,9 +47502,9 @@
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@@ -47536,9 +47536,9 @@
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@@ -47570,9 +47570,9 @@
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@@ -47604,9 +47604,9 @@
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@@ -47638,9 +47638,9 @@
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@@ -47672,9 +47672,9 @@
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@@ -47706,9 +47706,9 @@
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@@ -47740,9 +47740,9 @@
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@@ -47774,9 +47774,9 @@
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@@ -47808,9 +47808,9 @@
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@@ -47842,9 +47842,9 @@
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@@ -47876,9 +47876,9 @@
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@@ -47910,9 +47910,9 @@
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@@ -47944,9 +47944,9 @@
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@@ -47978,9 +47978,9 @@
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@@ -48012,9 +48012,9 @@
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@@ -48046,9 +48046,9 @@
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@@ -48080,9 +48080,9 @@
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@@ -48114,9 +48114,9 @@
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@@ -48148,9 +48148,9 @@
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@@ -48181,9 +48181,9 @@
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@@ -48214,9 +48214,9 @@
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@@ -48248,9 +48248,9 @@
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@@ -48297,9 +48297,9 @@
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@@ -48331,9 +48331,9 @@
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@@ -48365,9 +48365,9 @@
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@@ -48399,9 +48399,9 @@
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@@ -48433,9 +48433,9 @@
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@@ -48467,9 +48467,9 @@
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@@ -48501,9 +48501,9 @@
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@@ -48535,9 +48535,9 @@
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@@ -48569,9 +48569,9 @@
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@@ -48603,9 +48603,9 @@
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@@ -48637,9 +48637,9 @@
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@@ -48671,9 +48671,9 @@
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@@ -48705,9 +48705,9 @@
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@@ -48739,9 +48739,9 @@
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@@ -48773,9 +48773,9 @@
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@@ -48807,9 +48807,9 @@
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@@ -48841,9 +48841,9 @@
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@@ -48875,9 +48875,9 @@
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@@ -48909,9 +48909,9 @@
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@@ -48943,9 +48943,9 @@
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@@ -48977,9 +48977,9 @@
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@@ -49011,9 +49011,9 @@
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@@ -49045,9 +49045,9 @@
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@@ -49079,9 +49079,9 @@
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@@ -49113,9 +49113,9 @@
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@@ -49147,9 +49147,9 @@
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@@ -49181,9 +49181,9 @@
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@@ -49215,9 +49215,9 @@
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@@ -49249,9 +49249,9 @@
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@@ -49283,9 +49283,9 @@
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@@ -49317,9 +49317,9 @@
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@@ -49351,9 +49351,9 @@
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@@ -49385,9 +49385,9 @@
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@@ -49419,9 +49419,9 @@
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@@ -49453,9 +49453,9 @@
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@@ -49487,9 +49487,9 @@
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@@ -49521,9 +49521,9 @@
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@@ -49555,9 +49555,9 @@
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@@ -49589,9 +49589,9 @@
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@@ -49623,9 +49623,9 @@
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@@ -49657,9 +49657,9 @@
         "volume": 10.0,
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@@ -49691,9 +49691,9 @@
         "volume": 20.0,
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@@ -49725,9 +49725,9 @@
         "volume": 10.0,
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@@ -49759,9 +49759,9 @@
         "volume": 10.0,
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@@ -49793,9 +49793,9 @@
         "volume": 20.0,
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@@ -49827,9 +49827,9 @@
         "volume": 10.0,
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@@ -49861,9 +49861,9 @@
         "volume": 10.0,
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@@ -49895,9 +49895,9 @@
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@@ -49929,9 +49929,9 @@
         "volume": 6.666666666666657,
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@@ -49963,9 +49963,9 @@
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@@ -49997,9 +49997,9 @@
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@@ -50030,9 +50030,9 @@
         "pipetteId": "UUID",
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@@ -50063,9 +50063,9 @@
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@@ -50096,9 +50096,9 @@
         "pipetteId": "UUID",
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@@ -50141,9 +50141,9 @@
         "pipetteId": "UUID",
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@@ -50155,9 +50155,9 @@
           "y": 0.0,
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         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
-        "tipVolume": 20
+        "tipVolume": 20.0
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       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -50176,9 +50176,9 @@
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@@ -50210,9 +50210,9 @@
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@@ -50244,9 +50244,9 @@
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@@ -50278,9 +50278,9 @@
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@@ -50312,9 +50312,9 @@
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@@ -50346,9 +50346,9 @@
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@@ -50380,9 +50380,9 @@
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@@ -50414,9 +50414,9 @@
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@@ -50448,9 +50448,9 @@
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@@ -50482,9 +50482,9 @@
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@@ -50516,9 +50516,9 @@
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@@ -50550,9 +50550,9 @@
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@@ -50584,9 +50584,9 @@
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@@ -50618,9 +50618,9 @@
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@@ -50652,9 +50652,9 @@
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@@ -50686,9 +50686,9 @@
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@@ -50720,9 +50720,9 @@
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@@ -50754,9 +50754,9 @@
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@@ -50788,9 +50788,9 @@
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@@ -50822,9 +50822,9 @@
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@@ -50856,9 +50856,9 @@
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@@ -50890,9 +50890,9 @@
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@@ -50924,9 +50924,9 @@
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@@ -50958,9 +50958,9 @@
         "volume": 20.0,
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@@ -50992,9 +50992,9 @@
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@@ -51026,9 +51026,9 @@
         "volume": 10.0,
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@@ -51060,9 +51060,9 @@
         "volume": 20.0,
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@@ -51094,9 +51094,9 @@
         "volume": 10.0,
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@@ -51128,9 +51128,9 @@
         "volume": 10.0,
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@@ -51162,9 +51162,9 @@
         "volume": 20.0,
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@@ -51196,9 +51196,9 @@
         "volume": 10.0,
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@@ -51230,9 +51230,9 @@
         "volume": 10.0,
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@@ -51264,9 +51264,9 @@
         "volume": 20.0,
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@@ -51298,9 +51298,9 @@
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@@ -51332,9 +51332,9 @@
         "volume": 10.0,
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@@ -51366,9 +51366,9 @@
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@@ -51400,9 +51400,9 @@
         "volume": 10.0,
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@@ -51434,9 +51434,9 @@
         "volume": 10.0,
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@@ -51468,9 +51468,9 @@
         "volume": 20.0,
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@@ -51502,9 +51502,9 @@
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@@ -51536,9 +51536,9 @@
         "volume": 10.0,
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@@ -51570,9 +51570,9 @@
         "volume": 20.0,
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@@ -51604,9 +51604,9 @@
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@@ -51638,9 +51638,9 @@
         "volume": 10.0,
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@@ -51672,9 +51672,9 @@
         "volume": 20.0,
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@@ -51706,9 +51706,9 @@
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@@ -51740,9 +51740,9 @@
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@@ -51774,9 +51774,9 @@
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@@ -51808,9 +51808,9 @@
         "volume": 6.666666666666657,
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@@ -51842,9 +51842,9 @@
         "volume": 10.0,
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@@ -51876,9 +51876,9 @@
         "volume": 16.666666666666657,
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@@ -51910,9 +51910,9 @@
         "volume": 10.0,
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@@ -51944,9 +51944,9 @@
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@@ -51978,9 +51978,9 @@
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@@ -52012,9 +52012,9 @@
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@@ -52046,9 +52046,9 @@
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@@ -52080,9 +52080,9 @@
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@@ -52114,9 +52114,9 @@
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@@ -52148,9 +52148,9 @@
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@@ -52182,9 +52182,9 @@
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@@ -52216,9 +52216,9 @@
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@@ -52250,9 +52250,9 @@
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@@ -52284,9 +52284,9 @@
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@@ -52318,9 +52318,9 @@
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@@ -52352,9 +52352,9 @@
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@@ -52386,9 +52386,9 @@
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@@ -52420,9 +52420,9 @@
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@@ -52454,9 +52454,9 @@
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@@ -52488,9 +52488,9 @@
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@@ -52522,9 +52522,9 @@
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@@ -52556,9 +52556,9 @@
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@@ -52590,9 +52590,9 @@
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@@ -52624,9 +52624,9 @@
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@@ -52658,9 +52658,9 @@
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@@ -52692,9 +52692,9 @@
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@@ -52726,9 +52726,9 @@
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@@ -52760,9 +52760,9 @@
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@@ -52794,9 +52794,9 @@
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@@ -52828,9 +52828,9 @@
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@@ -52862,9 +52862,9 @@
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@@ -52896,9 +52896,9 @@
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@@ -52930,9 +52930,9 @@
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@@ -52964,9 +52964,9 @@
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@@ -52998,9 +52998,9 @@
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@@ -53032,9 +53032,9 @@
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@@ -53066,9 +53066,9 @@
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@@ -53100,9 +53100,9 @@
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@@ -53134,9 +53134,9 @@
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@@ -53168,9 +53168,9 @@
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@@ -53202,9 +53202,9 @@
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@@ -53236,9 +53236,9 @@
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@@ -53270,9 +53270,9 @@
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@@ -53304,9 +53304,9 @@
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@@ -53338,9 +53338,9 @@
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@@ -53372,9 +53372,9 @@
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@@ -53406,9 +53406,9 @@
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@@ -53440,9 +53440,9 @@
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@@ -53474,9 +53474,9 @@
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@@ -53508,9 +53508,9 @@
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@@ -53542,9 +53542,9 @@
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@@ -53576,9 +53576,9 @@
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@@ -53610,9 +53610,9 @@
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@@ -53644,9 +53644,9 @@
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@@ -53678,9 +53678,9 @@
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@@ -53712,9 +53712,9 @@
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@@ -53746,9 +53746,9 @@
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@@ -53780,9 +53780,9 @@
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@@ -53814,9 +53814,9 @@
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@@ -53848,9 +53848,9 @@
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@@ -53882,9 +53882,9 @@
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@@ -53916,9 +53916,9 @@
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@@ -53950,9 +53950,9 @@
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@@ -53984,9 +53984,9 @@
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@@ -54018,9 +54018,9 @@
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@@ -54052,9 +54052,9 @@
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@@ -54086,9 +54086,9 @@
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@@ -54120,9 +54120,9 @@
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@@ -54154,9 +54154,9 @@
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@@ -54188,9 +54188,9 @@
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@@ -54222,9 +54222,9 @@
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@@ -54290,9 +54290,9 @@
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@@ -54324,9 +54324,9 @@
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@@ -54358,9 +54358,9 @@
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@@ -54392,9 +54392,9 @@
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@@ -54426,9 +54426,9 @@
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@@ -54460,9 +54460,9 @@
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@@ -54494,9 +54494,9 @@
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@@ -54528,9 +54528,9 @@
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@@ -54562,9 +54562,9 @@
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@@ -54596,9 +54596,9 @@
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@@ -54630,9 +54630,9 @@
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@@ -54664,9 +54664,9 @@
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@@ -54698,9 +54698,9 @@
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@@ -54732,9 +54732,9 @@
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@@ -54766,9 +54766,9 @@
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@@ -54800,9 +54800,9 @@
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@@ -54834,9 +54834,9 @@
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@@ -54868,9 +54868,9 @@
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@@ -54902,9 +54902,9 @@
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@@ -54936,9 +54936,9 @@
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@@ -54970,9 +54970,9 @@
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@@ -55004,9 +55004,9 @@
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@@ -55038,9 +55038,9 @@
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@@ -55072,9 +55072,9 @@
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@@ -55106,9 +55106,9 @@
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@@ -55140,9 +55140,9 @@
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@@ -55174,9 +55174,9 @@
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@@ -55208,9 +55208,9 @@
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@@ -55242,9 +55242,9 @@
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@@ -55276,9 +55276,9 @@
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@@ -55310,9 +55310,9 @@
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@@ -55344,9 +55344,9 @@
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@@ -55378,9 +55378,9 @@
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@@ -55412,9 +55412,9 @@
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@@ -55446,9 +55446,9 @@
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@@ -55480,9 +55480,9 @@
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@@ -55529,9 +55529,9 @@
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@@ -55563,9 +55563,9 @@
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@@ -55597,9 +55597,9 @@
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@@ -55631,9 +55631,9 @@
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@@ -55665,9 +55665,9 @@
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@@ -55699,9 +55699,9 @@
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@@ -55733,9 +55733,9 @@
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@@ -55767,9 +55767,9 @@
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@@ -55801,9 +55801,9 @@
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@@ -55835,9 +55835,9 @@
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@@ -55869,9 +55869,9 @@
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@@ -55903,9 +55903,9 @@
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@@ -55937,9 +55937,9 @@
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@@ -55971,9 +55971,9 @@
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@@ -56005,9 +56005,9 @@
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@@ -56039,9 +56039,9 @@
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@@ -56073,9 +56073,9 @@
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@@ -56107,9 +56107,9 @@
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@@ -56141,9 +56141,9 @@
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@@ -56175,9 +56175,9 @@
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@@ -56209,9 +56209,9 @@
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@@ -56243,9 +56243,9 @@
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@@ -56277,9 +56277,9 @@
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@@ -56311,9 +56311,9 @@
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@@ -56345,9 +56345,9 @@
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@@ -56379,9 +56379,9 @@
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@@ -56413,9 +56413,9 @@
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@@ -56447,9 +56447,9 @@
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@@ -56481,9 +56481,9 @@
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@@ -56515,9 +56515,9 @@
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@@ -56549,9 +56549,9 @@
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@@ -56583,9 +56583,9 @@
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@@ -56617,9 +56617,9 @@
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@@ -56651,9 +56651,9 @@
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@@ -56685,9 +56685,9 @@
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@@ -56719,9 +56719,9 @@
         "volume": 18.0,
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@@ -56753,9 +56753,9 @@
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@@ -56787,9 +56787,9 @@
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@@ -56821,9 +56821,9 @@
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@@ -56855,9 +56855,9 @@
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@@ -56888,9 +56888,9 @@
         "pipetteId": "UUID",
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@@ -56921,9 +56921,9 @@
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@@ -56954,9 +56954,9 @@
         "pipetteId": "UUID",
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@@ -57014,9 +57014,9 @@
         "pipetteId": "UUID",
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@@ -57028,9 +57028,9 @@
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-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
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+        "tipVolume": 20.0
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@@ -57064,9 +57064,9 @@
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@@ -57098,9 +57098,9 @@
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@@ -57132,9 +57132,9 @@
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@@ -57166,9 +57166,9 @@
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@@ -57200,9 +57200,9 @@
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@@ -57234,9 +57234,9 @@
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@@ -57268,9 +57268,9 @@
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@@ -57302,9 +57302,9 @@
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@@ -57336,9 +57336,9 @@
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@@ -57370,9 +57370,9 @@
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@@ -57404,9 +57404,9 @@
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@@ -57438,9 +57438,9 @@
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@@ -57472,9 +57472,9 @@
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@@ -57506,9 +57506,9 @@
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@@ -57540,9 +57540,9 @@
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@@ -57574,9 +57574,9 @@
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@@ -57608,9 +57608,9 @@
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@@ -57642,9 +57642,9 @@
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@@ -57676,9 +57676,9 @@
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@@ -57710,9 +57710,9 @@
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@@ -57744,9 +57744,9 @@
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@@ -57778,9 +57778,9 @@
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@@ -57812,9 +57812,9 @@
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@@ -57846,9 +57846,9 @@
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@@ -57880,9 +57880,9 @@
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@@ -57914,9 +57914,9 @@
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@@ -57948,9 +57948,9 @@
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@@ -57982,9 +57982,9 @@
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@@ -58016,9 +58016,9 @@
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@@ -58050,9 +58050,9 @@
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@@ -58084,9 +58084,9 @@
         "volume": 10.0,
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@@ -58118,9 +58118,9 @@
         "volume": 10.0,
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@@ -58152,9 +58152,9 @@
         "volume": 20.0,
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@@ -58186,9 +58186,9 @@
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@@ -58220,9 +58220,9 @@
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@@ -58254,9 +58254,9 @@
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@@ -58288,9 +58288,9 @@
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@@ -58322,9 +58322,9 @@
         "volume": 10.0,
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@@ -58356,9 +58356,9 @@
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@@ -58390,9 +58390,9 @@
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@@ -58424,9 +58424,9 @@
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@@ -58458,9 +58458,9 @@
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@@ -58492,9 +58492,9 @@
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@@ -58526,9 +58526,9 @@
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@@ -58560,9 +58560,9 @@
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@@ -58594,9 +58594,9 @@
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@@ -58628,9 +58628,9 @@
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@@ -58662,9 +58662,9 @@
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@@ -58696,9 +58696,9 @@
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@@ -58730,9 +58730,9 @@
         "volume": 10.0,
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@@ -58764,9 +58764,9 @@
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@@ -58797,9 +58797,9 @@
         "pipetteId": "UUID",
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@@ -58830,9 +58830,9 @@
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@@ -58864,9 +58864,9 @@
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@@ -58947,9 +58947,9 @@
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@@ -59015,9 +59015,9 @@
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@@ -59049,9 +59049,9 @@
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@@ -59083,9 +59083,9 @@
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@@ -59117,9 +59117,9 @@
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@@ -59151,9 +59151,9 @@
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@@ -59185,9 +59185,9 @@
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@@ -59219,9 +59219,9 @@
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@@ -59253,9 +59253,9 @@
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@@ -59287,9 +59287,9 @@
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@@ -59321,9 +59321,9 @@
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@@ -59355,9 +59355,9 @@
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@@ -59389,9 +59389,9 @@
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@@ -59423,9 +59423,9 @@
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@@ -59457,9 +59457,9 @@
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@@ -59491,9 +59491,9 @@
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@@ -59525,9 +59525,9 @@
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@@ -59559,9 +59559,9 @@
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@@ -59593,9 +59593,9 @@
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@@ -59627,9 +59627,9 @@
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@@ -59661,9 +59661,9 @@
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@@ -59695,9 +59695,9 @@
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@@ -59729,9 +59729,9 @@
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@@ -59763,9 +59763,9 @@
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@@ -59797,9 +59797,9 @@
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@@ -59831,9 +59831,9 @@
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@@ -59865,9 +59865,9 @@
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@@ -59899,9 +59899,9 @@
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@@ -59933,9 +59933,9 @@
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@@ -59967,9 +59967,9 @@
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@@ -60001,9 +60001,9 @@
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@@ -60035,9 +60035,9 @@
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@@ -60069,9 +60069,9 @@
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@@ -60103,9 +60103,9 @@
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@@ -60137,9 +60137,9 @@
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@@ -60171,9 +60171,9 @@
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@@ -60205,9 +60205,9 @@
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@@ -60239,9 +60239,9 @@
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@@ -60273,9 +60273,9 @@
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@@ -60307,9 +60307,9 @@
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@@ -60375,9 +60375,9 @@
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@@ -60409,9 +60409,9 @@
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@@ -60443,9 +60443,9 @@
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@@ -60477,9 +60477,9 @@
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@@ -60511,9 +60511,9 @@
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@@ -60545,9 +60545,9 @@
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@@ -60579,9 +60579,9 @@
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@@ -60613,9 +60613,9 @@
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@@ -60646,9 +60646,9 @@
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@@ -60679,9 +60679,9 @@
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@@ -60713,9 +60713,9 @@
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@@ -60762,9 +60762,9 @@
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@@ -60796,9 +60796,9 @@
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@@ -60830,9 +60830,9 @@
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@@ -60864,9 +60864,9 @@
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@@ -60898,9 +60898,9 @@
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@@ -60932,9 +60932,9 @@
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@@ -60966,9 +60966,9 @@
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@@ -61000,9 +61000,9 @@
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@@ -61034,9 +61034,9 @@
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@@ -61068,9 +61068,9 @@
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@@ -61102,9 +61102,9 @@
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@@ -61136,9 +61136,9 @@
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@@ -61170,9 +61170,9 @@
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@@ -61204,9 +61204,9 @@
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@@ -61238,9 +61238,9 @@
         "volume": 20.0,
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@@ -61272,9 +61272,9 @@
         "volume": 10.0,
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@@ -61306,9 +61306,9 @@
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@@ -61340,9 +61340,9 @@
         "volume": 20.0,
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@@ -61374,9 +61374,9 @@
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@@ -61408,9 +61408,9 @@
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@@ -61442,9 +61442,9 @@
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@@ -61476,9 +61476,9 @@
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@@ -61510,9 +61510,9 @@
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@@ -61544,9 +61544,9 @@
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@@ -61578,9 +61578,9 @@
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@@ -61612,9 +61612,9 @@
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@@ -61646,9 +61646,9 @@
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@@ -61680,9 +61680,9 @@
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@@ -61714,9 +61714,9 @@
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@@ -61748,9 +61748,9 @@
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@@ -61782,9 +61782,9 @@
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@@ -61816,9 +61816,9 @@
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@@ -61850,9 +61850,9 @@
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@@ -61884,9 +61884,9 @@
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@@ -61918,9 +61918,9 @@
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@@ -61952,9 +61952,9 @@
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@@ -61986,9 +61986,9 @@
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@@ -62020,9 +62020,9 @@
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@@ -62054,9 +62054,9 @@
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@@ -62088,9 +62088,9 @@
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@@ -62122,9 +62122,9 @@
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@@ -62156,9 +62156,9 @@
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@@ -62190,9 +62190,9 @@
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@@ -62224,9 +62224,9 @@
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@@ -62258,9 +62258,9 @@
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@@ -62292,9 +62292,9 @@
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@@ -62326,9 +62326,9 @@
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@@ -62360,9 +62360,9 @@
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@@ -62394,9 +62394,9 @@
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@@ -62428,9 +62428,9 @@
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@@ -62462,9 +62462,9 @@
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@@ -62495,9 +62495,9 @@
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@@ -62528,9 +62528,9 @@
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@@ -62561,9 +62561,9 @@
         "pipetteId": "UUID",
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@@ -62606,9 +62606,9 @@
         "pipetteId": "UUID",
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@@ -62620,9 +62620,9 @@
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+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
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@@ -62641,9 +62641,9 @@
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@@ -62675,9 +62675,9 @@
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@@ -62709,9 +62709,9 @@
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@@ -62743,9 +62743,9 @@
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@@ -62777,9 +62777,9 @@
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@@ -62811,9 +62811,9 @@
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@@ -62845,9 +62845,9 @@
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@@ -62879,9 +62879,9 @@
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@@ -62913,9 +62913,9 @@
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@@ -62947,9 +62947,9 @@
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@@ -62981,9 +62981,9 @@
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@@ -63015,9 +63015,9 @@
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@@ -63049,9 +63049,9 @@
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@@ -63083,9 +63083,9 @@
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@@ -63117,9 +63117,9 @@
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@@ -63151,9 +63151,9 @@
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@@ -63185,9 +63185,9 @@
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@@ -63219,9 +63219,9 @@
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@@ -63253,9 +63253,9 @@
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@@ -63287,9 +63287,9 @@
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@@ -63321,9 +63321,9 @@
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@@ -63355,9 +63355,9 @@
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@@ -63389,9 +63389,9 @@
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@@ -63423,9 +63423,9 @@
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@@ -63457,9 +63457,9 @@
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@@ -63491,9 +63491,9 @@
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@@ -63559,9 +63559,9 @@
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@@ -63933,9 +63933,9 @@
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@@ -63967,9 +63967,9 @@
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@@ -64069,9 +64069,9 @@
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@@ -64103,9 +64103,9 @@
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@@ -64137,9 +64137,9 @@
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@@ -64171,9 +64171,9 @@
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@@ -64205,9 +64205,9 @@
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@@ -64239,9 +64239,9 @@
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@@ -64273,9 +64273,9 @@
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@@ -64307,9 +64307,9 @@
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@@ -64375,9 +64375,9 @@
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@@ -64409,9 +64409,9 @@
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@@ -64443,9 +64443,9 @@
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@@ -64477,9 +64477,9 @@
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@@ -64511,9 +64511,9 @@
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@@ -64545,9 +64545,9 @@
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@@ -64579,9 +64579,9 @@
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@@ -64613,9 +64613,9 @@
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@@ -64647,9 +64647,9 @@
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@@ -64681,9 +64681,9 @@
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@@ -64715,9 +64715,9 @@
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@@ -64749,9 +64749,9 @@
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@@ -64783,9 +64783,9 @@
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@@ -64817,9 +64817,9 @@
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@@ -64851,9 +64851,9 @@
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@@ -64885,9 +64885,9 @@
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@@ -64919,9 +64919,9 @@
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@@ -64953,9 +64953,9 @@
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@@ -64987,9 +64987,9 @@
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@@ -65021,9 +65021,9 @@
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@@ -65055,9 +65055,9 @@
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@@ -65089,9 +65089,9 @@
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@@ -65123,9 +65123,9 @@
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@@ -65157,9 +65157,9 @@
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@@ -65191,9 +65191,9 @@
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@@ -65225,9 +65225,9 @@
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@@ -65259,9 +65259,9 @@
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@@ -65293,9 +65293,9 @@
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@@ -65327,9 +65327,9 @@
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@@ -65361,9 +65361,9 @@
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@@ -65395,9 +65395,9 @@
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@@ -65429,9 +65429,9 @@
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@@ -65463,9 +65463,9 @@
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@@ -65497,9 +65497,9 @@
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@@ -65531,9 +65531,9 @@
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@@ -65565,9 +65565,9 @@
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@@ -65599,9 +65599,9 @@
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@@ -65633,9 +65633,9 @@
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@@ -65667,9 +65667,9 @@
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@@ -65701,9 +65701,9 @@
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@@ -65735,9 +65735,9 @@
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@@ -65784,9 +65784,9 @@
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@@ -65818,9 +65818,9 @@
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@@ -65886,9 +65886,9 @@
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@@ -65920,9 +65920,9 @@
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@@ -65954,9 +65954,9 @@
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@@ -65988,9 +65988,9 @@
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@@ -66022,9 +66022,9 @@
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@@ -66056,9 +66056,9 @@
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@@ -66090,9 +66090,9 @@
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@@ -66124,9 +66124,9 @@
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@@ -66158,9 +66158,9 @@
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@@ -66192,9 +66192,9 @@
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@@ -66226,9 +66226,9 @@
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@@ -66260,9 +66260,9 @@
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@@ -66294,9 +66294,9 @@
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@@ -66328,9 +66328,9 @@
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@@ -66362,9 +66362,9 @@
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@@ -66396,9 +66396,9 @@
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@@ -66430,9 +66430,9 @@
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@@ -66464,9 +66464,9 @@
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@@ -66498,9 +66498,9 @@
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@@ -66532,9 +66532,9 @@
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@@ -66566,9 +66566,9 @@
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@@ -66600,9 +66600,9 @@
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@@ -66634,9 +66634,9 @@
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@@ -66668,9 +66668,9 @@
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@@ -66702,9 +66702,9 @@
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@@ -66736,9 +66736,9 @@
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@@ -66770,9 +66770,9 @@
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@@ -66804,9 +66804,9 @@
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@@ -66838,9 +66838,9 @@
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@@ -66872,9 +66872,9 @@
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@@ -66906,9 +66906,9 @@
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@@ -66940,9 +66940,9 @@
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@@ -66974,9 +66974,9 @@
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@@ -67008,9 +67008,9 @@
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@@ -67042,9 +67042,9 @@
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@@ -67076,9 +67076,9 @@
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@@ -67110,9 +67110,9 @@
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@@ -67143,9 +67143,9 @@
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@@ -67176,9 +67176,9 @@
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@@ -67209,9 +67209,9 @@
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@@ -67269,9 +67269,9 @@
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@@ -67283,9 +67283,9 @@
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+        "tipDiameter": 0.0,
         "tipLength": 31.000000000000004,
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@@ -67319,9 +67319,9 @@
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@@ -67353,9 +67353,9 @@
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@@ -67387,9 +67387,9 @@
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@@ -67421,9 +67421,9 @@
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@@ -67455,9 +67455,9 @@
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@@ -67489,9 +67489,9 @@
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@@ -67523,9 +67523,9 @@
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@@ -67557,9 +67557,9 @@
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@@ -67591,9 +67591,9 @@
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@@ -67625,9 +67625,9 @@
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@@ -67659,9 +67659,9 @@
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@@ -67693,9 +67693,9 @@
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@@ -67727,9 +67727,9 @@
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@@ -67761,9 +67761,9 @@
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@@ -67795,9 +67795,9 @@
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@@ -67829,9 +67829,9 @@
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@@ -67863,9 +67863,9 @@
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@@ -67897,9 +67897,9 @@
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@@ -67931,9 +67931,9 @@
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@@ -67965,9 +67965,9 @@
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@@ -67999,9 +67999,9 @@
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@@ -68033,9 +68033,9 @@
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@@ -68067,9 +68067,9 @@
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@@ -68101,9 +68101,9 @@
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@@ -68135,9 +68135,9 @@
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@@ -70559,9 +70559,9 @@
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@@ -70775,9 +70775,9 @@
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@@ -70809,9 +70809,9 @@
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@@ -72048,9 +72048,9 @@
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@@ -72116,9 +72116,9 @@
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@@ -72150,9 +72150,9 @@
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@@ -72184,9 +72184,9 @@
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@@ -72218,9 +72218,9 @@
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@@ -72252,9 +72252,9 @@
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@@ -72286,9 +72286,9 @@
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@@ -72320,9 +72320,9 @@
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@@ -72354,9 +72354,9 @@
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@@ -72388,9 +72388,9 @@
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@@ -72422,9 +72422,9 @@
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@@ -72456,9 +72456,9 @@
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@@ -72490,9 +72490,9 @@
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@@ -72523,9 +72523,9 @@
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@@ -72556,9 +72556,9 @@
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@@ -72589,9 +72589,9 @@
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@@ -72646,9 +72646,9 @@
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@@ -72667,9 +72667,9 @@
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@@ -72701,9 +72701,9 @@
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@@ -72735,9 +72735,9 @@
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@@ -72803,9 +72803,9 @@
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@@ -72837,9 +72837,9 @@
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@@ -72871,9 +72871,9 @@
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@@ -72905,9 +72905,9 @@
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@@ -72939,9 +72939,9 @@
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@@ -72973,9 +72973,9 @@
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@@ -73007,9 +73007,9 @@
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@@ -73041,9 +73041,9 @@
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@@ -73075,9 +73075,9 @@
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@@ -73109,9 +73109,9 @@
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@@ -73143,9 +73143,9 @@
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@@ -73177,9 +73177,9 @@
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@@ -73211,9 +73211,9 @@
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@@ -73245,9 +73245,9 @@
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@@ -73279,9 +73279,9 @@
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@@ -73313,9 +73313,9 @@
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@@ -73347,9 +73347,9 @@
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@@ -73381,9 +73381,9 @@
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@@ -73415,9 +73415,9 @@
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@@ -73449,9 +73449,9 @@
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@@ -73483,9 +73483,9 @@
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@@ -73517,9 +73517,9 @@
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@@ -73551,9 +73551,9 @@
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@@ -73585,9 +73585,9 @@
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@@ -73619,9 +73619,9 @@
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@@ -73653,9 +73653,9 @@
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@@ -73687,9 +73687,9 @@
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@@ -73721,9 +73721,9 @@
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@@ -73755,9 +73755,9 @@
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@@ -73789,9 +73789,9 @@
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@@ -73823,9 +73823,9 @@
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@@ -73857,9 +73857,9 @@
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@@ -73891,9 +73891,9 @@
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@@ -73925,9 +73925,9 @@
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@@ -73959,9 +73959,9 @@
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@@ -73993,9 +73993,9 @@
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@@ -74027,9 +74027,9 @@
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@@ -74061,9 +74061,9 @@
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@@ -74095,9 +74095,9 @@
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@@ -74129,9 +74129,9 @@
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@@ -74163,9 +74163,9 @@
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@@ -74197,9 +74197,9 @@
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@@ -74231,9 +74231,9 @@
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@@ -74265,9 +74265,9 @@
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@@ -74299,9 +74299,9 @@
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@@ -74333,9 +74333,9 @@
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@@ -74367,9 +74367,9 @@
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@@ -74401,9 +74401,9 @@
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@@ -74435,9 +74435,9 @@
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@@ -74469,9 +74469,9 @@
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@@ -74503,9 +74503,9 @@
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@@ -74537,9 +74537,9 @@
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@@ -74571,9 +74571,9 @@
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@@ -74605,9 +74605,9 @@
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@@ -74639,9 +74639,9 @@
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@@ -74673,9 +74673,9 @@
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@@ -74707,9 +74707,9 @@
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@@ -74741,9 +74741,9 @@
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@@ -74775,9 +74775,9 @@
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@@ -74809,9 +74809,9 @@
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@@ -74843,9 +74843,9 @@
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@@ -74877,9 +74877,9 @@
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@@ -74911,9 +74911,9 @@
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@@ -74945,9 +74945,9 @@
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@@ -74979,9 +74979,9 @@
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@@ -75013,9 +75013,9 @@
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@@ -75047,9 +75047,9 @@
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@@ -75081,9 +75081,9 @@
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@@ -75115,9 +75115,9 @@
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@@ -75149,9 +75149,9 @@
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@@ -75183,9 +75183,9 @@
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@@ -75217,9 +75217,9 @@
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@@ -75251,9 +75251,9 @@
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@@ -75285,9 +75285,9 @@
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@@ -75319,9 +75319,9 @@
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@@ -75353,9 +75353,9 @@
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@@ -75387,9 +75387,9 @@
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@@ -75421,9 +75421,9 @@
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@@ -75455,9 +75455,9 @@
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@@ -75489,9 +75489,9 @@
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@@ -75523,9 +75523,9 @@
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@@ -75557,9 +75557,9 @@
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@@ -75591,9 +75591,9 @@
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@@ -75625,9 +75625,9 @@
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@@ -75659,9 +75659,9 @@
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@@ -75693,9 +75693,9 @@
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@@ -75727,9 +75727,9 @@
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@@ -75761,9 +75761,9 @@
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@@ -75795,9 +75795,9 @@
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@@ -75829,9 +75829,9 @@
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@@ -75863,9 +75863,9 @@
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@@ -75897,9 +75897,9 @@
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@@ -75931,9 +75931,9 @@
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@@ -75965,9 +75965,9 @@
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@@ -75999,9 +75999,9 @@
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@@ -76033,9 +76033,9 @@
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@@ -76067,9 +76067,9 @@
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@@ -76101,9 +76101,9 @@
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@@ -76135,9 +76135,9 @@
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@@ -76169,9 +76169,9 @@
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@@ -76203,9 +76203,9 @@
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@@ -76237,9 +76237,9 @@
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@@ -76271,9 +76271,9 @@
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@@ -76305,9 +76305,9 @@
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@@ -76339,9 +76339,9 @@
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@@ -76373,9 +76373,9 @@
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@@ -76407,9 +76407,9 @@
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@@ -76441,9 +76441,9 @@
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@@ -76475,9 +76475,9 @@
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@@ -76509,9 +76509,9 @@
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@@ -76543,9 +76543,9 @@
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@@ -76577,9 +76577,9 @@
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@@ -76611,9 +76611,9 @@
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@@ -76645,9 +76645,9 @@
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@@ -76679,9 +76679,9 @@
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@@ -76713,9 +76713,9 @@
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@@ -76747,9 +76747,9 @@
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@@ -76781,9 +76781,9 @@
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@@ -76815,9 +76815,9 @@
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@@ -76849,9 +76849,9 @@
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@@ -76883,9 +76883,9 @@
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@@ -76917,9 +76917,9 @@
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@@ -76951,9 +76951,9 @@
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@@ -76985,9 +76985,9 @@
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@@ -77019,9 +77019,9 @@
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@@ -77053,9 +77053,9 @@
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@@ -77087,9 +77087,9 @@
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@@ -77121,9 +77121,9 @@
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@@ -77155,9 +77155,9 @@
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@@ -77189,9 +77189,9 @@
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@@ -77223,9 +77223,9 @@
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@@ -77257,9 +77257,9 @@
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@@ -77291,9 +77291,9 @@
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@@ -77325,9 +77325,9 @@
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@@ -77359,9 +77359,9 @@
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@@ -77393,9 +77393,9 @@
         "volume": 10.0,
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@@ -77427,9 +77427,9 @@
         "volume": 10.0,
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@@ -77461,9 +77461,9 @@
         "volume": 20.0,
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@@ -77495,9 +77495,9 @@
         "volume": 10.0,
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@@ -77529,9 +77529,9 @@
         "volume": 10.0,
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@@ -77563,9 +77563,9 @@
         "volume": 20.0,
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@@ -77597,9 +77597,9 @@
         "volume": 10.0,
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@@ -77631,9 +77631,9 @@
         "volume": 10.0,
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@@ -77665,9 +77665,9 @@
         "volume": 20.0,
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@@ -77699,9 +77699,9 @@
         "volume": 10.0,
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@@ -77733,9 +77733,9 @@
         "volume": 10.0,
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@@ -77767,9 +77767,9 @@
         "volume": 20.0,
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@@ -77801,9 +77801,9 @@
         "volume": 10.0,
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@@ -77835,9 +77835,9 @@
         "volume": 10.0,
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@@ -77869,9 +77869,9 @@
         "volume": 20.0,
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@@ -77903,9 +77903,9 @@
         "volume": 6.666666666666657,
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-            "x": 0,
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@@ -77937,9 +77937,9 @@
         "volume": 10.0,
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@@ -77971,9 +77971,9 @@
         "volume": 16.666666666666657,
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@@ -78020,9 +78020,9 @@
         "volume": 18.0,
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@@ -78054,9 +78054,9 @@
         "volume": 18.0,
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@@ -78088,9 +78088,9 @@
         "volume": 18.0,
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@@ -78122,9 +78122,9 @@
         "volume": 18.0,
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@@ -78156,9 +78156,9 @@
         "volume": 18.0,
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@@ -78190,9 +78190,9 @@
         "volume": 18.0,
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@@ -78224,9 +78224,9 @@
         "volume": 18.0,
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@@ -78258,9 +78258,9 @@
         "volume": 18.0,
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@@ -78292,9 +78292,9 @@
         "volume": 18.0,
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@@ -78326,9 +78326,9 @@
         "volume": 18.0,
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@@ -78360,9 +78360,9 @@
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@@ -78394,9 +78394,9 @@
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@@ -78428,9 +78428,9 @@
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@@ -78462,9 +78462,9 @@
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@@ -78496,9 +78496,9 @@
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@@ -78530,9 +78530,9 @@
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@@ -78564,9 +78564,9 @@
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@@ -78598,9 +78598,9 @@
         "volume": 18.0,
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@@ -78632,9 +78632,9 @@
         "volume": 18.0,
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@@ -78666,9 +78666,9 @@
         "volume": 18.0,
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@@ -78700,9 +78700,9 @@
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@@ -78734,9 +78734,9 @@
         "volume": 18.0,
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@@ -78768,9 +78768,9 @@
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@@ -78802,9 +78802,9 @@
         "volume": 18.0,
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@@ -78836,9 +78836,9 @@
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@@ -78870,9 +78870,9 @@
         "volume": 18.0,
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@@ -78904,9 +78904,9 @@
         "volume": 18.0,
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@@ -78938,9 +78938,9 @@
         "volume": 18.0,
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@@ -78972,9 +78972,9 @@
         "volume": 18.0,
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@@ -79006,9 +79006,9 @@
         "volume": 18.0,
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@@ -79040,9 +79040,9 @@
         "volume": 18.0,
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@@ -79074,9 +79074,9 @@
         "volume": 18.0,
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@@ -79108,9 +79108,9 @@
         "volume": 18.0,
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@@ -79142,9 +79142,9 @@
         "volume": 18.0,
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@@ -79176,9 +79176,9 @@
         "volume": 18.0,
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@@ -79210,9 +79210,9 @@
         "volume": 18.0,
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@@ -79244,9 +79244,9 @@
         "volume": 18.0,
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@@ -79278,9 +79278,9 @@
         "volume": 18.0,
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@@ -79312,9 +79312,9 @@
         "volume": 18.0,
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@@ -79346,9 +79346,9 @@
         "volume": 18.0,
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@@ -79379,9 +79379,9 @@
         "pipetteId": "UUID",
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@@ -79412,9 +79412,9 @@
         "volume": 10.0,
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@@ -79445,9 +79445,9 @@
         "pipetteId": "UUID",
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           "origin": "default"
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@@ -79518,9 +79518,9 @@
         "pipetteId": "UUID",
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           "origin": "top"
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@@ -79532,9 +79532,9 @@
           "y": 0.0,
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         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 51.099999999999994,
-        "tipVolume": 300
+        "tipVolume": 300.0
       },
       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -79568,9 +79568,9 @@
         "volume": 166.66666666666666,
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@@ -79602,9 +79602,9 @@
         "volume": 10.0,
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@@ -79636,9 +79636,9 @@
         "volume": 176.66666666666666,
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@@ -79669,9 +79669,9 @@
         "pipetteId": "UUID",
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@@ -79702,9 +79702,9 @@
         "volume": 10.0,
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@@ -81435,9 +81435,9 @@
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@@ -81469,9 +81469,9 @@
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@@ -81503,9 +81503,9 @@
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@@ -81537,9 +81537,9 @@
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@@ -81571,9 +81571,9 @@
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@@ -81639,9 +81639,9 @@
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@@ -81673,9 +81673,9 @@
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@@ -81706,9 +81706,9 @@
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@@ -81739,9 +81739,9 @@
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@@ -81846,9 +81846,9 @@
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@@ -81901,9 +81901,9 @@
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@@ -81935,9 +81935,9 @@
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@@ -81968,9 +81968,9 @@
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@@ -82001,9 +82001,9 @@
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@@ -82034,9 +82034,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[28fdeebdd9][pl_Omega_HDQ_DNA_Cells_Flex_multi].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[28fdeebdd9][pl_Omega_HDQ_DNA_Cells_Flex_multi].json
index d52ff5e72e4..1598272fc5c 100644
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[29bb5df52d][pl_Omega_HDQ_DNA_Bacteria_Flex_multi].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[29bb5df52d][pl_Omega_HDQ_DNA_Bacteria_Flex_multi].json
index e8cb6c52713..d6a2126b774 100644
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2bc6830494][pl_langone_ribo_pt1_ramp].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2bc6830494][pl_langone_ribo_pt1_ramp].json
index 9e8f25df1f1..103852d1fad 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2bc6830494][pl_langone_ribo_pt1_ramp].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2bc6830494][pl_langone_ribo_pt1_ramp].json
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-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "ddda43ec173555ea3b16b98ad6d2c39e",
-      "notes": [],
-      "params": {
-        "alternateDropLocation": true,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "wellLocation": {
-          "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-          },
-          "origin": "default"
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": 412.25,
-          "y": 364.0,
-          "z": 40.0
-        }
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "moveLabware",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "0367269519dab3d917ff70e4c2eb3ac5",
-      "notes": [],
-      "params": {
-        "labwareId": "UUID",
-        "newLocation": {
-          "moduleId": "UUID"
-        },
-        "strategy": "usingGripper"
-      },
-      "result": {},
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "waitForDuration",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "c92eb88b6abd64aee972dffe5e25327a",
-      "notes": [],
-      "params": {
-        "seconds": 120.0
-      },
-      "result": {},
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "comment",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "fff71392918a3b8f2f00bdefa4a53134",
-      "notes": [],
-      "params": {
-        "message": "\n\n----------TRANSFERRING ELUTE----------\n"
-      },
-      "result": {},
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "pickUpTip",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "1211dc66481f76a8e1dd9cc3a16fc306",
-      "notes": [],
-      "params": {
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "wellLocation": {
-          "offset": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 0.0
-          },
-          "origin": "top"
-        },
-        "wellName": "A10"
-      },
-      "result": {
-        "position": {
-          "x": 95.38,
-          "y": 181.38,
-          "z": 99.0
-        },
-        "tipDiameter": 5.58,
-        "tipLength": 47.849999999999994,
-        "tipVolume": 50.0
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "aspirate",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "02042c1eb009e7757551c7d6a5e2493f",
-      "notes": [],
-      "params": {
-        "flowRate": 7.0,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "volume": 17.5,
-        "wellLocation": {
-          "offset": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": -14.149999999999999
-          },
-          "origin": "top",
-          "volumeOffset": 0.0
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": 342.38,
-          "y": 181.24,
-          "z": 36.31
-        },
-        "volume": 17.5
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "dispense",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "f88f2a7423ac5f5070ba46bd9989126c",
-      "notes": [],
-      "params": {
-        "flowRate": 57.0,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "volume": 17.5,
-        "wellLocation": {
-          "offset": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": -13.95
-          },
-          "origin": "top",
-          "volumeOffset": 0.0
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": -5.624999999999998,
-          "y": 356.2,
-          "z": 2.3100000000000014
-        },
-        "volume": 17.5
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "moveToWell",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "03a1b309d898cee327e0b3dd131a7507",
-      "notes": [],
-      "params": {
-        "forceDirect": false,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "wellLocation": {
-          "offset": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 0.0
-          },
-          "origin": "top",
-          "volumeOffset": 0.0
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": 342.38,
-          "y": 181.24,
-          "z": 50.459999999999994
-        }
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "blowout",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "674540c74c2dc67ded15c1b937ef28fb",
-      "notes": [],
-      "params": {
-        "flowRate": 57.0,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "wellLocation": {
-          "offset": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 0.0
-          },
-          "origin": "top",
-          "volumeOffset": 0.0
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": -5.624999999999998,
-          "y": 356.2,
-          "z": 16.26
-        }
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
-    },
-    {
-      "commandType": "dropTip",
-      "completedAt": "TIMESTAMP",
-      "createdAt": "TIMESTAMP",
-      "id": "UUID",
-      "key": "6498d67c1416ebe7d0b8c12d8b8d3c87",
-      "notes": [],
-      "params": {
-        "alternateDropLocation": true,
-        "labwareId": "UUID",
-        "pipetteId": "UUID",
-        "wellLocation": {
-          "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-          },
-          "origin": "default"
-        },
-        "wellName": "A1"
-      },
-      "result": {
-        "position": {
-          "x": 359.25,
-          "y": 364.0,
-          "z": 40.0
-        }
-      },
-      "startedAt": "TIMESTAMP",
-      "status": "succeeded"
     }
   ],
   "config": {
@@ -31721,7 +5968,34 @@
     "protocolType": "python"
   },
   "createdAt": "TIMESTAMP",
-  "errors": [],
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ValidationError [line 54]: 2 validation errors for LoadLabwareParams\ndisplayName.str\n  Input should be a valid string [type=string_type, input_value=8, input_type=int]\n    For further information visit https://errors.pydantic.dev/2.10/v/string_type\ndisplayName.none\n  Input should be None [type=none_required, input_value=8, input_type=int]\n    For further information visit https://errors.pydantic.dev/2.10/v/none_required",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "pydantic_core._pydantic_core.ValidationError: 2 validation errors for LoadLabwareParams\ndisplayName.str\n  Input should be a valid string [type=string_type, input_value=8, input_type=int]\n    For further information visit https://errors.pydantic.dev/2.10/v/string_type\ndisplayName.none\n  Input should be None [type=none_required, input_value=8, input_type=int]\n    For further information visit https://errors.pydantic.dev/2.10/v/none_required",
+          "errorCode": "4000",
+          "errorInfo": {
+            "args": "()",
+            "class": "ValidationError",
+            "title": "LoadLabwareParams",
+            "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocols/execution/execute_python.py\", line N, in exec_run\n    exec(\"run(__context)\", new_globs)\n\n  File \"<string>\", line N, in <module>\n\n  File \"pl_langone_ribo_pt1_ramp.py\", line N, in run\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_api/module_contexts.py\", line N, in load_labware\n    labware_core = self._protocol_core.load_labware(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_api/core/engine/protocol.py\", line N, in load_labware\n    cmd.LoadLabwareParams(\n\n  File \"/usr/local/lib/python3.10/site-packages/pydantic/main.py\", line N, in __init__\n    validated_self = self.__pydantic_validator__.validate_python(data, self_instance=self)\n"
+          },
+          "errorType": "PythonException",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": []
+        }
+      ]
+    }
+  ],
   "files": [
     {
       "name": "pl_langone_ribo_pt1_ramp.py",
@@ -31737,12 +6011,6 @@
         "slotName": "A3"
       }
     },
-    {
-      "definitionUri": "opentrons/opentrons_96_wellplate_200ul_pcr_full_skirt/2",
-      "id": "UUID",
-      "loadName": "opentrons_96_wellplate_200ul_pcr_full_skirt",
-      "location": "offDeck"
-    },
     {
       "definitionUri": "opentrons/opentrons_96_wellplate_200ul_pcr_full_skirt/2",
       "id": "UUID",
@@ -31755,155 +6023,25 @@
       "definitionUri": "opentrons/opentrons_96_wellplate_200ul_pcr_full_skirt/2",
       "id": "UUID",
       "loadName": "opentrons_96_wellplate_200ul_pcr_full_skirt",
-      "location": {
-        "moduleId": "UUID"
-      }
+      "location": "offDeck"
     },
     {
-      "definitionUri": "opentrons/nest_96_wellplate_2ml_deep/2",
+      "definitionUri": "opentrons/opentrons_96_wellplate_200ul_pcr_full_skirt/2",
       "id": "UUID",
-      "loadName": "nest_96_wellplate_2ml_deep",
-      "location": {
-        "moduleId": "UUID"
-      }
+      "loadName": "opentrons_96_wellplate_200ul_pcr_full_skirt",
+      "location": "offDeck"
     },
     {
       "definitionUri": "opentrons/nest_96_wellplate_2ml_deep/2",
-      "displayName": "8",
       "id": "UUID",
       "loadName": "nest_96_wellplate_2ml_deep",
       "location": {
         "moduleId": "UUID"
       }
-    },
-    {
-      "definitionUri": "opentrons/nest_12_reservoir_15ml/1",
-      "id": "UUID",
-      "loadName": "nest_12_reservoir_15ml",
-      "location": {
-        "slotName": "A2"
-      }
-    },
-    {
-      "definitionUri": "opentrons/opentrons_flex_96_tiprack_50ul/1",
-      "id": "UUID",
-      "loadName": "opentrons_flex_96_tiprack_50ul",
-      "location": {
-        "slotName": "C1"
-      }
-    },
-    {
-      "definitionUri": "opentrons/opentrons_flex_96_tiprack_50ul/1",
-      "id": "UUID",
-      "loadName": "opentrons_flex_96_tiprack_50ul",
-      "location": {
-        "slotName": "C2"
-      }
-    },
-    {
-      "definitionUri": "opentrons/opentrons_flex_96_tiprack_200ul/1",
-      "id": "UUID",
-      "loadName": "opentrons_flex_96_tiprack_200ul",
-      "location": {
-        "slotName": "B2"
-      }
-    },
-    {
-      "definitionUri": "opentrons/opentrons_flex_96_tiprack_200ul/1",
-      "id": "UUID",
-      "loadName": "opentrons_flex_96_tiprack_200ul",
-      "location": {
-        "slotName": "B3"
-      }
     }
   ],
   "liquidClasses": [],
-  "liquids": [
-    {
-      "description": "DB1/DP1",
-      "displayColor": "#7EFF42",
-      "displayName": "DB1/DP1",
-      "id": "UUID"
-    },
-    {
-      "description": "RDB/RDE",
-      "displayColor": "#50D5FF",
-      "displayName": "RDB/RDE",
-      "id": "UUID"
-    },
-    {
-      "description": "PRB/PRE",
-      "displayColor": "#FF4F4F",
-      "displayName": "PRB/PRE",
-      "id": "UUID"
-    },
-    {
-      "description": "EPH3",
-      "displayColor": "#B925FF",
-      "displayName": "EPH3",
-      "id": "UUID"
-    },
-    {
-      "description": "FSA/RVT",
-      "displayColor": "#FF9900",
-      "displayName": "FSA/RVT",
-      "id": "UUID"
-    },
-    {
-      "description": "SMM",
-      "displayColor": "#0019FF",
-      "displayName": "SMM",
-      "id": "UUID"
-    },
-    {
-      "description": "BEADS",
-      "displayColor": "#007AFF",
-      "displayName": "BEADS",
-      "id": "UUID"
-    },
-    {
-      "description": "ETHANOL",
-      "displayColor": "#FF0076",
-      "displayName": "ETHANOL",
-      "id": "UUID"
-    },
-    {
-      "description": "ELUTION BUFFER",
-      "displayColor": "#00FFBC",
-      "displayName": "ELUTION BUFFER",
-      "id": "UUID"
-    },
-    {
-      "description": "RSB",
-      "displayColor": "#00AAFF",
-      "displayName": "RSB",
-      "id": "UUID"
-    },
-    {
-      "description": "Sample",
-      "displayColor": "#008000",
-      "displayName": "Sample",
-      "id": "UUID"
-    },
-    {
-      "description": "Mastermix",
-      "displayColor": "#008000",
-      "displayName": "Mastermix",
-      "id": "UUID"
-    },
-    {
-      "description": "Water",
-      "displayColor": "#A52A2A",
-      "displayName": "Water",
-      "id": "UUID"
-    },
-    {
-      "description": "DNA",
-      "displayColor": "#A52A2A",
-      "displayName": "DNA",
-      "id": "UUID"
-    }
-  ],
+  "liquids": [],
   "metadata": {
     "author": "Rami Farawi <ndiehl@opentrons.com",
     "ctx.Name": "RNA seq RiboZero Plus - Part 1"
@@ -31941,19 +6079,8 @@
       "serialNumber": "UUID"
     }
   ],
-  "pipettes": [
-    {
-      "id": "UUID",
-      "mount": "left",
-      "pipetteName": "p50_multi_flex"
-    },
-    {
-      "id": "UUID",
-      "mount": "right",
-      "pipetteName": "p1000_multi_flex"
-    }
-  ],
-  "result": "ok",
+  "pipettes": [],
+  "result": "not-ok",
   "robotType": "OT-3 Standard",
   "runTimeParameters": []
 }
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2eaf98de6a][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_TriggerPrepareForMountMovement].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2eaf98de6a][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_TriggerPrepareForMountMovement].json
index 9a752b5cc56..527f7681c11 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2eaf98de6a][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_TriggerPrepareForMountMovement].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[2eaf98de6a][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_TriggerPrepareForMountMovement].json
@@ -12519,9 +12519,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -13071,9 +13071,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json
index 99eecf6abd7..1834b4808d1 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3251c6e175][OT2_S_v2_2_P300S_None_MM1_MM2_EngageMagHeightFromBase].json
@@ -1489,9 +1489,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "top"
         },
@@ -1503,9 +1503,9 @@
           "y": 0.0,
           "z": 0.0
         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 51.099999999999994,
-        "tipVolume": 300
+        "tipVolume": 300.0
       },
       "startedAt": "TIMESTAMP",
       "status": "succeeded"
@@ -1523,9 +1523,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -1553,9 +1553,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "top"
         },
@@ -1567,9 +1567,9 @@
           "y": 0.0,
           "z": 0.0
         },
-        "tipDiameter": 0,
+        "tipDiameter": 0.0,
         "tipLength": 51.099999999999994,
-        "tipVolume": 300
+        "tipVolume": 300.0
       },
       "startedAt": "TIMESTAMP",
       "status": "succeeded"
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3a039d726f][pl_Dynabeads_IP_Flex_96well_final].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3a039d726f][pl_Dynabeads_IP_Flex_96well_final].json
index 571c18a8986..67b6613beee 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3a039d726f][pl_Dynabeads_IP_Flex_96well_final].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[3a039d726f][pl_Dynabeads_IP_Flex_96well_final].json
@@ -10977,9 +10977,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -11269,9 +11269,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -11499,9 +11499,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -11729,9 +11729,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -11959,9 +11959,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -12189,9 +12189,9 @@
         "pipetteId": "UUID",
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[51fc977577][OT2_S_v6_P300M_P20S_MixTransferManyLiquids].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[51fc977577][OT2_S_v6_P300M_P20S_MixTransferManyLiquids].json
index 40774e92cc3..edb78f79ace 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[51fc977577][OT2_S_v6_P300M_P20S_MixTransferManyLiquids].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[5c57add326][pl_Omega_HDQ_DNA_Bacteria_Flex_96_channel].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[5c57add326][pl_Omega_HDQ_DNA_Bacteria_Flex_96_channel].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[63ea171b47][pl_M_N_Nucleomag_DNA_Flex_multi].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[63ea171b47][pl_M_N_Nucleomag_DNA_Flex_multi].json
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index 64fbca40974..c37d22a7b4b 100644
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json
index a446fa1799b..8055e83d1b7 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[94913d2988][OT2_S_v3_P300SGen1_None_Gen1PipetteSimple].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[95da6fbef2][Flex_S_2_15_P1000M_GRIP_HS_TM_MB_OmegaHDQDNAExtractionBacteria].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[95da6fbef2][Flex_S_2_15_P1000M_GRIP_HS_TM_MB_OmegaHDQDNAExtractionBacteria].json
index 7e82355e220..3dc6df75eb5 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[95da6fbef2][Flex_S_2_15_P1000M_GRIP_HS_TM_MB_OmegaHDQDNAExtractionBacteria].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[95da6fbef2][Flex_S_2_15_P1000M_GRIP_HS_TM_MB_OmegaHDQDNAExtractionBacteria].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a4d3b3a2d3][pl_96_ch_demo_rtp_with_hs].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a4d3b3a2d3][pl_96_ch_demo_rtp_with_hs].json
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--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a4d3b3a2d3][pl_96_ch_demo_rtp_with_hs].json
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@@ -12333,9 +12333,9 @@
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@@ -12367,9 +12367,9 @@
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@@ -12435,9 +12435,9 @@
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@@ -12469,9 +12469,9 @@
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@@ -12503,9 +12503,9 @@
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@@ -12552,9 +12552,9 @@
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@@ -12586,9 +12586,9 @@
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@@ -12620,9 +12620,9 @@
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@@ -12668,9 +12668,9 @@
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@@ -12768,9 +12768,9 @@
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@@ -12801,9 +12801,9 @@
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@@ -12835,9 +12835,9 @@
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@@ -12868,9 +12868,9 @@
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@@ -12968,9 +12968,9 @@
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@@ -13065,9 +13065,9 @@
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@@ -13099,9 +13099,9 @@
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@@ -13531,9 +13531,9 @@
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@@ -13565,9 +13565,9 @@
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@@ -13598,9 +13598,9 @@
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@@ -13663,9 +13663,9 @@
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@@ -13697,9 +13697,9 @@
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@@ -13774,9 +13774,9 @@
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@@ -13788,9 +13788,9 @@
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@@ -13843,9 +13843,9 @@
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@@ -13876,9 +13876,9 @@
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@@ -13908,9 +13908,9 @@
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@@ -13942,9 +13942,9 @@
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@@ -13975,9 +13975,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a8a5ad823d][pl_cherrypicking_flex_v3].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a8a5ad823d][pl_cherrypicking_flex_v3].json
index 63d50a1508a..335d8570804 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a8a5ad823d][pl_cherrypicking_flex_v3].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a8a5ad823d][pl_cherrypicking_flex_v3].json
@@ -9978,9 +9978,9 @@
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@@ -10110,9 +10110,9 @@
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@@ -10242,9 +10242,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ac5a46e74b][pl_langone_pt2_ribo].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ac5a46e74b][pl_langone_pt2_ribo].json
index 6bbc9666568..6f5fe499523 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ac5a46e74b][pl_langone_pt2_ribo].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ac5a46e74b][pl_langone_pt2_ribo].json
@@ -17932,9 +17932,9 @@
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@@ -18614,9 +18614,9 @@
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@@ -19292,9 +19292,9 @@
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@@ -21620,9 +21620,9 @@
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@@ -21924,9 +21924,9 @@
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@@ -22328,9 +22328,9 @@
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@@ -22718,9 +22718,9 @@
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@@ -24906,9 +24906,9 @@
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@@ -27547,9 +27547,9 @@
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@@ -28223,9 +28223,9 @@
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@@ -28581,9 +28581,9 @@
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@@ -29686,9 +29686,9 @@
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@@ -29946,9 +29946,9 @@
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index 47f6cf592cf..3436029e76b 100644
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+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ac886d7768][Flex_S_v2_15_P1000_96_GRIP_HS_MB_TC_TM_IDTXgen96Part1to3].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c064d0de2c][OT2_S_v6_P1000S_None_SimpleTransfer].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c064d0de2c][OT2_S_v6_P1000S_None_SimpleTransfer].json
index 85bd3c10876..3bca981777a 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c064d0de2c][OT2_S_v6_P1000S_None_SimpleTransfer].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c064d0de2c][OT2_S_v6_P1000S_None_SimpleTransfer].json
@@ -1731,9 +1731,9 @@
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+            "x": 0.0,
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@@ -1766,8 +1766,8 @@
         "volume": 400.0,
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+            "x": 0.0,
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@@ -1800,8 +1800,8 @@
         "volume": 400.0,
         "wellLocation": {
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@@ -1834,8 +1834,8 @@
         "volume": 400.0,
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@@ -1868,8 +1868,8 @@
         "volume": 400.0,
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@@ -1901,9 +1901,9 @@
         "pipetteId": "UUID",
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+            "x": 0.0,
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json
index 860e0a4992d..3d8d850d34e 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c821e64fad][OT2_S_v2_13_P300M_P20S_MM_TC_TM_Smoke620Release].json
@@ -7753,9 +7753,9 @@
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@@ -7767,9 +7767,9 @@
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+        "tipDiameter": 0.0,
         "tipLength": 30.950000000000003,
-        "tipVolume": 20
+        "tipVolume": 20.0
       },
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       "status": "succeeded"
@@ -7788,9 +7788,9 @@
         "volume": 19.0,
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@@ -7822,9 +7822,9 @@
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@@ -7855,9 +7855,9 @@
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@@ -7888,9 +7888,9 @@
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@@ -7922,9 +7922,9 @@
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@@ -7955,9 +7955,9 @@
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@@ -7988,9 +7988,9 @@
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@@ -8022,9 +8022,9 @@
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@@ -8055,9 +8055,9 @@
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@@ -8088,9 +8088,9 @@
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@@ -8122,9 +8122,9 @@
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@@ -8155,9 +8155,9 @@
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@@ -8188,9 +8188,9 @@
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@@ -8222,9 +8222,9 @@
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@@ -8255,9 +8255,9 @@
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@@ -8288,9 +8288,9 @@
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@@ -8322,9 +8322,9 @@
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@@ -8355,9 +8355,9 @@
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@@ -8388,9 +8388,9 @@
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@@ -8422,9 +8422,9 @@
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@@ -8455,9 +8455,9 @@
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@@ -8488,9 +8488,9 @@
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@@ -8522,9 +8522,9 @@
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@@ -8555,9 +8555,9 @@
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@@ -8588,9 +8588,9 @@
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@@ -8622,9 +8622,9 @@
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@@ -8655,9 +8655,9 @@
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@@ -8688,9 +8688,9 @@
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@@ -8722,9 +8722,9 @@
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@@ -8755,9 +8755,9 @@
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@@ -8788,9 +8788,9 @@
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@@ -8822,9 +8822,9 @@
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@@ -8855,9 +8855,9 @@
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@@ -8888,9 +8888,9 @@
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@@ -8922,9 +8922,9 @@
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@@ -8955,9 +8955,9 @@
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@@ -8988,9 +8988,9 @@
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@@ -9022,9 +9022,9 @@
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@@ -9055,9 +9055,9 @@
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@@ -9088,9 +9088,9 @@
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@@ -9122,9 +9122,9 @@
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@@ -9155,9 +9155,9 @@
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@@ -9188,9 +9188,9 @@
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@@ -9222,9 +9222,9 @@
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@@ -9255,9 +9255,9 @@
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@@ -9288,9 +9288,9 @@
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@@ -9322,9 +9322,9 @@
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@@ -9355,9 +9355,9 @@
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@@ -9388,9 +9388,9 @@
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@@ -9422,9 +9422,9 @@
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@@ -9455,9 +9455,9 @@
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@@ -9487,9 +9487,9 @@
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@@ -10162,9 +10162,9 @@
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@@ -10176,9 +10176,9 @@
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+        "tipDiameter": 0.0,
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@@ -10197,9 +10197,9 @@
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@@ -10231,9 +10231,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c8d2ca0089][Flex_S_v2_18_QIASeq_FX_48x].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c8d2ca0089][Flex_S_v2_18_QIASeq_FX_48x].json
index 0ca8d07a257..6c54624f311 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c8d2ca0089][Flex_S_v2_18_QIASeq_FX_48x].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json
index 6d0b54aca57..e361a770403 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[c9e6e3d59d][OT2_X_v4_P300M_P20S_MM_TC1_TM_e2eTests].json
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index 24fdb3ce9d5..a2fa133144c 100644
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+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[cb5adc3d23][OT2_S_v6_P20S_P300M_TransferReTransferLiquid].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[cecd51c8ee][pl_ExpressPlex_96_final].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[cecd51c8ee][pl_ExpressPlex_96_final].json
index f25a99a256d..e899cd56b74 100644
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d14738bdfe][pl_Zymo_Magbead_DNA_Cells_Flex_multi].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d14738bdfe][pl_Zymo_Magbead_DNA_Cells_Flex_multi].json
index 5f8a3cd017b..14a7616b697 100644
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d29d74d7fb][pl_QIASeq_FX_48x_v8].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d29d74d7fb][pl_QIASeq_FX_48x_v8].json
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--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d29d74d7fb][pl_QIASeq_FX_48x_v8].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6389183c0][pl_AMPure_XP_48x_v8].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[d6389183c0][pl_AMPure_XP_48x_v8].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f24bb0b4d9][Flex_S_v2_15_P1000_96_GRIP_HS_MB_TC_TM_IlluminaDNAPrep96PART3].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f24bb0b4d9][Flex_S_v2_15_P1000_96_GRIP_HS_MB_TC_TM_IlluminaDNAPrep96PART3].json
index 4edad2057aa..bcc3989e9f6 100644
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+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f24bb0b4d9][Flex_S_v2_15_P1000_96_GRIP_HS_MB_TC_TM_IlluminaDNAPrep96PART3].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f301704f56][OT2_S_v6_P300M_P300S_HS_HS_NormalUseWithTransfer].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f301704f56][OT2_S_v6_P300M_P300S_HS_HS_NormalUseWithTransfer].json
index f8f18638c3c..3e8b4c50dea 100644
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@@ -6311,8 +6311,8 @@
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@@ -6647,8 +6647,8 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json
index 9fe2587f149..2b339c70d69 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f345e8e33a][OT2_S_v4_P300M_P20S_MM_TM_TC1_PD40].json
@@ -6992,9 +6992,9 @@
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@@ -7006,9 +7006,9 @@
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@@ -7027,9 +7027,9 @@
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@@ -7061,9 +7061,9 @@
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@@ -7094,9 +7094,9 @@
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@@ -7169,9 +7169,9 @@
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@@ -7183,9 +7183,9 @@
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@@ -7204,9 +7204,9 @@
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@@ -7238,9 +7238,9 @@
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@@ -7272,9 +7272,9 @@
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@@ -7306,9 +7306,9 @@
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@@ -7340,9 +7340,9 @@
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@@ -7374,9 +7374,9 @@
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@@ -7408,9 +7408,9 @@
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@@ -7442,9 +7442,9 @@
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@@ -7476,9 +7476,9 @@
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@@ -7543,9 +7543,9 @@
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@@ -7587,9 +7587,9 @@
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@@ -7608,9 +7608,9 @@
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@@ -7642,9 +7642,9 @@
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@@ -7676,9 +7676,9 @@
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@@ -7710,9 +7710,9 @@
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@@ -7744,9 +7744,9 @@
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@@ -7778,9 +7778,9 @@
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@@ -7812,9 +7812,9 @@
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@@ -7846,9 +7846,9 @@
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@@ -7880,9 +7880,9 @@
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@@ -7914,9 +7914,9 @@
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@@ -8012,9 +8012,9 @@
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@@ -8046,9 +8046,9 @@
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@@ -8080,9 +8080,9 @@
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@@ -8114,9 +8114,9 @@
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@@ -8148,9 +8148,9 @@
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@@ -8182,9 +8182,9 @@
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@@ -8216,9 +8216,9 @@
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@@ -8250,9 +8250,9 @@
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@@ -8284,9 +8284,9 @@
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@@ -8318,9 +8318,9 @@
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@@ -8351,9 +8351,9 @@
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@@ -8450,9 +8450,9 @@
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@@ -8722,9 +8722,9 @@
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@@ -8755,9 +8755,9 @@
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@@ -9024,9 +9024,9 @@
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@@ -9058,9 +9058,9 @@
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@@ -9092,9 +9092,9 @@
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@@ -9126,9 +9126,9 @@
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@@ -9159,9 +9159,9 @@
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@@ -9258,9 +9258,9 @@
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@@ -9292,9 +9292,9 @@
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@@ -9326,9 +9326,9 @@
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@@ -9360,9 +9360,9 @@
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@@ -9394,9 +9394,9 @@
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@@ -9428,9 +9428,9 @@
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@@ -9462,9 +9462,9 @@
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@@ -9496,9 +9496,9 @@
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@@ -9530,9 +9530,9 @@
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@@ -9563,9 +9563,9 @@
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@@ -9607,9 +9607,9 @@
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@@ -9628,9 +9628,9 @@
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@@ -9662,9 +9662,9 @@
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@@ -9696,9 +9696,9 @@
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@@ -9730,9 +9730,9 @@
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@@ -9764,9 +9764,9 @@
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@@ -9798,9 +9798,9 @@
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@@ -9832,9 +9832,9 @@
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@@ -9866,9 +9866,9 @@
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@@ -9900,9 +9900,9 @@
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@@ -9934,9 +9934,9 @@
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@@ -9967,9 +9967,9 @@
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f51172f73b][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f51172f73b][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json
index 02fc36fe2bd..f7c55d75c85 100644
--- a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f51172f73b][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f51172f73b][Flex_S_v2_16_P1000_96_GRIP_HS_MB_TC_TM_Smoke].json
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diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f6c1ddbb32][pl_ExpressPlex_Pooling_Final].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[f6c1ddbb32][pl_ExpressPlex_Pooling_Final].json
index b4e6116993a..6ca5fe984f2 100644
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-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -30824,9 +30824,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31016,9 +31016,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31208,9 +31208,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31400,9 +31400,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31592,9 +31592,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31784,9 +31784,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -31976,9 +31976,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -32168,9 +32168,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -32360,9 +32360,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -32552,9 +32552,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -32744,9 +32744,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -32936,9 +32936,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -33128,9 +33128,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -33320,9 +33320,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -33512,9 +33512,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -33704,9 +33704,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -33896,9 +33896,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -34088,9 +34088,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -34280,9 +34280,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -34472,9 +34472,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -34664,9 +34664,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -34856,9 +34856,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -35048,9 +35048,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -35240,9 +35240,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -35432,9 +35432,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -35624,9 +35624,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -35816,9 +35816,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -36008,9 +36008,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -36200,9 +36200,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -36392,9 +36392,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -36584,9 +36584,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
@@ -36776,9 +36776,9 @@
         "pipetteId": "UUID",
         "wellLocation": {
           "offset": {
-            "x": 0,
-            "y": 0,
-            "z": 0
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0
           },
           "origin": "default"
         },
diff --git a/api/Pipfile b/api/Pipfile
index 950a39b9f71..39b6170566a 100755
--- a/api/Pipfile
+++ b/api/Pipfile
@@ -5,13 +5,15 @@ name = "pypi"
 
 [packages]
 jsonschema = "==4.17.3"
-pydantic = "==1.10.12"
+pydantic = "==2.9.0"
+pydantic-settings = "==2.4.0"
 anyio = "==3.7.1"
 opentrons-shared-data = { editable = true, path = "../shared-data/python" }
 opentrons = { editable = true, path = "." }
 opentrons-hardware = { editable = true, path = "./../hardware", extras=["FLEX"] }
+performance-metrics = {file = "../performance-metrics", editable = true}
 numpy = "==1.22.3"
-packaging = "==21.3"
+packaging = "==22.0"
 pyusb = "==1.2.1"
 
 [dev-packages]
@@ -21,7 +23,7 @@ pyusb = "==1.2.1"
 atomicwrites = { version = "==1.4.0", markers="sys_platform=='win32'" }
 colorama = { version = "==0.4.4", markers="sys_platform=='win32'" }
 coverage = "==7.4.1"
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 numpydoc = "==0.9.1"
 pytest = "==7.4.4"
 pytest-asyncio = "~=0.23.0"
@@ -50,4 +52,3 @@ pytest-profiling = "~=1.7.0"
 # TODO(mc, 2022-03-31): upgrade sphinx, remove this subdep pin
 jinja2 = ">=2.3,<3.1"
 hypothesis = "==6.96.1"
-performance-metrics = {file = "../performance-metrics", editable = true}
diff --git a/api/Pipfile.lock b/api/Pipfile.lock
index f423cb7e2ca..27a195a29e3 100644
--- a/api/Pipfile.lock
+++ b/api/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "f931b3b78087f32b1e1d8b344f4d01258b4fbb62cf22d59910f90041a72da0b5"
+            "sha256": "6c57732ab68828247e656cadaa071cc60bb7ee56cdc89b9f26c56d0f17aec7a6"
         },
         "pipfile-spec": 6,
         "requires": {},
@@ -19,8 +19,17 @@
                 "sha256:25816a9eef030c774beaee22189a24e29bc43f81cebe574ef723851eaf89ddee",
                 "sha256:9651e1373873c75786101330e302e114f85b6e8b5ad70b491497c8b3609a8449"
             ],
+            "markers": "python_version >= '3.8'",
             "version": "==0.3.1"
         },
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "anyio": {
             "hashes": [
                 "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780",
@@ -32,11 +41,11 @@
         },
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346",
+                "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
         },
         "click": {
             "hashes": [
@@ -48,19 +57,19 @@
         },
         "exceptiongroup": {
             "hashes": [
-                "sha256:5258b9ed329c5bbdd31a309f53cbfb0b155341807f6ff7606a1e801a891b29ad",
-                "sha256:a4785e48b045528f5bfe627b6ad554ff32def154f42372786903b7abcfe1aa16"
+                "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b",
+                "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==1.2.1"
+            "version": "==1.2.2"
         },
         "idna": {
             "hashes": [
-                "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc",
-                "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"
+                "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac",
+                "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603"
             ],
-            "markers": "python_version >= '3.5'",
-            "version": "==3.7"
+            "markers": "python_version >= '3.6'",
+            "version": "==3.8"
         },
         "jsonschema": {
             "hashes": [
@@ -179,63 +188,129 @@
         },
         "packaging": {
             "hashes": [
-                "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb",
-                "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"
+                "sha256:2198ec20bd4c017b8f9717e00f0c8714076fc2fd93816750ab48e2c41de2cfd3",
+                "sha256:957e2148ba0e1a3b282772e791ef1d8083648bc131c8ab0c1feba110ce1146c3"
             ],
             "index": "pypi",
-            "markers": "python_version >= '3.6'",
-            "version": "==21.3"
+            "markers": "python_version >= '3.7'",
+            "version": "==22.0"
+        },
+        "performance-metrics": {
+            "editable": true,
+            "file": "../performance-metrics"
         },
         "pydantic": {
             "hashes": [
-                "sha256:0fe8a415cea8f340e7a9af9c54fc71a649b43e8ca3cc732986116b3cb135d303",
-                "sha256:1289c180abd4bd4555bb927c42ee42abc3aee02b0fb2d1223fb7c6e5bef87dbe",
-                "sha256:1eb2085c13bce1612da8537b2d90f549c8cbb05c67e8f22854e201bde5d98a47",
-                "sha256:2031de0967c279df0d8a1c72b4ffc411ecd06bac607a212892757db7462fc494",
-                "sha256:2a7bac939fa326db1ab741c9d7f44c565a1d1e80908b3797f7f81a4f86bc8d33",
-                "sha256:2d5a58feb9a39f481eda4d5ca220aa8b9d4f21a41274760b9bc66bfd72595b86",
-                "sha256:2f9a6fab5f82ada41d56b0602606a5506aab165ca54e52bc4545028382ef1c5d",
-                "sha256:2fcfb5296d7877af406ba1547dfde9943b1256d8928732267e2653c26938cd9c",
-                "sha256:549a8e3d81df0a85226963611950b12d2d334f214436a19537b2efed61b7639a",
-                "sha256:598da88dfa127b666852bef6d0d796573a8cf5009ffd62104094a4fe39599565",
-                "sha256:5d1197e462e0364906cbc19681605cb7c036f2475c899b6f296104ad42b9f5fb",
-                "sha256:69328e15cfda2c392da4e713443c7dbffa1505bc9d566e71e55abe14c97ddc62",
-                "sha256:6a9dfa722316f4acf4460afdf5d41d5246a80e249c7ff475c43a3a1e9d75cf62",
-                "sha256:6b30bcb8cbfccfcf02acb8f1a261143fab622831d9c0989707e0e659f77a18e0",
-                "sha256:6c076be61cd0177a8433c0adcb03475baf4ee91edf5a4e550161ad57fc90f523",
-                "sha256:771735dc43cf8383959dc9b90aa281f0b6092321ca98677c5fb6125a6f56d58d",
-                "sha256:795e34e6cc065f8f498c89b894a3c6da294a936ee71e644e4bd44de048af1405",
-                "sha256:87afda5539d5140cb8ba9e8b8c8865cb5b1463924d38490d73d3ccfd80896b3f",
-                "sha256:8fb2aa3ab3728d950bcc885a2e9eff6c8fc40bc0b7bb434e555c215491bcf48b",
-                "sha256:a1fcb59f2f355ec350073af41d927bf83a63b50e640f4dbaa01053a28b7a7718",
-                "sha256:a5e7add47a5b5a40c49b3036d464e3c7802f8ae0d1e66035ea16aa5b7a3923ed",
-                "sha256:a73f489aebd0c2121ed974054cb2759af8a9f747de120acd2c3394cf84176ccb",
-                "sha256:ab26038b8375581dc832a63c948f261ae0aa21f1d34c1293469f135fa92972a5",
-                "sha256:b0d191db0f92dfcb1dec210ca244fdae5cbe918c6050b342d619c09d31eea0cc",
-                "sha256:b749a43aa51e32839c9d71dc67eb1e4221bb04af1033a32e3923d46f9effa942",
-                "sha256:b7ccf02d7eb340b216ec33e53a3a629856afe1c6e0ef91d84a4e6f2fb2ca70fe",
-                "sha256:ba5b2e6fe6ca2b7e013398bc7d7b170e21cce322d266ffcd57cca313e54fb246",
-                "sha256:ba5c4a8552bff16c61882db58544116d021d0b31ee7c66958d14cf386a5b5350",
-                "sha256:c79e6a11a07da7374f46970410b41d5e266f7f38f6a17a9c4823db80dadf4303",
-                "sha256:ca48477862372ac3770969b9d75f1bf66131d386dba79506c46d75e6b48c1e09",
-                "sha256:dea7adcc33d5d105896401a1f37d56b47d443a2b2605ff8a969a0ed5543f7e33",
-                "sha256:e0a16d274b588767602b7646fa05af2782576a6cf1022f4ba74cbb4db66f6ca8",
-                "sha256:e4129b528c6baa99a429f97ce733fff478ec955513630e61b49804b6cf9b224a",
-                "sha256:e5f805d2d5d0a41633651a73fa4ecdd0b3d7a49de4ec3fadf062fe16501ddbf1",
-                "sha256:ef6c96b2baa2100ec91a4b428f80d8f28a3c9e53568219b6c298c1125572ebc6",
-                "sha256:fdbdd1d630195689f325c9ef1a12900524dceb503b00a987663ff4f58669b93d"
+                "sha256:c7a8a9fdf7d100afa49647eae340e2d23efa382466a8d177efcd1381e9be5598",
+                "sha256:f66a7073abd93214a20c5f7b32d56843137a7a2e70d02111f3be287035c45370"
             ],
             "index": "pypi",
-            "markers": "python_version >= '3.7'",
-            "version": "==1.10.12"
+            "markers": "python_version >= '3.8'",
+            "version": "==2.9.0"
+        },
+        "pydantic-core": {
+            "hashes": [
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@@ -290,6 +365,14 @@
             "markers": "python_version >= '3.7'",
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@@ -301,11 +384,11 @@
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@@ -320,9 +403,17 @@
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@@ -419,19 +510,19 @@
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@@ -473,11 +564,11 @@
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@@ -730,11 +821,11 @@
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@@ -782,51 +873,51 @@
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@@ -847,11 +938,11 @@
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@@ -863,11 +954,11 @@
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@@ -887,19 +978,19 @@
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@@ -910,132 +1001,133 @@
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@@ -1172,45 +1264,45 @@
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@@ -1222,24 +1314,24 @@
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@@ -1540,12 +1553,12 @@
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@@ -1596,7 +1609,7 @@
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@@ -1695,27 +1708,27 @@
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             "hashes": [
-                "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015",
-                "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"
+                "sha256:166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8",
+                "sha256:c9e2916ace8aad64cc13a0d233ee22317f2b9025b9cf3295249fa985cc7082e9"
             ],
             "markers": "python_version >= '3.9'",
-            "version": "==2.0.5"
+            "version": "==2.1.0"
         },
         "sphinxcontrib-jsmath": {
             "hashes": [
@@ -1727,19 +1740,19 @@
         },
         "sphinxcontrib-qthelp": {
             "hashes": [
-                "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6",
-                "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182"
+                "sha256:4fe7d0ac8fc171045be623aba3e2a8f613f8682731f9153bb2e40ece16b9bbab",
+                "sha256:b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb"
             ],
             "markers": "python_version >= '3.9'",
-            "version": "==1.0.7"
+            "version": "==2.0.0"
         },
         "sphinxcontrib-serializinghtml": {
             "hashes": [
-                "sha256:326369b8df80a7d2d8d7f99aa5ac577f51ea51556ed974e7716cfd4fca3f6cb7",
-                "sha256:93f3f5dc458b91b192fe10c397e324f262cf163d79f3282c158e8436a2c4511f"
+                "sha256:6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331",
+                "sha256:e9d912827f872c029017a53f0ef2180b327c3f7fd23c87229f7a8e8b70031d4d"
             ],
             "markers": "python_version >= '3.9'",
-            "version": "==1.1.10"
+            "version": "==2.0.0"
         },
         "sphinxext-opengraph": {
             "hashes": [
@@ -1798,7 +1811,7 @@
                 "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
                 "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
-            "markers": "python_version >= '3.8'",
+            "markers": "python_version < '3.13'",
             "version": "==4.12.2"
         },
         "urllib3": {
@@ -1820,11 +1833,11 @@
         },
         "zipp": {
             "hashes": [
-                "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19",
-                "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"
+                "sha256:9960cd8967c8f85a56f920d5d507274e74f9ff813a0ab8889a5b5be2daf44064",
+                "sha256:c22b14cc4763c5a5b04134207736c107db42e9d3ef2d9779d465f5f1bcba572b"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==3.19.2"
+            "version": "==3.20.1"
         }
     }
 }
diff --git a/api/setup.py b/api/setup.py
index 92f06b49bef..a85fc83f114 100755
--- a/api/setup.py
+++ b/api/setup.py
@@ -59,9 +59,11 @@ def get_version():
     f"opentrons-shared-data=={VERSION}",
     "aionotify==0.3.1",
     "anyio>=3.6.1,<4.0.0",
+    # todo(mm, 2024-12-14): investigate ref resolution problems caused by jsonschema>=4.18.1.
     "jsonschema>=3.0.1,<4.18.0",
     "numpy>=1.20.0,<2",
-    "pydantic>=1.10.9,<2.0.0",
+    "pydantic>=2.0.0,<3",
+    "pydantic-settings>=2,<3",
     "pyserial>=3.5",
     "typing-extensions>=4.0.0,<5",
     "click>=8.0.0,<9",
diff --git a/api/src/opentrons/calibration_storage/deck_configuration.py b/api/src/opentrons/calibration_storage/deck_configuration.py
index a627fce73c9..5c97ab37f25 100644
--- a/api/src/opentrons/calibration_storage/deck_configuration.py
+++ b/api/src/opentrons/calibration_storage/deck_configuration.py
@@ -10,7 +10,7 @@
 class _CutoutFixturePlacementModel(pydantic.BaseModel):
     cutoutId: str
     cutoutFixtureId: str
-    opentronsModuleSerialNumber: Optional[str]
+    opentronsModuleSerialNumber: Optional[str] = None
 
 
 class _DeckConfigurationModel(pydantic.BaseModel):
diff --git a/api/src/opentrons/calibration_storage/file_operators.py b/api/src/opentrons/calibration_storage/file_operators.py
index 70c16297ecd..ddc046fd828 100644
--- a/api/src/opentrons/calibration_storage/file_operators.py
+++ b/api/src/opentrons/calibration_storage/file_operators.py
@@ -133,7 +133,7 @@ def deserialize_pydantic_model(
     Returns `None` if the file is missing or corrupt.
     """
     try:
-        return model.parse_raw(serialized)
+        return model.model_validate_json(serialized)
     except json.JSONDecodeError:
         _log.warning("Data is not valid JSON.", exc_info=True)
         return None
diff --git a/api/src/opentrons/calibration_storage/helpers.py b/api/src/opentrons/calibration_storage/helpers.py
index 1d271add9dd..db11dac3453 100644
--- a/api/src/opentrons/calibration_storage/helpers.py
+++ b/api/src/opentrons/calibration_storage/helpers.py
@@ -31,7 +31,9 @@ def convert_to_dict(obj: Any) -> Dict[str, Any]:
     # https://github.com/python/mypy/issues/6568
     # Unfortunately, since it's not currently supported I have an
     # assert check instead.
-    assert is_dataclass(obj), "This function is intended for dataclasses only"
+    assert is_dataclass(obj) and not isinstance(
+        obj, type
+    ), "This function is intended for dataclasses only"
     return asdict(obj, dict_factory=dict_filter_none)
 
 
diff --git a/api/src/opentrons/calibration_storage/ot2/models/v1.py b/api/src/opentrons/calibration_storage/ot2/models/v1.py
index 922922415c8..23836e67c98 100644
--- a/api/src/opentrons/calibration_storage/ot2/models/v1.py
+++ b/api/src/opentrons/calibration_storage/ot2/models/v1.py
@@ -1,7 +1,7 @@
 import typing
 
 from typing_extensions import Literal
-from pydantic import BaseModel, Field, validator
+from pydantic import field_validator, BaseModel, Field, PlainSerializer
 from datetime import datetime
 
 from opentrons_shared_data.pipette.types import LabwareUri
@@ -9,11 +9,16 @@
 from opentrons.types import Point
 from opentrons.calibration_storage import types
 
+DatetimeType = typing.Annotated[
+    datetime,
+    PlainSerializer(lambda x: x.isoformat(), when_used="json"),
+]
+
 
 class CalibrationStatus(BaseModel):
     markedBad: bool = False
     source: typing.Optional[types.SourceType] = None
-    markedAt: typing.Optional[datetime] = None
+    markedAt: typing.Optional[DatetimeType] = None
 
 
 # Schemas used to store the data types
@@ -22,7 +27,7 @@ class CalibrationStatus(BaseModel):
 # they are currently saved in on the OT-2 to avoid a large migration.
 class TipLengthModel(BaseModel):
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     source: types.SourceType = Field(
@@ -40,22 +45,19 @@ class TipLengthModel(BaseModel):
         ..., description="The tiprack hash associated with the tip length data."
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class DeckCalibrationModel(BaseModel):
     attitude: types.AttitudeMatrix = Field(
         ..., description="Attitude matrix for deck found from calibration."
     )
-    last_modified: typing.Optional[datetime] = Field(
+    last_modified: typing.Optional[DatetimeType] = Field(
         default=None, description="The last time this deck was calibrated."
     )
     source: types.SourceType = Field(
@@ -72,10 +74,6 @@ class DeckCalibrationModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class InstrumentOffsetModel(BaseModel):
     offset: Point = Field(..., description="Instrument offset found from calibration.")
@@ -83,7 +81,7 @@ class InstrumentOffsetModel(BaseModel):
     uri: str = Field(
         ..., description="The URI of the labware used for instrument offset"
     )
-    last_modified: datetime = Field(
+    last_modified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -94,10 +92,6 @@ class InstrumentOffsetModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 # TODO(lc 09-19-2022) We need to refactor the calibration endpoints
 # so that we only need to use one data model schema. This model is a
@@ -112,7 +106,7 @@ class PipetteOffsetCalibration(BaseModel):
     uri: str = Field(
         ..., description="The URI of the labware used for instrument offset"
     )
-    last_modified: datetime = Field(
+    last_modified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -123,10 +117,6 @@ class PipetteOffsetCalibration(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 # TODO(lc 09-19-2022) We need to refactor the calibration endpoints
 # so that we only need to use one data model schema. This model is a
@@ -137,7 +127,7 @@ class TipLengthCalibration(BaseModel):
         ..., description="The tiprack hash associated with this tip length data."
     )
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     source: types.SourceType = Field(
@@ -151,12 +141,9 @@ class TipLengthCalibration(BaseModel):
         ..., description="The tiprack URI associated with the tip length data."
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
-
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
diff --git a/api/src/opentrons/calibration_storage/ot2/tip_length.py b/api/src/opentrons/calibration_storage/ot2/tip_length.py
index a0bcdcabf9d..a63472c9cea 100644
--- a/api/src/opentrons/calibration_storage/ot2/tip_length.py
+++ b/api/src/opentrons/calibration_storage/ot2/tip_length.py
@@ -24,8 +24,9 @@
 
 
 def _convert_tip_length_model_to_dict(
-    to_dict: typing.Dict[LabwareUri, v1.TipLengthModel]
+    to_dict: typing.Dict[LabwareUri, v1.TipLengthModel],
 ) -> typing.Dict[LabwareUri, typing.Any]:
+    # TODO[pydantic]: supported in Pydantic V2
     # This is a workaround since pydantic doesn't have a nice way to
     # add encoders when converting to a dict.
     dict_of_tip_lengths = {}
diff --git a/api/src/opentrons/calibration_storage/ot3/models/v1.py b/api/src/opentrons/calibration_storage/ot3/models/v1.py
index 55e028465c7..b895eac4c89 100644
--- a/api/src/opentrons/calibration_storage/ot3/models/v1.py
+++ b/api/src/opentrons/calibration_storage/ot3/models/v1.py
@@ -3,7 +3,7 @@
 from typing_extensions import Literal
 from opentrons.hardware_control.modules.types import ModuleType
 from opentrons.hardware_control.types import OT3Mount
-from pydantic import BaseModel, Field, validator
+from pydantic import field_validator, BaseModel, Field, PlainSerializer
 from datetime import datetime
 
 from opentrons_shared_data.pipette.types import LabwareUri
@@ -12,15 +12,21 @@
 from opentrons.calibration_storage import types
 
 
+DatetimeType = typing.Annotated[
+    datetime,
+    PlainSerializer(lambda x: x.isoformat(), when_used="json"),
+]
+
+
 class CalibrationStatus(BaseModel):
     markedBad: bool = False
     source: typing.Optional[types.SourceType] = None
-    markedAt: typing.Optional[datetime] = None
+    markedAt: typing.Optional[DatetimeType] = None
 
 
 class TipLengthModel(BaseModel):
     tipLength: float = Field(..., description="Tip length data found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this tip length was calibrated."
     )
     uri: typing.Union[LabwareUri, Literal[""]] = Field(
@@ -34,22 +40,19 @@ class TipLengthModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    @validator("tipLength")
+    @field_validator("tipLength")
+    @classmethod
     def ensure_tip_length_positive(cls, tipLength: float) -> float:
         if tipLength < 0.0:
             raise ValueError("Tip Length must be a positive number")
         return tipLength
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class BeltCalibrationModel(BaseModel):
     attitude: types.AttitudeMatrix = Field(
         ..., description="Attitude matrix for belts found from calibration."
     )
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this deck was calibrated."
     )
     source: types.SourceType = Field(
@@ -63,14 +66,10 @@ class BeltCalibrationModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class InstrumentOffsetModel(BaseModel):
     offset: Point = Field(..., description="Instrument offset found from calibration.")
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this instrument was calibrated."
     )
     source: types.SourceType = Field(
@@ -81,10 +80,6 @@ class InstrumentOffsetModel(BaseModel):
         description="The status of the calibration data.",
     )
 
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
-
 
 class ModuleOffsetModel(BaseModel):
     offset: Point = Field(..., description="Module offset found from calibration.")
@@ -99,7 +94,7 @@ class ModuleOffsetModel(BaseModel):
         ...,
         description="The unique id of the instrument used to calibrate this module.",
     )
-    lastModified: datetime = Field(
+    lastModified: DatetimeType = Field(
         ..., description="The last time this module was calibrated."
     )
     source: types.SourceType = Field(
@@ -109,7 +104,3 @@ class ModuleOffsetModel(BaseModel):
         default_factory=CalibrationStatus,
         description="The status of the calibration data.",
     )
-
-    class Config:
-        json_encoders = {datetime: lambda obj: obj.isoformat()}
-        json_decoders = {datetime: lambda obj: datetime.fromisoformat(obj)}
diff --git a/api/src/opentrons/cli/analyze.py b/api/src/opentrons/cli/analyze.py
index e98f3e807d7..1ce161a96a7 100644
--- a/api/src/opentrons/cli/analyze.py
+++ b/api/src/opentrons/cli/analyze.py
@@ -382,16 +382,20 @@ async def _analyze(
     else:
         result = AnalysisResult.OK
 
-    results = AnalyzeResults.construct(
+    results = AnalyzeResults.model_construct(
         createdAt=datetime.now(tz=timezone.utc),
         files=[
-            ProtocolFile.construct(name=f.path.name, role=f.role)
+            ProtocolFile.model_construct(name=f.path.name, role=f.role)
             for f in protocol_source.files
         ],
         config=(
-            JsonConfig.construct(schemaVersion=protocol_source.config.schema_version)
+            JsonConfig.model_construct(
+                schemaVersion=protocol_source.config.schema_version
+            )
             if isinstance(protocol_source.config, JsonProtocolConfig)
-            else PythonConfig.construct(apiVersion=protocol_source.config.api_version)
+            else PythonConfig.model_construct(
+                apiVersion=protocol_source.config.api_version
+            )
         ),
         result=result,
         metadata=protocol_source.metadata,
@@ -411,14 +415,14 @@ async def _analyze(
         "json",
         outputs,
         lambda to_file: to_file.write(
-            results.json(exclude_none=True).encode("utf-8"),
+            results.model_dump_json(exclude_none=True).encode("utf-8"),
         ),
     )
     _call_for_output_of_kind(
         "human-json",
         outputs,
         lambda to_file: to_file.write(
-            results.json(exclude_none=True, indent=2).encode("utf-8")
+            results.model_dump_json(exclude_none=True, indent=2).encode("utf-8")
         ),
     )
     if check:
diff --git a/api/src/opentrons/hardware_control/__init__.py b/api/src/opentrons/hardware_control/__init__.py
index d575a2eada5..b49f1462249 100644
--- a/api/src/opentrons/hardware_control/__init__.py
+++ b/api/src/opentrons/hardware_control/__init__.py
@@ -38,8 +38,7 @@
 ]
 HardwareControlAPI = Union[OT2HardwareControlAPI, OT3HardwareControlAPI]
 
-# this type ignore is because of https://github.com/python/mypy/issues/13437
-ThreadManagedHardware = ThreadManager[HardwareControlAPI]  # type: ignore[misc]
+ThreadManagedHardware = ThreadManager[HardwareControlAPI]
 SyncHardwareAPI = SynchronousAdapter[HardwareControlAPI]
 
 __all__ = [
diff --git a/api/src/opentrons/hardware_control/emulation/settings.py b/api/src/opentrons/hardware_control/emulation/settings.py
index 538b0281808..dd4da4dfc54 100644
--- a/api/src/opentrons/hardware_control/emulation/settings.py
+++ b/api/src/opentrons/hardware_control/emulation/settings.py
@@ -1,7 +1,8 @@
 from typing import List
 from opentrons.hardware_control.emulation.types import ModuleType
 from opentrons.hardware_control.emulation.util import TEMPERATURE_ROOM
-from pydantic import BaseSettings, BaseModel
+from pydantic import BaseModel
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
 class PipetteSettings(BaseModel):
@@ -113,8 +114,6 @@ class Settings(BaseSettings):
         emulator_port=9003, driver_port=9998
     )
     magdeck_proxy: ProxySettings = ProxySettings(emulator_port=9004, driver_port=9999)
-
-    class Config:
-        env_prefix = "OT_EMULATOR_"
+    model_config = SettingsConfigDict(env_prefix="OT_EMULATOR_")
 
     module_server: ModuleServerSettings = ModuleServerSettings()
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 dda5031a8a3..8e4975b3b5b 100644
--- a/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
+++ b/api/src/opentrons/hardware_control/instruments/ot3/pipette_handler.py
@@ -248,7 +248,7 @@ def get_attached_instrument(self, mount: OT3Mount) -> PipetteDict:
             result["current_nozzle_map"] = instr.nozzle_manager.current_configuration
             result["min_volume"] = instr.liquid_class.min_volume
             result["max_volume"] = instr.liquid_class.max_volume
-            result["channels"] = instr._max_channels
+            result["channels"] = instr._max_channels.value
             result["has_tip"] = instr.has_tip
             result["tip_length"] = instr.current_tip_length
             result["aspirate_speed"] = self.plunger_speed(
diff --git a/api/src/opentrons/hardware_control/modules/mod_abc.py b/api/src/opentrons/hardware_control/modules/mod_abc.py
index b07c6156a88..ebc0da2fa13 100644
--- a/api/src/opentrons/hardware_control/modules/mod_abc.py
+++ b/api/src/opentrons/hardware_control/modules/mod_abc.py
@@ -2,7 +2,7 @@
 import asyncio
 import logging
 import re
-from typing import ClassVar, Mapping, Optional, TypeVar, cast
+from typing import ClassVar, Mapping, Optional, TypeVar
 from packaging.version import InvalidVersion, parse, Version
 from opentrons.config import IS_ROBOT, ROBOT_FIRMWARE_DIR
 from opentrons.drivers.rpi_drivers.types import USBPort
@@ -31,7 +31,7 @@ def parse_fw_version(version: str) -> Version:
             raise InvalidVersion()
     except InvalidVersion:
         device_version = parse("v0.0.0")
-    return cast(Version, device_version)
+    return device_version
 
 
 class AbstractModule(abc.ABC):
diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py
index d43fc9a2058..cf0a8e1dfd7 100644
--- a/api/src/opentrons/protocol_api/core/engine/protocol.py
+++ b/api/src/opentrons/protocol_api/core/engine/protocol.py
@@ -6,6 +6,7 @@
 
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine.commands import LoadModuleResult
+
 from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict
@@ -736,9 +737,7 @@ def define_liquid(
             _id=liquid.id,
             name=liquid.displayName,
             description=liquid.description,
-            display_color=(
-                liquid.displayColor.__root__ if liquid.displayColor else None
-            ),
+            display_color=(liquid.displayColor.root if liquid.displayColor else None),
         )
 
     def define_liquid_class(self, name: str) -> LiquidClass:
diff --git a/api/src/opentrons/protocol_engine/commands/__init__.py b/api/src/opentrons/protocol_engine/commands/__init__.py
index 4774a45c475..b5edda52397 100644
--- a/api/src/opentrons/protocol_engine/commands/__init__.py
+++ b/api/src/opentrons/protocol_engine/commands/__init__.py
@@ -35,8 +35,10 @@
 
 from .command_unions import (
     Command,
+    CommandAdapter,
     CommandParams,
     CommandCreate,
+    CommandCreateAdapter,
     CommandResult,
     CommandType,
     CommandDefinedErrorData,
@@ -365,8 +367,10 @@
 __all__ = [
     # command type unions
     "Command",
+    "CommandAdapter",
     "CommandParams",
     "CommandCreate",
+    "CommandCreateAdapter",
     "CommandResult",
     "CommandType",
     "CommandPrivateResult",
diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py
index 458225ad1bb..43937c07ab2 100644
--- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py
+++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py
@@ -1,9 +1,10 @@
 """Command models to initialize an Absorbance Reader."""
 from __future__ import annotations
-from typing import List, Optional, Literal, TYPE_CHECKING
+from typing import List, Optional, Literal, TYPE_CHECKING, Any
 from typing_extensions import Type
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.drivers.types import ABSMeasurementMode
 from opentrons.protocol_engine.types import ABSMeasureMode
@@ -20,6 +21,10 @@
 InitializeCommandType = Literal["absorbanceReader/initialize"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class InitializeParams(BaseModel):
     """Input parameters to initialize an absorbance reading."""
 
@@ -28,8 +33,10 @@ class InitializeParams(BaseModel):
         ..., description="Initialize single or multi measurement mode."
     )
     sampleWavelengths: List[int] = Field(..., description="Sample wavelengths in nm.")
-    referenceWavelength: Optional[int] = Field(
-        None, description="Optional reference wavelength in nm."
+    referenceWavelength: int | SkipJsonSchema[None] = Field(
+        None,
+        description="Optional reference wavelength in nm.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py
index 556db619cb5..c557028c283 100644
--- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py
+++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py
@@ -1,10 +1,11 @@
 """Command models to read absorbance."""
 from __future__ import annotations
 from datetime import datetime
-from typing import Optional, Dict, TYPE_CHECKING, List
-from typing_extensions import Literal, Type
+from typing import Optional, Dict, TYPE_CHECKING, List, Any
 
+from typing_extensions import Literal, Type
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors import CannotPerformModuleAction, StorageLimitReachedError
@@ -23,6 +24,10 @@
     from opentrons.protocol_engine.execution import EquipmentHandler
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 ReadAbsorbanceCommandType = Literal["absorbanceReader/read"]
 
 
@@ -30,9 +35,10 @@ class ReadAbsorbanceParams(BaseModel):
     """Input parameters for an absorbance reading."""
 
     moduleId: str = Field(..., description="Unique ID of the Absorbance Reader.")
-    fileName: Optional[str] = Field(
+    fileName: str | SkipJsonSchema[None] = Field(
         None,
         description="Optional file name to use when storing the results of a measurement.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/aspirate.py b/api/src/opentrons/protocol_engine/commands/aspirate.py
index fa84afbde8c..9664d733b8a 100644
--- a/api/src/opentrons/protocol_engine/commands/aspirate.py
+++ b/api/src/opentrons/protocol_engine/commands/aspirate.py
@@ -226,7 +226,7 @@ class Aspirate(
 
     commandType: AspirateCommandType = "aspirate"
     params: AspirateParams
-    result: Optional[AspirateResult]
+    result: Optional[AspirateResult] = None
 
     _ImplementationCls: Type[AspirateImplementation] = AspirateImplementation
 
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 1f89c9c5d74..434924928d7 100644
--- a/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/aspirate_in_place.py
@@ -165,7 +165,7 @@ class AspirateInPlace(
 
     commandType: AspirateInPlaceCommandType = "aspirateInPlace"
     params: AspirateInPlaceParams
-    result: Optional[AspirateInPlaceResult]
+    result: Optional[AspirateInPlaceResult] = None
 
     _ImplementationCls: Type[
         AspirateInPlaceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/blow_out.py b/api/src/opentrons/protocol_engine/commands/blow_out.py
index b2e8765b4a1..07582781a3a 100644
--- a/api/src/opentrons/protocol_engine/commands/blow_out.py
+++ b/api/src/opentrons/protocol_engine/commands/blow_out.py
@@ -130,7 +130,7 @@ class BlowOut(
 
     commandType: BlowOutCommandType = "blowout"
     params: BlowOutParams
-    result: Optional[BlowOutResult]
+    result: Optional[BlowOutResult] = None
 
     _ImplementationCls: Type[BlowOutImplementation] = BlowOutImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py b/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py
index f5f648bcec8..527c921e499 100644
--- a/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/blow_out_in_place.py
@@ -100,7 +100,7 @@ class BlowOutInPlace(
 
     commandType: BlowOutInPlaceCommandType = "blowOutInPlace"
     params: BlowOutInPlaceParams
-    result: Optional[BlowOutInPlaceResult]
+    result: Optional[BlowOutInPlaceResult] = None
 
     _ImplementationCls: Type[
         BlowOutInPlaceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_gripper.py b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_gripper.py
index 0333a171077..2dac135c4f5 100644
--- a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_gripper.py
+++ b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_gripper.py
@@ -1,10 +1,11 @@
 """Models and implementation for the calibrateGripper command."""
 
 from enum import Enum
-from typing import Optional, Type
+from typing import Optional, Type, Any
 from typing_extensions import Literal
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.types import Point
 from opentrons.hardware_control import HardwareControlAPI
@@ -22,6 +23,10 @@
 CalibrateGripperCommandType = Literal["calibration/calibrateGripper"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class CalibrateGripperParamsJaw(Enum):  # noqa: D101
     FRONT = "front"
     REAR = "rear"
@@ -39,7 +44,7 @@ class CalibrateGripperParams(BaseModel):
         ),
     )
 
-    otherJawOffset: Optional[Vec3f] = Field(
+    otherJawOffset: Vec3f | SkipJsonSchema[None] = Field(
         None,
         description=(
             "If an offset for the other probe is already found, then specifying it here"
@@ -48,6 +53,7 @@ class CalibrateGripperParams(BaseModel):
             " If this param is not specified then the command will only find and return"
             " the offset for the specified probe."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -62,11 +68,12 @@ class CalibrateGripperResult(BaseModel):
         ),
     )
 
-    savedCalibration: Optional[GripperCalibrationOffset] = Field(
+    savedCalibration: GripperCalibrationOffset | SkipJsonSchema[None] = Field(
         None,
         description=(
             "Gripper calibration result data, when `otherJawOffset` is provided."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -143,7 +150,7 @@ class CalibrateGripper(
 
     commandType: CalibrateGripperCommandType = "calibration/calibrateGripper"
     params: CalibrateGripperParams
-    result: Optional[CalibrateGripperResult]
+    result: Optional[CalibrateGripperResult] = None
 
     _ImplementationCls: Type[
         CalibrateGripperImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_module.py b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_module.py
index f488e8eab97..e203dcc19be 100644
--- a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_module.py
+++ b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_module.py
@@ -101,7 +101,7 @@ class CalibrateModule(
 
     commandType: CalibrateModuleCommandType = "calibration/calibrateModule"
     params: CalibrateModuleParams
-    result: Optional[CalibrateModuleResult]
+    result: Optional[CalibrateModuleResult] = None
 
     _ImplementationCls: Type[
         CalibrateModuleImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_pipette.py b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_pipette.py
index fbe754f6389..70daeecb6d6 100644
--- a/api/src/opentrons/protocol_engine/commands/calibration/calibrate_pipette.py
+++ b/api/src/opentrons/protocol_engine/commands/calibration/calibrate_pipette.py
@@ -80,7 +80,7 @@ class CalibratePipette(
 
     commandType: CalibratePipetteCommandType = "calibration/calibratePipette"
     params: CalibratePipetteParams
-    result: Optional[CalibratePipetteResult]
+    result: Optional[CalibratePipetteResult] = None
 
     _ImplementationCls: Type[
         CalibratePipetteImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py b/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py
index afb178cae99..ca18d70a265 100644
--- a/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py
+++ b/api/src/opentrons/protocol_engine/commands/calibration/move_to_maintenance_position.py
@@ -136,7 +136,7 @@ class MoveToMaintenancePosition(
         "calibration/moveToMaintenancePosition"
     )
     params: MoveToMaintenancePositionParams
-    result: Optional[MoveToMaintenancePositionResult]
+    result: Optional[MoveToMaintenancePositionResult] = None
 
     _ImplementationCls: Type[
         MoveToMaintenancePositionImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/command.py b/api/src/opentrons/protocol_engine/commands/command.py
index c009f314afb..38d1512905e 100644
--- a/api/src/opentrons/protocol_engine/commands/command.py
+++ b/api/src/opentrons/protocol_engine/commands/command.py
@@ -14,10 +14,12 @@
     List,
     Type,
     Union,
+    Any,
+    Dict,
 )
 
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.protocol_engine.state.update_types import StateUpdate
@@ -62,8 +64,12 @@ class CommandIntent(str, enum.Enum):
     FIXIT = "fixit"
 
 
+def _pop_default(s: Dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class BaseCommandCreate(
-    GenericModel,
+    BaseModel,
     # These type parameters need to be invariant because our fields are mutable.
     Generic[_ParamsT],
 ):
@@ -81,7 +87,7 @@ class BaseCommandCreate(
         ),
     )
     params: _ParamsT = Field(..., description="Command execution data payload")
-    intent: Optional[CommandIntent] = Field(
+    intent: CommandIntent | SkipJsonSchema[None] = Field(
         None,
         description=(
             "The reason the command was added. If not specified or `protocol`,"
@@ -94,14 +100,16 @@ class BaseCommandCreate(
             "Use setup commands for activities like pre-run calibration checks"
             " and module setup, like pre-heating."
         ),
+        json_schema_extra=_pop_default,
     )
-    key: Optional[str] = Field(
+    key: str | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_pop_default,
     )
 
 
@@ -143,8 +151,65 @@ class DefinedErrorData(Generic[_ErrorT_co]):
     )
 
 
+_ExecuteReturnT_co = TypeVar(
+    "_ExecuteReturnT_co",
+    bound=Union[
+        SuccessData[BaseModel],
+        DefinedErrorData[ErrorOccurrence],
+    ],
+    covariant=True,
+)
+
+
+class AbstractCommandImpl(
+    ABC,
+    Generic[_ParamsT_contra, _ExecuteReturnT_co],
+):
+    """Abstract command creation and execution implementation.
+
+    A given command request should map to a specific command implementation,
+    which defines how to execute the command and map data from execution into the
+    result model.
+    """
+
+    def __init__(
+        self,
+        state_view: StateView,
+        hardware_api: HardwareControlAPI,
+        equipment: execution.EquipmentHandler,
+        file_provider: execution.FileProvider,
+        movement: execution.MovementHandler,
+        gantry_mover: execution.GantryMover,
+        labware_movement: execution.LabwareMovementHandler,
+        pipetting: execution.PipettingHandler,
+        tip_handler: execution.TipHandler,
+        run_control: execution.RunControlHandler,
+        rail_lights: execution.RailLightsHandler,
+        model_utils: ModelUtils,
+        status_bar: execution.StatusBarHandler,
+        command_note_adder: CommandNoteAdder,
+    ) -> None:
+        """Initialize the command implementation with execution handlers."""
+        pass
+
+    @abstractmethod
+    async def execute(self, params: _ParamsT_contra) -> _ExecuteReturnT_co:
+        """Execute the command, mapping data from execution into a response model.
+
+        This should either:
+
+        - Return a `SuccessData`, if the command completed normally.
+        - Return a `DefinedErrorData`, if the command failed with a "defined error."
+          Defined errors are errors that are documented as part of the robot's public
+          API.
+        - Raise an exception, if the command failed with any other error
+          (in other words, an undefined error).
+        """
+        ...
+
+
 class BaseCommand(
-    GenericModel,
+    BaseModel,
     # These type parameters need to be invariant because our fields are mutable.
     Generic[_ParamsT, _ResultT, _ErrorT],
 ):
@@ -241,60 +306,3 @@ class BaseCommand(
             ],
         ]
     ]
-
-
-_ExecuteReturnT_co = TypeVar(
-    "_ExecuteReturnT_co",
-    bound=Union[
-        SuccessData[BaseModel],
-        DefinedErrorData[ErrorOccurrence],
-    ],
-    covariant=True,
-)
-
-
-class AbstractCommandImpl(
-    ABC,
-    Generic[_ParamsT_contra, _ExecuteReturnT_co],
-):
-    """Abstract command creation and execution implementation.
-
-    A given command request should map to a specific command implementation,
-    which defines how to execute the command and map data from execution into the
-    result model.
-    """
-
-    def __init__(
-        self,
-        state_view: StateView,
-        hardware_api: HardwareControlAPI,
-        equipment: execution.EquipmentHandler,
-        file_provider: execution.FileProvider,
-        movement: execution.MovementHandler,
-        gantry_mover: execution.GantryMover,
-        labware_movement: execution.LabwareMovementHandler,
-        pipetting: execution.PipettingHandler,
-        tip_handler: execution.TipHandler,
-        run_control: execution.RunControlHandler,
-        rail_lights: execution.RailLightsHandler,
-        model_utils: ModelUtils,
-        status_bar: execution.StatusBarHandler,
-        command_note_adder: CommandNoteAdder,
-    ) -> None:
-        """Initialize the command implementation with execution handlers."""
-        pass
-
-    @abstractmethod
-    async def execute(self, params: _ParamsT_contra) -> _ExecuteReturnT_co:
-        """Execute the command, mapping data from execution into a response model.
-
-        This should either:
-
-        - Return a `SuccessData`, if the command completed normally.
-        - Return a `DefinedErrorData`, if the command failed with a "defined error."
-          Defined errors are errors that are documented as part of the robot's public
-          API.
-        - Raise an exception, if the command failed with any other error
-          (in other words, an undefined error).
-        """
-        ...
diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py
index 16663bf6df6..3f5bb09e510 100644
--- a/api/src/opentrons/protocol_engine/commands/command_unions.py
+++ b/api/src/opentrons/protocol_engine/commands/command_unions.py
@@ -3,7 +3,7 @@
 from collections.abc import Collection
 from typing import Annotated, Type, Union, get_type_hints
 
-from pydantic import Field
+from pydantic import Field, TypeAdapter
 
 from opentrons.util.get_union_elements import get_union_elements
 
@@ -686,6 +686,13 @@
     Field(discriminator="commandType"),
 ]
 
+# Each time a TypeAdapter is instantiated, it will construct a new validator and
+# serializer. To improve performance, TypeAdapters are instantiated once.
+# See https://docs.pydantic.dev/latest/concepts/performance/#typeadapter-instantiated-once
+CommandCreateAdapter: TypeAdapter[CommandCreate] = TypeAdapter(CommandCreate)
+
+CommandAdapter: TypeAdapter[Command] = TypeAdapter(Command)
+
 CommandResult = Union[
     AirGapInPlaceResult,
     AspirateResult,
diff --git a/api/src/opentrons/protocol_engine/commands/comment.py b/api/src/opentrons/protocol_engine/commands/comment.py
index 5cd0b0c3113..f14a9a9992c 100644
--- a/api/src/opentrons/protocol_engine/commands/comment.py
+++ b/api/src/opentrons/protocol_engine/commands/comment.py
@@ -43,7 +43,7 @@ class Comment(BaseCommand[CommentParams, CommentResult, ErrorOccurrence]):
 
     commandType: CommentCommandType = "comment"
     params: CommentParams
-    result: Optional[CommentResult]
+    result: Optional[CommentResult] = None
 
     _ImplementationCls: Type[CommentImplementation] = CommentImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/configure_for_volume.py b/api/src/opentrons/protocol_engine/commands/configure_for_volume.py
index 1c8aa21f491..50e1e7546bc 100644
--- a/api/src/opentrons/protocol_engine/commands/configure_for_volume.py
+++ b/api/src/opentrons/protocol_engine/commands/configure_for_volume.py
@@ -1,7 +1,9 @@
 """Configure for volume command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .pipetting_common import PipetteIdMixin
@@ -16,6 +18,10 @@
 ConfigureForVolumeCommandType = Literal["configureForVolume"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class ConfigureForVolumeParams(PipetteIdMixin):
     """Parameters required to configure volume for a specific pipette."""
 
@@ -25,12 +31,13 @@ class ConfigureForVolumeParams(PipetteIdMixin):
         "than a pipette-specific maximum volume.",
         ge=0,
     )
-    tipOverlapNotAfterVersion: Optional[str] = Field(
+    tipOverlapNotAfterVersion: str | SkipJsonSchema[None] = Field(
         None,
         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.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -81,7 +88,7 @@ class ConfigureForVolume(
 
     commandType: ConfigureForVolumeCommandType = "configureForVolume"
     params: ConfigureForVolumeParams
-    result: Optional[ConfigureForVolumeResult]
+    result: Optional[ConfigureForVolumeResult] = None
 
     _ImplementationCls: Type[
         ConfigureForVolumeImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py
index f78839773ec..db06491ab14 100644
--- a/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py
+++ b/api/src/opentrons/protocol_engine/commands/configure_nozzle_layout.py
@@ -97,7 +97,7 @@ class ConfigureNozzleLayout(
 
     commandType: ConfigureNozzleLayoutCommandType = "configureNozzleLayout"
     params: ConfigureNozzleLayoutParams
-    result: Optional[ConfigureNozzleLayoutResult]
+    result: Optional[ConfigureNozzleLayoutResult] = None
 
     _ImplementationCls: Type[
         ConfigureNozzleLayoutImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/custom.py b/api/src/opentrons/protocol_engine/commands/custom.py
index 1bdf07084be..3190385f2d2 100644
--- a/api/src/opentrons/protocol_engine/commands/custom.py
+++ b/api/src/opentrons/protocol_engine/commands/custom.py
@@ -10,7 +10,7 @@
 If you are implementing a custom command, you should probably
 put your own disambiguation identifier in the payload.
 """
-from pydantic import BaseModel, Extra
+from pydantic import ConfigDict, BaseModel, SerializeAsAny
 from typing import Optional, Type
 from typing_extensions import Literal
 
@@ -24,19 +24,13 @@
 class CustomParams(BaseModel):
     """Payload used by a custom command."""
 
-    class Config:
-        """Allow arbitrary fields."""
-
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
 
 class CustomResult(BaseModel):
     """Result data from a custom command."""
 
-    class Config:
-        """Allow arbitrary fields."""
-
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
 
 class CustomImplementation(
@@ -58,8 +52,8 @@ class Custom(BaseCommand[CustomParams, CustomResult, ErrorOccurrence]):
     """Custom command model."""
 
     commandType: CustomCommandType = "custom"
-    params: CustomParams
-    result: Optional[CustomResult]
+    params: SerializeAsAny[CustomParams]
+    result: Optional[CustomResult] = None
 
     _ImplementationCls: Type[CustomImplementation] = CustomImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/dispense.py b/api/src/opentrons/protocol_engine/commands/dispense.py
index 18f157934d4..8ad2365ccb5 100644
--- a/api/src/opentrons/protocol_engine/commands/dispense.py
+++ b/api/src/opentrons/protocol_engine/commands/dispense.py
@@ -1,11 +1,12 @@
 """Dispense command request, result, and implementation models."""
 
 from __future__ import annotations
-from typing import TYPE_CHECKING, Optional, Type, Union
+from typing import TYPE_CHECKING, Optional, Type, Union, Any
 from typing_extensions import Literal
 
 
 from pydantic import Field
+from pydantic.json_schema import SkipJsonSchema
 
 from ..state.update_types import StateUpdate, CLEAR
 from .pipetting_common import (
@@ -39,14 +40,19 @@
 DispenseCommandType = Literal["dispense"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class DispenseParams(
     PipetteIdMixin, DispenseVolumeMixin, FlowRateMixin, LiquidHandlingWellLocationMixin
 ):
     """Payload required to dispense to a specific well."""
 
-    pushOut: Optional[float] = Field(
+    pushOut: float | SkipJsonSchema[None] = Field(
         None,
         description="push the plunger a small amount farther than necessary for accurate low-volume dispensing",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -172,7 +178,7 @@ class Dispense(
 
     commandType: DispenseCommandType = "dispense"
     params: DispenseParams
-    result: Optional[DispenseResult]
+    result: Optional[DispenseResult] = None
 
     _ImplementationCls: Type[DispenseImplementation] = DispenseImplementation
 
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 fc1f9e19610..117aa011a84 100644
--- a/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/dispense_in_place.py
@@ -1,9 +1,10 @@
 """Dispense-in-place command request, result, and implementation models."""
 
 from __future__ import annotations
-from typing import TYPE_CHECKING, Optional, Type, Union
+from typing import TYPE_CHECKING, Optional, Type, Union, Any
 from typing_extensions import Literal
 from pydantic import Field
+from pydantic.json_schema import SkipJsonSchema
 
 from .pipetting_common import (
     PipetteIdMixin,
@@ -32,12 +33,17 @@
 DispenseInPlaceCommandType = Literal["dispenseInPlace"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class DispenseInPlaceParams(PipetteIdMixin, DispenseVolumeMixin, FlowRateMixin):
     """Payload required to dispense in place."""
 
-    pushOut: Optional[float] = Field(
+    pushOut: float | SkipJsonSchema[None] = Field(
         None,
         description="push the plunger a small amount farther than necessary for accurate low-volume dispensing",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -154,7 +160,7 @@ class DispenseInPlace(
 
     commandType: DispenseInPlaceCommandType = "dispenseInPlace"
     params: DispenseInPlaceParams
-    result: Optional[DispenseInPlaceResult]
+    result: Optional[DispenseInPlaceResult] = None
 
     _ImplementationCls: Type[
         DispenseInPlaceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip.py b/api/src/opentrons/protocol_engine/commands/drop_tip.py
index 4faee3d5e2f..2c393064eb6 100644
--- a/api/src/opentrons/protocol_engine/commands/drop_tip.py
+++ b/api/src/opentrons/protocol_engine/commands/drop_tip.py
@@ -1,9 +1,11 @@
 """Drop tip command request, result, and implementation models."""
 
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
 
 from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
+
 from typing_extensions import Literal
 
 from opentrons.protocol_engine.errors.exceptions import TipAttachedError
@@ -37,6 +39,10 @@
 DropTipCommandType = Literal["dropTip"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class DropTipParams(PipetteIdMixin):
     """Payload required to drop a tip in a specific well."""
 
@@ -46,15 +52,16 @@ class DropTipParams(PipetteIdMixin):
         default_factory=DropTipWellLocation,
         description="Relative well location at which to drop the tip.",
     )
-    homeAfter: Optional[bool] = Field(
+    homeAfter: bool | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
-    alternateDropLocation: Optional[bool] = Field(
+    alternateDropLocation: bool | SkipJsonSchema[None] = Field(
         False,
         description=(
             "Whether to alternate location where tip is dropped within the labware."
@@ -63,6 +70,7 @@ class DropTipParams(PipetteIdMixin):
             " labware well."
             " If False, the tip will be dropped at the top center of the well."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -184,7 +192,7 @@ class DropTip(
 
     commandType: DropTipCommandType = "dropTip"
     params: DropTipParams
-    result: Optional[DropTipResult]
+    result: Optional[DropTipResult] = None
 
     _ImplementationCls: Type[DropTipImplementation] = DropTipImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py b/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py
index 8687382b53f..09bd73b8bb1 100644
--- a/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/drop_tip_in_place.py
@@ -1,7 +1,10 @@
 """Drop tip in place command request, result, and implementation models."""
 from __future__ import annotations
+
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import Field, BaseModel
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .command import (
@@ -24,16 +27,21 @@
 DropTipInPlaceCommandType = Literal["dropTipInPlace"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class DropTipInPlaceParams(PipetteIdMixin):
     """Payload required to drop a tip in place."""
 
-    homeAfter: Optional[bool] = Field(
+    homeAfter: bool | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -112,7 +120,7 @@ class DropTipInPlace(
 
     commandType: DropTipInPlaceCommandType = "dropTipInPlace"
     params: DropTipInPlaceParams
-    result: Optional[DropTipInPlaceResult]
+    result: Optional[DropTipInPlaceResult] = None
 
     _ImplementationCls: Type[
         DropTipInPlaceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/generate_command_schema.py b/api/src/opentrons/protocol_engine/commands/generate_command_schema.py
index acc0923bcdf..938244b74e8 100644
--- a/api/src/opentrons/protocol_engine/commands/generate_command_schema.py
+++ b/api/src/opentrons/protocol_engine/commands/generate_command_schema.py
@@ -1,24 +1,17 @@
 """Generate a JSON schema against which all create commands statically validate."""
+
 import json
-import pydantic
 import argparse
 import sys
-from opentrons.protocol_engine.commands.command_unions import CommandCreate
-
-
-class CreateCommandUnion(pydantic.BaseModel):
-    """Model that validates a union of all CommandCreate models."""
-
-    __root__: CommandCreate
+from opentrons.protocol_engine.commands.command_unions import CommandCreateAdapter
 
 
 def generate_command_schema(version: str) -> str:
     """Generate a JSON Schema that all valid create commands can validate against."""
-    raw_json_schema = CreateCommandUnion.schema_json()
-    schema_as_dict = json.loads(raw_json_schema)
+    schema_as_dict = CommandCreateAdapter.json_schema(mode="validation")
     schema_as_dict["$id"] = f"opentronsCommandSchemaV{version}"
     schema_as_dict["$schema"] = "http://json-schema.org/draft-07/schema#"
-    return json.dumps(schema_as_dict, indent=2)
+    return json.dumps(schema_as_dict, indent=2, sort_keys=True)
 
 
 if __name__ == "__main__":
diff --git a/api/src/opentrons/protocol_engine/commands/get_next_tip.py b/api/src/opentrons/protocol_engine/commands/get_next_tip.py
index 7ff10681bfb..f9f2cb8ba61 100644
--- a/api/src/opentrons/protocol_engine/commands/get_next_tip.py
+++ b/api/src/opentrons/protocol_engine/commands/get_next_tip.py
@@ -2,7 +2,9 @@
 
 from __future__ import annotations
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type, List, Literal, Union
+from typing import TYPE_CHECKING, Any, Optional, Type, List, Literal, Union
+
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.types import NozzleConfigurationType
 
@@ -21,6 +23,10 @@
     from ..state.state import StateView
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 GetNextTipCommandType = Literal["getNextTip"]
 
 
@@ -32,10 +38,11 @@ class GetNextTipParams(PipetteIdMixin):
         description="Labware ID(s) of tip racks to resolve next available tip(s) from"
         " Labware IDs will be resolved sequentially",
     )
-    startingTipWell: Optional[str] = Field(
+    startingTipWell: str | SkipJsonSchema[None] = Field(
         None,
         description="Name of starting tip rack 'well'."
         " This only applies to the first tip rack in the list provided in labwareIDs",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/get_tip_presence.py b/api/src/opentrons/protocol_engine/commands/get_tip_presence.py
index 6bbe5fa2fe3..05f9e1052c1 100644
--- a/api/src/opentrons/protocol_engine/commands/get_tip_presence.py
+++ b/api/src/opentrons/protocol_engine/commands/get_tip_presence.py
@@ -71,7 +71,7 @@ class GetTipPresence(
 
     commandType: GetTipPresenceCommandType = "getTipPresence"
     params: GetTipPresenceParams
-    result: Optional[GetTipPresenceResult]
+    result: Optional[GetTipPresenceResult] = None
 
     _ImplementationCls: Type[
         GetTipPresenceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/close_labware_latch.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/close_labware_latch.py
index 2151fb05877..211b374be7e 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/close_labware_latch.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/close_labware_latch.py
@@ -69,7 +69,7 @@ class CloseLabwareLatch(
 
     commandType: CloseLabwareLatchCommandType = "heaterShaker/closeLabwareLatch"
     params: CloseLabwareLatchParams
-    result: Optional[CloseLabwareLatchResult]
+    result: Optional[CloseLabwareLatchResult] = None
 
     _ImplementationCls: Type[CloseLabwareLatchImpl] = CloseLabwareLatchImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_heater.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_heater.py
index 3932f1d6490..6ac76f020d3 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_heater.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_heater.py
@@ -68,7 +68,7 @@ class DeactivateHeater(
 
     commandType: DeactivateHeaterCommandType = "heaterShaker/deactivateHeater"
     params: DeactivateHeaterParams
-    result: Optional[DeactivateHeaterResult]
+    result: Optional[DeactivateHeaterResult] = None
 
     _ImplementationCls: Type[DeactivateHeaterImpl] = DeactivateHeaterImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_shaker.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_shaker.py
index b259745ea3d..e7e50b07fee 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_shaker.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/deactivate_shaker.py
@@ -70,7 +70,7 @@ class DeactivateShaker(
 
     commandType: DeactivateShakerCommandType = "heaterShaker/deactivateShaker"
     params: DeactivateShakerParams
-    result: Optional[DeactivateShakerResult]
+    result: Optional[DeactivateShakerResult] = None
 
     _ImplementationCls: Type[DeactivateShakerImpl] = DeactivateShakerImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/open_labware_latch.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/open_labware_latch.py
index 9c3a9d8ae7d..8bb869c47ee 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/open_labware_latch.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/open_labware_latch.py
@@ -96,7 +96,7 @@ class OpenLabwareLatch(
 
     commandType: OpenLabwareLatchCommandType = "heaterShaker/openLabwareLatch"
     params: OpenLabwareLatchParams
-    result: Optional[OpenLabwareLatchResult]
+    result: Optional[OpenLabwareLatchResult] = None
 
     _ImplementationCls: Type[OpenLabwareLatchImpl] = OpenLabwareLatchImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py
index 8828195c658..2bcf1d48ba3 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/set_and_wait_for_shake_speed.py
@@ -109,7 +109,7 @@ class SetAndWaitForShakeSpeed(
         "heaterShaker/setAndWaitForShakeSpeed"
     )
     params: SetAndWaitForShakeSpeedParams
-    result: Optional[SetAndWaitForShakeSpeedResult]
+    result: Optional[SetAndWaitForShakeSpeedResult] = None
 
     _ImplementationCls: Type[SetAndWaitForShakeSpeedImpl] = SetAndWaitForShakeSpeedImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py
index fa29390b910..f0b0533aca3 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/set_target_temperature.py
@@ -76,7 +76,7 @@ class SetTargetTemperature(
 
     commandType: SetTargetTemperatureCommandType = "heaterShaker/setTargetTemperature"
     params: SetTargetTemperatureParams
-    result: Optional[SetTargetTemperatureResult]
+    result: Optional[SetTargetTemperatureResult] = None
 
     _ImplementationCls: Type[SetTargetTemperatureImpl] = SetTargetTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/heater_shaker/wait_for_temperature.py b/api/src/opentrons/protocol_engine/commands/heater_shaker/wait_for_temperature.py
index bb440a2674c..676fbcd4bfb 100644
--- a/api/src/opentrons/protocol_engine/commands/heater_shaker/wait_for_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/heater_shaker/wait_for_temperature.py
@@ -1,9 +1,10 @@
 """Command models to wait for a Heater-Shaker Module's target temperature."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING
-from typing_extensions import Literal, Type
+from typing import Optional, TYPE_CHECKING, Any
 
+from typing_extensions import Literal, Type
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
@@ -16,11 +17,15 @@
 WaitForTemperatureCommandType = Literal["heaterShaker/waitForTemperature"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class WaitForTemperatureParams(BaseModel):
     """Input parameters to wait for a Heater-Shaker's target temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Heater-Shaker Module.")
-    celsius: Optional[float] = Field(
+    celsius: float | SkipJsonSchema[None] = Field(
         None,
         description="Target temperature in °C. If not specified, will "
         "default to the module's target temperature. "
@@ -28,6 +33,7 @@ class WaitForTemperatureParams(BaseModel):
         "could lead to unpredictable behavior and hence is not "
         "recommended for use. This parameter can be removed in a "
         "future version without prior notice.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -82,7 +88,7 @@ class WaitForTemperature(
 
     commandType: WaitForTemperatureCommandType = "heaterShaker/waitForTemperature"
     params: WaitForTemperatureParams
-    result: Optional[WaitForTemperatureResult]
+    result: Optional[WaitForTemperatureResult] = None
 
     _ImplementationCls: Type[WaitForTemperatureImpl] = WaitForTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/home.py b/api/src/opentrons/protocol_engine/commands/home.py
index 7b82f90e1fd..f096740958f 100644
--- a/api/src/opentrons/protocol_engine/commands/home.py
+++ b/api/src/opentrons/protocol_engine/commands/home.py
@@ -1,7 +1,10 @@
 """Home command payload, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, List, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, List, Type
+from pydantic.json_schema import SkipJsonSchema
+
 from typing_extensions import Literal
 
 from opentrons.types import MountType
@@ -17,24 +20,30 @@
 HomeCommandType = Literal["home"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class HomeParams(BaseModel):
     """Payload required for a Home command."""
 
-    axes: Optional[List[MotorAxis]] = Field(
+    axes: List[MotorAxis] | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
-    skipIfMountPositionOk: Optional[MountType] = Field(
+    skipIfMountPositionOk: MountType | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -77,7 +86,7 @@ class Home(BaseCommand[HomeParams, HomeResult, ErrorOccurrence]):
 
     commandType: HomeCommandType = "home"
     params: HomeParams
-    result: Optional[HomeResult]
+    result: Optional[HomeResult] = None
 
     _ImplementationCls: Type[HomeImplementation] = HomeImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/liquid_probe.py b/api/src/opentrons/protocol_engine/commands/liquid_probe.py
index 1bf58e8be26..a0418d53c9a 100644
--- a/api/src/opentrons/protocol_engine/commands/liquid_probe.py
+++ b/api/src/opentrons/protocol_engine/commands/liquid_probe.py
@@ -1,10 +1,11 @@
 """The liquidProbe and tryLiquidProbe commands."""
 
 from __future__ import annotations
-from typing import TYPE_CHECKING, NamedTuple, Optional, Type, Union
-from typing_extensions import Literal
+from typing import TYPE_CHECKING, NamedTuple, Optional, Type, Union, Any
 
+from typing_extensions import Literal
 from pydantic import Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.protocol_engine.state import update_types
 from opentrons.protocol_engine.errors.exceptions import (
@@ -47,6 +48,10 @@
     from ..state.state import StateView
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 LiquidProbeCommandType = Literal["liquidProbe"]
 TryLiquidProbeCommandType = Literal["tryLiquidProbe"]
 
@@ -82,12 +87,13 @@ class LiquidProbeResult(DestinationPositionResult):
 class TryLiquidProbeResult(DestinationPositionResult):
     """Result data from the execution of a `tryLiquidProbe` command."""
 
-    z_position: Optional[float] = Field(
+    z_position: float | SkipJsonSchema[None] = Field(
         ...,
         description=(
             "The Z coordinate, in mm, of the found liquid in deck space."
             " If no liquid was found, `null` or omitted."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/load_labware.py b/api/src/opentrons/protocol_engine/commands/load_labware.py
index 2d8b8c3df78..6b65fe239e4 100644
--- a/api/src/opentrons/protocol_engine/commands/load_labware.py
+++ b/api/src/opentrons/protocol_engine/commands/load_labware.py
@@ -1,7 +1,9 @@
 """Load labware command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
@@ -29,6 +31,10 @@
 LoadLabwareCommandType = Literal["loadLabware"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class LoadLabwareParams(BaseModel):
     """Payload required to load a labware into a slot."""
 
@@ -48,18 +54,20 @@ class LoadLabwareParams(BaseModel):
         ...,
         description="The labware definition version.",
     )
-    labwareId: Optional[str] = Field(
+    labwareId: str | SkipJsonSchema[None] = Field(
         None,
         description="An optional ID to assign to this labware. If None, an ID "
         "will be generated.",
+        json_schema_extra=_remove_default,
     )
-    displayName: Optional[str] = Field(
+    displayName: str | SkipJsonSchema[None] = Field(
         None,
         description="An optional user-specified display name "
         "or label for this labware.",
         # NOTE: v4/5 JSON protocols will always have a displayName which will be the
         #  user-specified label OR the displayName property of the labware's definition.
         # TODO: Make sure v6 JSON protocols don't do that.
+        json_schema_extra=_remove_default,
     )
 
 
@@ -187,7 +195,7 @@ class LoadLabware(BaseCommand[LoadLabwareParams, LoadLabwareResult, ErrorOccurre
 
     commandType: LoadLabwareCommandType = "loadLabware"
     params: LoadLabwareParams
-    result: Optional[LoadLabwareResult]
+    result: Optional[LoadLabwareResult] = None
 
     _ImplementationCls: Type[LoadLabwareImplementation] = LoadLabwareImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/load_liquid.py b/api/src/opentrons/protocol_engine/commands/load_liquid.py
index f6aa037fa01..a1ed1e8401c 100644
--- a/api/src/opentrons/protocol_engine/commands/load_liquid.py
+++ b/api/src/opentrons/protocol_engine/commands/load_liquid.py
@@ -81,7 +81,7 @@ class LoadLiquid(BaseCommand[LoadLiquidParams, LoadLiquidResult, ErrorOccurrence
 
     commandType: LoadLiquidCommandType = "loadLiquid"
     params: LoadLiquidParams
-    result: Optional[LoadLiquidResult]
+    result: Optional[LoadLiquidResult] = None
 
     _ImplementationCls: Type[LoadLiquidImplementation] = LoadLiquidImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/load_liquid_class.py b/api/src/opentrons/protocol_engine/commands/load_liquid_class.py
index bd267abe567..8cb3d4a06fb 100644
--- a/api/src/opentrons/protocol_engine/commands/load_liquid_class.py
+++ b/api/src/opentrons/protocol_engine/commands/load_liquid_class.py
@@ -1,9 +1,11 @@
 """LoadLiquidClass stores the liquid class settings used for a transfer into the Protocol Engine."""
 from __future__ import annotations
 
-from typing import Optional, Type, TYPE_CHECKING
+from typing import Optional, Type, TYPE_CHECKING, Any
+
 from typing_extensions import Literal
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ..errors import LiquidClassDoesNotExistError
@@ -19,13 +21,18 @@
 LoadLiquidClassCommandType = Literal["loadLiquidClass"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class LoadLiquidClassParams(BaseModel):
     """The liquid class transfer properties to store."""
 
-    liquidClassId: Optional[str] = Field(
+    liquidClassId: str | SkipJsonSchema[None] = Field(
         None,
         description="Unique identifier for the liquid class to store. "
         "If you do not supply a liquidClassId, we will generate one.",
+        json_schema_extra=_remove_default,
     )
     liquidClassRecord: LiquidClassRecord = Field(
         ...,
diff --git a/api/src/opentrons/protocol_engine/commands/load_module.py b/api/src/opentrons/protocol_engine/commands/load_module.py
index f8b88e08814..a0f4736a3a4 100644
--- a/api/src/opentrons/protocol_engine/commands/load_module.py
+++ b/api/src/opentrons/protocol_engine/commands/load_module.py
@@ -1,8 +1,9 @@
 """Implementation, request models, and response models for the load module command."""
 from __future__ import annotations
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Any
 from typing_extensions import Literal
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.protocol_engine.state.update_types import StateUpdate
 
@@ -27,6 +28,10 @@
 LoadModuleCommandType = Literal["loadModule"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class LoadModuleParams(BaseModel):
     """Payload required to load a module."""
 
@@ -59,12 +64,13 @@ class LoadModuleParams(BaseModel):
         ),
     )
 
-    moduleId: Optional[str] = Field(
+    moduleId: str | SkipJsonSchema[None] = Field(
         None,
         description=(
             "An optional ID to assign to this module."
             " If None, an ID will be generated."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -77,7 +83,7 @@ class LoadModuleResult(BaseModel):
 
     # TODO(mm, 2023-04-13): Remove this field. Jira RSS-221.
     definition: ModuleDefinition = Field(
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
         description=(
             "The definition of the connected module."
             " This field is an implementation detail. We might change or remove it without warning."
@@ -204,7 +210,7 @@ class LoadModule(BaseCommand[LoadModuleParams, LoadModuleResult, ErrorOccurrence
 
     commandType: LoadModuleCommandType = "loadModule"
     params: LoadModuleParams
-    result: Optional[LoadModuleResult]
+    result: Optional[LoadModuleResult] = None
 
     _ImplementationCls: Type[LoadModuleImplementation] = LoadModuleImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/load_pipette.py b/api/src/opentrons/protocol_engine/commands/load_pipette.py
index 6d8d74b4fa2..812299a6da1 100644
--- a/api/src/opentrons/protocol_engine/commands/load_pipette.py
+++ b/api/src/opentrons/protocol_engine/commands/load_pipette.py
@@ -1,20 +1,23 @@
 """Load pipette command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
+from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
+from typing_extensions import Literal
 
-from opentrons.protocol_engine.state.update_types import StateUpdate
 from opentrons_shared_data.pipette.pipette_load_name_conversions import (
     convert_to_pipette_name_type,
 )
 from opentrons_shared_data.pipette.types import PipetteGenerationType
 from opentrons_shared_data.robot import user_facing_robot_type
 from opentrons_shared_data.robot.types import RobotTypeEnum
-from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
-from typing_extensions import Literal
+
 
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons.types import MountType
 
+from opentrons.protocol_engine.state.update_types import StateUpdate
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ..errors.error_occurrence import ErrorOccurrence
 from ..errors import InvalidSpecificationForRobotTypeError, InvalidLoadPipetteSpecsError
@@ -27,6 +30,10 @@
 LoadPipetteCommandType = Literal["loadPipette"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class LoadPipetteParams(BaseModel):
     """Payload needed to load a pipette on to a mount."""
 
@@ -38,21 +45,24 @@ class LoadPipetteParams(BaseModel):
         ...,
         description="The mount the pipette should be present on.",
     )
-    pipetteId: Optional[str] = Field(
+    pipetteId: str | SkipJsonSchema[None] = Field(
         None,
         description="An optional ID to assign to this pipette. If None, an ID "
         "will be generated.",
+        json_schema_extra=_remove_default,
     )
-    tipOverlapNotAfterVersion: Optional[str] = Field(
+    tipOverlapNotAfterVersion: str | SkipJsonSchema[None] = Field(
         None,
         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.",
+        json_schema_extra=_remove_default,
     )
-    liquidPresenceDetection: Optional[bool] = Field(
+    liquidPresenceDetection: bool | SkipJsonSchema[None] = Field(
         None,
         description="Enable liquid presence detection for this pipette. Defaults to False.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -140,7 +150,7 @@ class LoadPipette(BaseCommand[LoadPipetteParams, LoadPipetteResult, ErrorOccurre
 
     commandType: LoadPipetteCommandType = "loadPipette"
     params: LoadPipetteParams
-    result: Optional[LoadPipetteResult]
+    result: Optional[LoadPipetteResult] = None
 
     _ImplementationCls: Type[LoadPipetteImplementation] = LoadPipetteImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/magnetic_module/disengage.py b/api/src/opentrons/protocol_engine/commands/magnetic_module/disengage.py
index c20b18e481d..d0c7abef5a4 100644
--- a/api/src/opentrons/protocol_engine/commands/magnetic_module/disengage.py
+++ b/api/src/opentrons/protocol_engine/commands/magnetic_module/disengage.py
@@ -83,7 +83,7 @@ class Disengage(BaseCommand[DisengageParams, DisengageResult, ErrorOccurrence]):
 
     commandType: DisengageCommandType = "magneticModule/disengage"
     params: DisengageParams
-    result: Optional[DisengageResult]
+    result: Optional[DisengageResult] = None
 
     _ImplementationCls: Type[DisengageImplementation] = DisengageImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/magnetic_module/engage.py b/api/src/opentrons/protocol_engine/commands/magnetic_module/engage.py
index 62f4e24eef4..6686d88edba 100644
--- a/api/src/opentrons/protocol_engine/commands/magnetic_module/engage.py
+++ b/api/src/opentrons/protocol_engine/commands/magnetic_module/engage.py
@@ -105,7 +105,7 @@ class Engage(BaseCommand[EngageParams, EngageResult, ErrorOccurrence]):
 
     commandType: EngageCommandType = "magneticModule/engage"
     params: EngageParams
-    result: Optional[EngageResult]
+    result: Optional[EngageResult] = None
 
     _ImplementationCls: Type[EngageImplementation] = EngageImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/move_labware.py b/api/src/opentrons/protocol_engine/commands/move_labware.py
index b64491f5192..8eb93ce9217 100644
--- a/api/src/opentrons/protocol_engine/commands/move_labware.py
+++ b/api/src/opentrons/protocol_engine/commands/move_labware.py
@@ -1,14 +1,17 @@
 """Models and implementation for the ``moveLabware`` command."""
 
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
+from pydantic.json_schema import SkipJsonSchema
+from pydantic import BaseModel, Field
+from typing_extensions import Literal
+
 from opentrons_shared_data.errors.exceptions import (
     FailedGripperPickupError,
     LabwareDroppedError,
     StallOrCollisionDetectedError,
 )
-from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
-from typing_extensions import Literal
 
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 from opentrons.types import Point
@@ -49,6 +52,10 @@
 MoveLabwareCommandType = Literal["moveLabware"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 # Extra buffer on top of minimum distance to move to the right
 _TRASH_CHUTE_DROP_BUFFER_MM = 8
 
@@ -63,15 +70,17 @@ class MoveLabwareParams(BaseModel):
         description="Whether to use the gripper to perform the labware movement"
         " or to perform a manual movement with an option to pause.",
     )
-    pickUpOffset: Optional[LabwareOffsetVector] = Field(
+    pickUpOffset: LabwareOffsetVector | SkipJsonSchema[None] = Field(
         None,
         description="Offset to use when picking up labware. "
         "Experimental param, subject to change",
+        json_schema_extra=_remove_default,
     )
-    dropOffset: Optional[LabwareOffsetVector] = Field(
+    dropOffset: LabwareOffsetVector | SkipJsonSchema[None] = Field(
         None,
         description="Offset to use when dropping off labware. "
         "Experimental param, subject to change",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -359,7 +368,7 @@ class MoveLabware(
 
     commandType: MoveLabwareCommandType = "moveLabware"
     params: MoveLabwareParams
-    result: Optional[MoveLabwareResult]
+    result: Optional[MoveLabwareResult] = None
 
     _ImplementationCls: Type[MoveLabwareImplementation] = MoveLabwareImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/move_relative.py b/api/src/opentrons/protocol_engine/commands/move_relative.py
index 54c877a3693..d54f9470184 100644
--- a/api/src/opentrons/protocol_engine/commands/move_relative.py
+++ b/api/src/opentrons/protocol_engine/commands/move_relative.py
@@ -88,7 +88,7 @@ class MoveRelative(
 
     commandType: MoveRelativeCommandType = "moveRelative"
     params: MoveRelativeParams
-    result: Optional[MoveRelativeResult]
+    result: Optional[MoveRelativeResult] = None
 
     _ImplementationCls: Type[MoveRelativeImplementation] = MoveRelativeImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py
index 7380a01951a..2ac788b33cf 100644
--- a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py
+++ b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area.py
@@ -160,7 +160,7 @@ class MoveToAddressableArea(
 
     commandType: MoveToAddressableAreaCommandType = "moveToAddressableArea"
     params: MoveToAddressableAreaParams
-    result: Optional[MoveToAddressableAreaResult]
+    result: Optional[MoveToAddressableAreaResult] = None
 
     _ImplementationCls: Type[
         MoveToAddressableAreaImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area_for_drop_tip.py b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area_for_drop_tip.py
index 679e769cc2e..f4afcd5d1ff 100644
--- a/api/src/opentrons/protocol_engine/commands/move_to_addressable_area_for_drop_tip.py
+++ b/api/src/opentrons/protocol_engine/commands/move_to_addressable_area_for_drop_tip.py
@@ -1,9 +1,11 @@
 """Move to addressable area for drop tip command request, result, and implementation models."""
 from __future__ import annotations
-from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Any
 from typing_extensions import Literal
 
+from pydantic import Field
+from pydantic.json_schema import SkipJsonSchema
+
 from ..errors import LocationNotAccessibleByPipetteError
 from ..types import AddressableOffsetVector
 from ..resources import fixture_validation
@@ -32,6 +34,10 @@
 MoveToAddressableAreaForDropTipCommandType = Literal["moveToAddressableAreaForDropTip"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class MoveToAddressableAreaForDropTipParams(PipetteIdMixin, MovementMixin):
     """Payload required to move a pipette to a specific addressable area.
 
@@ -65,7 +71,7 @@ class MoveToAddressableAreaForDropTipParams(PipetteIdMixin, MovementMixin):
         AddressableOffsetVector(x=0, y=0, z=0),
         description="Relative offset of addressable area to move pipette's critical point.",
     )
-    alternateDropLocation: Optional[bool] = Field(
+    alternateDropLocation: bool | SkipJsonSchema[None] = Field(
         False,
         description=(
             "Whether to alternate location where tip is dropped within the addressable area."
@@ -74,8 +80,9 @@ class MoveToAddressableAreaForDropTipParams(PipetteIdMixin, MovementMixin):
             " labware well."
             " If False, the tip will be dropped at the top center of the area."
         ),
+        json_schema_extra=_remove_default,
     )
-    ignoreTipConfiguration: Optional[bool] = Field(
+    ignoreTipConfiguration: bool | SkipJsonSchema[None] = Field(
         True,
         description=(
             "Whether to utilize the critical point of the tip configuraiton when moving to an addressable area."
@@ -83,6 +90,7 @@ class MoveToAddressableAreaForDropTipParams(PipetteIdMixin, MovementMixin):
             " as the critical point for movement."
             " If False, this command will use the critical point provided by the current tip configuration."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -170,7 +178,7 @@ class MoveToAddressableAreaForDropTip(
         "moveToAddressableAreaForDropTip"
     )
     params: MoveToAddressableAreaForDropTipParams
-    result: Optional[MoveToAddressableAreaForDropTipResult]
+    result: Optional[MoveToAddressableAreaForDropTipResult] = None
 
     _ImplementationCls: Type[
         MoveToAddressableAreaForDropTipImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/move_to_coordinates.py b/api/src/opentrons/protocol_engine/commands/move_to_coordinates.py
index 36b7ff64ed0..3493f5d6ea6 100644
--- a/api/src/opentrons/protocol_engine/commands/move_to_coordinates.py
+++ b/api/src/opentrons/protocol_engine/commands/move_to_coordinates.py
@@ -91,7 +91,7 @@ class MoveToCoordinates(
 
     commandType: MoveToCoordinatesCommandType = "moveToCoordinates"
     params: MoveToCoordinatesParams
-    result: Optional[MoveToCoordinatesResult]
+    result: Optional[MoveToCoordinatesResult] = None
 
     _ImplementationCls: Type[
         MoveToCoordinatesImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/move_to_well.py b/api/src/opentrons/protocol_engine/commands/move_to_well.py
index 6aaf398650f..73ebfbff638 100644
--- a/api/src/opentrons/protocol_engine/commands/move_to_well.py
+++ b/api/src/opentrons/protocol_engine/commands/move_to_well.py
@@ -106,7 +106,7 @@ class MoveToWell(
 
     commandType: MoveToWellCommandType = "moveToWell"
     params: MoveToWellParams
-    result: Optional[MoveToWellResult]
+    result: Optional[MoveToWellResult] = None
 
     _ImplementationCls: Type[MoveToWellImplementation] = MoveToWellImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/movement_common.py b/api/src/opentrons/protocol_engine/commands/movement_common.py
index ca12d2d1ad8..786b59921b2 100644
--- a/api/src/opentrons/protocol_engine/commands/movement_common.py
+++ b/api/src/opentrons/protocol_engine/commands/movement_common.py
@@ -2,9 +2,10 @@
 
 from __future__ import annotations
 
-from typing import Optional, Union, TYPE_CHECKING, Literal
+from typing import Optional, Union, TYPE_CHECKING, Literal, Any
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons_shared_data.errors import ErrorCodes
 from opentrons_shared_data.errors.exceptions import StallOrCollisionDetectedError
@@ -26,6 +27,10 @@
     from ..resources.model_utils import ModelUtils
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class WellLocationMixin(BaseModel):
     """Mixin for command requests that take a location that's somewhere in a well."""
 
@@ -63,13 +68,14 @@ class LiquidHandlingWellLocationMixin(BaseModel):
 class MovementMixin(BaseModel):
     """Mixin for command requests that move a pipette."""
 
-    minimumZHeight: Optional[float] = Field(
+    minimumZHeight: float | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
 
     forceDirect: bool = Field(
@@ -83,12 +89,13 @@ class MovementMixin(BaseModel):
         ),
     )
 
-    speed: Optional[float] = Field(
+    speed: float | SkipJsonSchema[None] = Field(
         None,
         description=(
             "Override the travel speed in mm/s."
             " This controls the straight linear speed of motion."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py
index af8723a5bba..e5612bb3cdc 100644
--- a/api/src/opentrons/protocol_engine/commands/pick_up_tip.py
+++ b/api/src/opentrons/protocol_engine/commands/pick_up_tip.py
@@ -212,7 +212,7 @@ class PickUpTip(
 
     commandType: PickUpTipCommandType = "pickUpTip"
     params: PickUpTipParams
-    result: Optional[PickUpTipResult]
+    result: Optional[PickUpTipResult] = None
 
     _ImplementationCls: Type[PickUpTipImplementation] = PickUpTipImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/pipetting_common.py b/api/src/opentrons/protocol_engine/commands/pipetting_common.py
index 0292b51eee1..c373642a02e 100644
--- a/api/src/opentrons/protocol_engine/commands/pipetting_common.py
+++ b/api/src/opentrons/protocol_engine/commands/pipetting_common.py
@@ -1,10 +1,12 @@
 """Common pipetting command base models."""
 
 from __future__ import annotations
-from opentrons_shared_data.errors import ErrorCodes
+from typing import Literal, Tuple, TYPE_CHECKING
+
+from typing_extensions import TypedDict
 from pydantic import BaseModel, Field
-from typing import Literal, Tuple, TypedDict, TYPE_CHECKING
 
+from opentrons_shared_data.errors import ErrorCodes
 from opentrons.protocol_engine.errors.error_occurrence import ErrorOccurrence
 from opentrons.protocol_engine.types import AspiratedFluid, FluidKind
 from opentrons_shared_data.errors.exceptions import PipetteOverpressureError
@@ -71,6 +73,10 @@ class BaseLiquidHandlingResult(BaseModel):
     )
 
 
+class EmptyResult(BaseModel):
+    """A result with no data."""
+
+
 class ErrorLocationInfo(TypedDict):
     """Holds a retry location for in-place error recovery.
 
@@ -139,7 +145,7 @@ async def prepare_for_aspirate(
     pipetting: PipettingHandler,
     model_utils: ModelUtils,
     location_if_error: ErrorLocationInfo,
-) -> SuccessData[BaseModel] | DefinedErrorData[OverpressureError]:
+) -> SuccessData[EmptyResult] | DefinedErrorData[OverpressureError]:
     """Execute pipetting.prepare_for_aspirate, handle errors, and marshal success."""
     try:
         await pipetting.prepare_for_aspirate(pipette_id)
@@ -161,7 +167,7 @@ async def prepare_for_aspirate(
         )
     else:
         return SuccessData(
-            public=BaseModel(),
+            public=EmptyResult(),
             state_update=StateUpdate().set_fluid_empty(pipette_id=pipette_id),
         )
 
@@ -259,7 +265,7 @@ async def blow_out_in_place(
     location_if_error: ErrorLocationInfo,
     pipetting: PipettingHandler,
     model_utils: ModelUtils,
-) -> SuccessData[BaseModel] | DefinedErrorData[OverpressureError]:
+) -> SuccessData[EmptyResult] | DefinedErrorData[OverpressureError]:
     """Execute a blow-out-in-place micro-operation."""
     try:
         await pipetting.blow_out_in_place(pipette_id=pipette_id, flow_rate=flow_rate)
@@ -281,6 +287,6 @@ async def blow_out_in_place(
         )
     else:
         return SuccessData(
-            public=BaseModel(),
+            public=EmptyResult(),
             state_update=StateUpdate().set_fluid_empty(pipette_id=pipette_id),
         )
diff --git a/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py b/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
index cabcb2039eb..beaf6e1ca0c 100644
--- a/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
+++ b/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
@@ -95,7 +95,7 @@ class PrepareToAspirate(
 
     commandType: PrepareToAspirateCommandType = "prepareToAspirate"
     params: PrepareToAspirateParams
-    result: Optional[PrepareToAspirateResult]
+    result: Optional[PrepareToAspirateResult] = None
 
     _ImplementationCls: Type[
         PrepareToAspirateImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/reload_labware.py b/api/src/opentrons/protocol_engine/commands/reload_labware.py
index 60230a1c6dd..07d70957cdb 100644
--- a/api/src/opentrons/protocol_engine/commands/reload_labware.py
+++ b/api/src/opentrons/protocol_engine/commands/reload_labware.py
@@ -89,7 +89,7 @@ class ReloadLabware(
 
     commandType: ReloadLabwareCommandType = "reloadLabware"
     params: ReloadLabwareParams
-    result: Optional[ReloadLabwareResult]
+    result: Optional[ReloadLabwareResult] = None
 
     _ImplementationCls: Type[ReloadLabwareImplementation] = ReloadLabwareImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/retract_axis.py b/api/src/opentrons/protocol_engine/commands/retract_axis.py
index 49020eb517e..19c7653793f 100644
--- a/api/src/opentrons/protocol_engine/commands/retract_axis.py
+++ b/api/src/opentrons/protocol_engine/commands/retract_axis.py
@@ -61,7 +61,7 @@ class RetractAxis(BaseCommand[RetractAxisParams, RetractAxisResult, ErrorOccurre
 
     commandType: RetractAxisCommandType = "retractAxis"
     params: RetractAxisParams
-    result: Optional[RetractAxisResult]
+    result: Optional[RetractAxisResult] = None
 
     _ImplementationCls: Type[RetractAxisImplementation] = RetractAxisImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py b/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py
index 965c6d2ec72..36b027c351a 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/close_gripper_jaw.py
@@ -1,10 +1,12 @@
 """Command models for opening a gripper jaw."""
 from __future__ import annotations
-from typing import Literal, Type, Optional
-from opentrons.hardware_control import HardwareControlAPI
-from opentrons.protocol_engine.resources import ensure_ot3_hardware
+from typing import Literal, Type, Optional, Any
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
+
+from opentrons.hardware_control import HardwareControlAPI
+from opentrons.protocol_engine.resources import ensure_ot3_hardware
 
 from ..command import (
     AbstractCommandImpl,
@@ -18,12 +20,17 @@
 closeGripperJawCommandType = Literal["robot/closeGripperJaw"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class closeGripperJawParams(BaseModel):
     """Payload required to close a gripper."""
 
-    force: Optional[float] = Field(
+    force: float | SkipJsonSchema[None] = Field(
         default=None,
         description="The force the gripper should use to hold the jaws, falls to default if none is provided.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py b/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
index 238229ebce6..99b30e9595a 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
@@ -1,8 +1,10 @@
 """Command models for moving any robot axis relative."""
+
 from __future__ import annotations
-from typing import Literal, Type, Optional, TYPE_CHECKING
+from typing import Literal, Type, Optional, TYPE_CHECKING, Any
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.protocol_engine.resources import ensure_ot3_hardware
 
@@ -23,15 +25,20 @@
 MoveAxesRelativeCommandType = Literal["robot/moveAxesRelative"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class MoveAxesRelativeParams(BaseModel):
     """Payload required to move axes relative to position."""
 
     axis_map: MotorAxisMapType = Field(
         ..., description="A dictionary mapping axes to relative movements in mm."
     )
-    speed: Optional[float] = Field(
+    speed: float | SkipJsonSchema[None] = Field(
         default=None,
         description="The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py b/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
index 0d17d5f171f..93fc2746c84 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
@@ -1,7 +1,9 @@
 """Command models for moving any robot axis to an absolute position."""
 from __future__ import annotations
-from typing import Literal, Optional, Type, TYPE_CHECKING
+from typing import Literal, Optional, Type, TYPE_CHECKING, Any
+
 from pydantic import Field, BaseModel
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.protocol_engine.resources import ensure_ot3_hardware
@@ -22,18 +24,25 @@
 MoveAxesToCommandType = Literal["robot/moveAxesTo"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class MoveAxesToParams(BaseModel):
     """Payload required to move axes to absolute position."""
 
     axis_map: MotorAxisMapType = Field(
         ..., description="The specified axes to move to an absolute deck position with."
     )
-    critical_point: Optional[MotorAxisMapType] = Field(
-        default=None, description="The critical point to move the mount with."
+    critical_point: MotorAxisMapType | SkipJsonSchema[None] = Field(
+        default=None,
+        description="The critical point to move the mount with.",
+        json_schema_extra=_remove_default,
     )
-    speed: Optional[float] = Field(
+    speed: float | SkipJsonSchema[None] = Field(
         default=None,
         description="The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_to.py b/api/src/opentrons/protocol_engine/commands/robot/move_to.py
index 199d5be5079..e2a3af07767 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_to.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_to.py
@@ -1,8 +1,10 @@
 """Command models for moving any robot mount to a destination point."""
 from __future__ import annotations
-from typing import Literal, Type, Optional, TYPE_CHECKING
+from typing import Literal, Type, Optional, TYPE_CHECKING, Any
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
+
 from opentrons.types import MountType
 
 from ..movement_common import DestinationPositionResult
@@ -23,6 +25,10 @@
 MoveToCommandType = Literal["robot/moveTo"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class MoveToParams(BaseModel):
     """Payload required to move to a destination position."""
 
@@ -34,9 +40,10 @@ class MoveToParams(BaseModel):
         ...,
         description="X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)",
     )
-    speed: Optional[float] = Field(
+    speed: float | SkipJsonSchema[None] = Field(
         default=None,
         description="The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/save_position.py b/api/src/opentrons/protocol_engine/commands/save_position.py
index 4bc208d1421..6a1d22c4687 100644
--- a/api/src/opentrons/protocol_engine/commands/save_position.py
+++ b/api/src/opentrons/protocol_engine/commands/save_position.py
@@ -1,8 +1,10 @@
 """Save pipette position command request, result, and implementation models."""
 
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from ..types import DeckPoint
@@ -16,19 +18,26 @@
 SavePositionCommandType = Literal["savePosition"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class SavePositionParams(BaseModel):
     """Payload needed to save a pipette's current position."""
 
     pipetteId: str = Field(
         ..., description="Unique identifier of the pipette in question."
     )
-    positionId: Optional[str] = Field(
+    positionId: str | SkipJsonSchema[None] = Field(
         None,
         description="An optional ID to assign to this command instance. "
         "Auto-assigned if not defined.",
+        json_schema_extra=_remove_default,
     )
-    failOnNotHomed: Optional[bool] = Field(
-        True, descrption="Require all axes to be homed before saving position."
+    failOnNotHomed: bool | SkipJsonSchema[None] = Field(
+        True,
+        description="Require all axes to be homed before saving position.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -86,7 +95,7 @@ class SavePosition(
 
     commandType: SavePositionCommandType = "savePosition"
     params: SavePositionParams
-    result: Optional[SavePositionResult]
+    result: Optional[SavePositionResult] = None
 
     _ImplementationCls: Type[SavePositionImplementation] = SavePositionImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/set_rail_lights.py b/api/src/opentrons/protocol_engine/commands/set_rail_lights.py
index 09254dbe966..7ca3929695b 100644
--- a/api/src/opentrons/protocol_engine/commands/set_rail_lights.py
+++ b/api/src/opentrons/protocol_engine/commands/set_rail_lights.py
@@ -53,7 +53,7 @@ class SetRailLights(
 
     commandType: SetRailLightsCommandType = "setRailLights"
     params: SetRailLightsParams
-    result: Optional[SetRailLightsResult]
+    result: Optional[SetRailLightsResult] = None
 
     _ImplementationCls: Type[SetRailLightsImplementation] = SetRailLightsImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/set_status_bar.py b/api/src/opentrons/protocol_engine/commands/set_status_bar.py
index 2e1483f6d93..62ca9b7682a 100644
--- a/api/src/opentrons/protocol_engine/commands/set_status_bar.py
+++ b/api/src/opentrons/protocol_engine/commands/set_status_bar.py
@@ -75,7 +75,7 @@ class SetStatusBar(
 
     commandType: SetStatusBarCommandType = "setStatusBar"
     params: SetStatusBarParams
-    result: Optional[SetStatusBarResult]
+    result: Optional[SetStatusBarResult] = None
 
     _ImplementationCls: Type[SetStatusBarImplementation] = SetStatusBarImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/temperature_module/deactivate.py b/api/src/opentrons/protocol_engine/commands/temperature_module/deactivate.py
index e56c98e6e30..e1514c91f30 100644
--- a/api/src/opentrons/protocol_engine/commands/temperature_module/deactivate.py
+++ b/api/src/opentrons/protocol_engine/commands/temperature_module/deactivate.py
@@ -72,7 +72,7 @@ class DeactivateTemperature(
     commandType: DeactivateTemperatureCommandType = "temperatureModule/deactivate"
 
     params: DeactivateTemperatureParams
-    result: Optional[DeactivateTemperatureResult]
+    result: Optional[DeactivateTemperatureResult] = None
 
     _ImplementationCls: Type[DeactivateTemperatureImpl] = DeactivateTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/temperature_module/set_target_temperature.py b/api/src/opentrons/protocol_engine/commands/temperature_module/set_target_temperature.py
index 6d65bf47bb0..b0aa7bd5cd0 100644
--- a/api/src/opentrons/protocol_engine/commands/temperature_module/set_target_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/temperature_module/set_target_temperature.py
@@ -81,7 +81,7 @@ class SetTargetTemperature(
         "temperatureModule/setTargetTemperature"
     )
     params: SetTargetTemperatureParams
-    result: Optional[SetTargetTemperatureResult]
+    result: Optional[SetTargetTemperatureResult] = None
 
     _ImplementationCls: Type[SetTargetTemperatureImpl] = SetTargetTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/temperature_module/wait_for_temperature.py b/api/src/opentrons/protocol_engine/commands/temperature_module/wait_for_temperature.py
index fa7784de141..5f3f052d91b 100644
--- a/api/src/opentrons/protocol_engine/commands/temperature_module/wait_for_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/temperature_module/wait_for_temperature.py
@@ -1,9 +1,10 @@
 """Command models to wait for target temperature of a Temperature Module."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING
-from typing_extensions import Literal, Type
+from typing import Optional, TYPE_CHECKING, Any
 
+from typing_extensions import Literal, Type
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
@@ -15,11 +16,15 @@
 WaitForTemperatureCommandType = Literal["temperatureModule/waitForTemperature"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class WaitForTemperatureParams(BaseModel):
     """Input parameters to wait for a Temperature Module's target temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Temperature Module.")
-    celsius: Optional[float] = Field(
+    celsius: float | SkipJsonSchema[None] = Field(
         None,
         description="Target temperature in °C. If not specified, will "
         "default to the module's target temperature. "
@@ -27,6 +32,7 @@ class WaitForTemperatureParams(BaseModel):
         "could lead to unpredictable behavior and hence is not "
         "recommended for use. This parameter can be removed in a "
         "future version without prior notice.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -84,7 +90,7 @@ class WaitForTemperature(
 
     commandType: WaitForTemperatureCommandType = "temperatureModule/waitForTemperature"
     params: WaitForTemperatureParams
-    result: Optional[WaitForTemperatureResult]
+    result: Optional[WaitForTemperatureResult] = None
 
     _ImplementationCls: Type[WaitForTemperatureImpl] = WaitForTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/close_lid.py b/api/src/opentrons/protocol_engine/commands/thermocycler/close_lid.py
index 578a5d6b7a7..c5171c82da8 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/close_lid.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/close_lid.py
@@ -73,7 +73,7 @@ class CloseLid(BaseCommand[CloseLidParams, CloseLidResult, ErrorOccurrence]):
 
     commandType: CloseLidCommandType = "thermocycler/closeLid"
     params: CloseLidParams
-    result: Optional[CloseLidResult]
+    result: Optional[CloseLidResult] = None
 
     _ImplementationCls: Type[CloseLidImpl] = CloseLidImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_block.py b/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_block.py
index 67199577d53..fb49f031ac4 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_block.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_block.py
@@ -66,7 +66,7 @@ class DeactivateBlock(
 
     commandType: DeactivateBlockCommandType = "thermocycler/deactivateBlock"
     params: DeactivateBlockParams
-    result: Optional[DeactivateBlockResult]
+    result: Optional[DeactivateBlockResult] = None
 
     _ImplementationCls: Type[DeactivateBlockImpl] = DeactivateBlockImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_lid.py b/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_lid.py
index 9c3541efb12..f92065c88e9 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_lid.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/deactivate_lid.py
@@ -66,7 +66,7 @@ class DeactivateLid(
 
     commandType: DeactivateLidCommandType = "thermocycler/deactivateLid"
     params: DeactivateLidParams
-    result: Optional[DeactivateLidResult]
+    result: Optional[DeactivateLidResult] = None
 
     _ImplementationCls: Type[DeactivateLidImpl] = DeactivateLidImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/open_lid.py b/api/src/opentrons/protocol_engine/commands/thermocycler/open_lid.py
index 3df32d1ec99..6eedb9f4c60 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/open_lid.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/open_lid.py
@@ -73,7 +73,7 @@ class OpenLid(BaseCommand[OpenLidParams, OpenLidResult, ErrorOccurrence]):
 
     commandType: OpenLidCommandType = "thermocycler/openLid"
     params: OpenLidParams
-    result: Optional[OpenLidResult]
+    result: Optional[OpenLidResult] = None
 
     _ImplementationCls: Type[OpenLidImpl] = OpenLidImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/run_extended_profile.py b/api/src/opentrons/protocol_engine/commands/thermocycler/run_extended_profile.py
index 6f63aed8fe3..40f87af7772 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/run_extended_profile.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/run_extended_profile.py
@@ -1,9 +1,10 @@
 """Command models to execute a Thermocycler profile."""
 from __future__ import annotations
-from typing import List, Optional, TYPE_CHECKING, overload, Union
+from typing import List, Optional, TYPE_CHECKING, overload, Union, Any
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.hardware_control.modules.types import ThermocyclerStep, ThermocyclerCycle
 
@@ -21,6 +22,10 @@
 RunExtendedProfileCommandType = Literal["thermocycler/runExtendedProfile"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class ProfileStep(BaseModel):
     """An individual step in a Thermocycler extended profile."""
 
@@ -45,10 +50,11 @@ class RunExtendedProfileParams(BaseModel):
         ...,
         description="Elements of the profile. Each can be either a step or a cycle.",
     )
-    blockMaxVolumeUl: Optional[float] = Field(
+    blockMaxVolumeUl: float | SkipJsonSchema[None] = Field(
         None,
         description="Amount of liquid in uL of the most-full well"
         " in labware loaded onto the thermocycler.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/run_profile.py b/api/src/opentrons/protocol_engine/commands/thermocycler/run_profile.py
index 02aa7ad93e2..fee6ed82bb3 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/run_profile.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/run_profile.py
@@ -1,9 +1,10 @@
 """Command models to execute a Thermocycler profile."""
 from __future__ import annotations
-from typing import List, Optional, TYPE_CHECKING
+from typing import List, Optional, TYPE_CHECKING, Any
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.hardware_control.modules.types import ThermocyclerStep
 
@@ -18,6 +19,10 @@
 RunProfileCommandType = Literal["thermocycler/runProfile"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class RunProfileStepParams(BaseModel):
     """Input parameters for an individual Thermocycler profile step."""
 
@@ -35,10 +40,11 @@ class RunProfileParams(BaseModel):
         ...,
         description="Array of profile steps with target temperature and temperature hold time.",
     )
-    blockMaxVolumeUl: Optional[float] = Field(
+    blockMaxVolumeUl: float | SkipJsonSchema[None] = Field(
         None,
         description="Amount of liquid in uL of the most-full well"
         " in labware loaded onto the thermocycler.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -104,7 +110,7 @@ class RunProfile(BaseCommand[RunProfileParams, RunProfileResult, ErrorOccurrence
 
     commandType: RunProfileCommandType = "thermocycler/runProfile"
     params: RunProfileParams
-    result: Optional[RunProfileResult]
+    result: Optional[RunProfileResult] = None
 
     _ImplementationCls: Type[RunProfileImpl] = RunProfileImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py b/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py
index b69bb15ea90..f1884e8ee9e 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_block_temperature.py
@@ -1,9 +1,10 @@
 """Command models to start heating a Thermocycler's block."""
 from __future__ import annotations
-from typing import Optional, TYPE_CHECKING
+from typing import Optional, TYPE_CHECKING, Any
 from typing_extensions import Literal, Type
 
 from pydantic import BaseModel, Field
+from pydantic.json_schema import SkipJsonSchema
 
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
@@ -16,21 +17,27 @@
 SetTargetBlockTemperatureCommandType = Literal["thermocycler/setTargetBlockTemperature"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class SetTargetBlockTemperatureParams(BaseModel):
     """Input parameters to set a Thermocycler's target block temperature."""
 
     moduleId: str = Field(..., description="Unique ID of the Thermocycler Module.")
     celsius: float = Field(..., description="Target temperature in °C.")
-    blockMaxVolumeUl: Optional[float] = Field(
+    blockMaxVolumeUl: float | SkipJsonSchema[None] = Field(
         None,
         description="Amount of liquid in uL of the most-full well"
         " in labware loaded onto the thermocycler.",
+        json_schema_extra=_remove_default,
     )
-    holdTimeSeconds: Optional[float] = Field(
+    holdTimeSeconds: float | SkipJsonSchema[None] = Field(
         None,
         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.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -113,7 +120,7 @@ class SetTargetBlockTemperature(
         "thermocycler/setTargetBlockTemperature"
     )
     params: SetTargetBlockTemperatureParams
-    result: Optional[SetTargetBlockTemperatureResult]
+    result: Optional[SetTargetBlockTemperatureResult] = None
 
     _ImplementationCls: Type[
         SetTargetBlockTemperatureImpl
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py b/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py
index 37217e047ae..a1af8941ee9 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/set_target_lid_temperature.py
@@ -84,7 +84,7 @@ class SetTargetLidTemperature(
         "thermocycler/setTargetLidTemperature"
     )
     params: SetTargetLidTemperatureParams
-    result: Optional[SetTargetLidTemperatureResult]
+    result: Optional[SetTargetLidTemperatureResult] = None
 
     _ImplementationCls: Type[SetTargetLidTemperatureImpl] = SetTargetLidTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_block_temperature.py b/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_block_temperature.py
index 8e8c9b1a4ec..388d1af13d9 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_block_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_block_temperature.py
@@ -77,7 +77,7 @@ class WaitForBlockTemperature(
         "thermocycler/waitForBlockTemperature"
     )
     params: WaitForBlockTemperatureParams
-    result: Optional[WaitForBlockTemperatureResult]
+    result: Optional[WaitForBlockTemperatureResult] = None
 
     _ImplementationCls: Type[WaitForBlockTemperatureImpl] = WaitForBlockTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py b/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py
index 95e5fbc4f0a..233e4ff5a8c 100644
--- a/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py
+++ b/api/src/opentrons/protocol_engine/commands/thermocycler/wait_for_lid_temperature.py
@@ -75,7 +75,7 @@ class WaitForLidTemperature(
 
     commandType: WaitForLidTemperatureCommandType = "thermocycler/waitForLidTemperature"
     params: WaitForLidTemperatureParams
-    result: Optional[WaitForLidTemperatureResult]
+    result: Optional[WaitForLidTemperatureResult] = None
 
     _ImplementationCls: Type[WaitForLidTemperatureImpl] = WaitForLidTemperatureImpl
 
diff --git a/api/src/opentrons/protocol_engine/commands/touch_tip.py b/api/src/opentrons/protocol_engine/commands/touch_tip.py
index 2eefd572d9a..4ccced4b3d3 100644
--- a/api/src/opentrons/protocol_engine/commands/touch_tip.py
+++ b/api/src/opentrons/protocol_engine/commands/touch_tip.py
@@ -1,9 +1,11 @@
 """Touch tip command request, result, and implementation models."""
 
 from __future__ import annotations
-from pydantic import Field
-from typing import TYPE_CHECKING, Optional, Type
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from typing_extensions import Literal
+from pydantic import Field
+from pydantic.json_schema import SkipJsonSchema
 
 from opentrons.types import Point
 
@@ -39,6 +41,10 @@
 TouchTipCommandType = Literal["touchTip"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class TouchTipParams(PipetteIdMixin, WellLocationMixin):
     """Payload needed to touch a pipette tip the sides of a specific well."""
 
@@ -49,18 +55,20 @@ class TouchTipParams(PipetteIdMixin, WellLocationMixin):
         ),
     )
 
-    mmFromEdge: Optional[float] = Field(
+    mmFromEdge: float | SkipJsonSchema[None] = Field(
         None,
         description="Offset away from the the well edge, in millimeters."
         "Incompatible when a radius is included as a non 1.0 value.",
+        json_schema_extra=_remove_default,
     )
 
-    speed: Optional[float] = Field(
+    speed: float | SkipJsonSchema[None] = Field(
         None,
         description=(
             "Override the travel speed in mm/s."
             " This controls the straight linear speed of motion."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
@@ -167,7 +175,7 @@ class TouchTip(BaseCommand[TouchTipParams, TouchTipResult, StallOrCollisionError
 
     commandType: TouchTipCommandType = "touchTip"
     params: TouchTipParams
-    result: Optional[TouchTipResult]
+    result: Optional[TouchTipResult] = None
 
     _ImplementationCls: Type[TouchTipImplementation] = TouchTipImplementation
 
diff --git a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py
index 5aa4e292f63..56a87a468dd 100644
--- a/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py
+++ b/api/src/opentrons/protocol_engine/commands/unsafe/unsafe_drop_tip_in_place.py
@@ -1,13 +1,16 @@
 """Command models to drop tip in place while plunger positions are unknown."""
+
 from __future__ import annotations
-from opentrons.protocol_engine.state.update_types import StateUpdate
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import Field, BaseModel
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.types import Axis
 
+from opentrons.protocol_engine.state.update_types import StateUpdate
 from ..pipetting_common import PipetteIdMixin
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
@@ -21,16 +24,21 @@
 UnsafeDropTipInPlaceCommandType = Literal["unsafe/dropTipInPlace"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class UnsafeDropTipInPlaceParams(PipetteIdMixin):
     """Payload required to drop a tip in place even if the plunger position is not known."""
 
-    homeAfter: Optional[bool] = Field(
+    homeAfter: bool | SkipJsonSchema[None] = Field(
         None,
         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."
         ),
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/verify_tip_presence.py b/api/src/opentrons/protocol_engine/commands/verify_tip_presence.py
index e0412022e85..dc6f451e3e4 100644
--- a/api/src/opentrons/protocol_engine/commands/verify_tip_presence.py
+++ b/api/src/opentrons/protocol_engine/commands/verify_tip_presence.py
@@ -1,8 +1,9 @@
 """Verify tip presence command request, result and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
 
 from pydantic import Field, BaseModel
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .pipetting_common import PipetteIdMixin
@@ -18,14 +19,20 @@
 VerifyTipPresenceCommandType = Literal["verifyTipPresence"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class VerifyTipPresenceParams(PipetteIdMixin):
     """Payload required for a VerifyTipPresence command."""
 
     expectedState: TipPresenceStatus = Field(
         ..., description="The expected tip presence status on the pipette."
     )
-    followSingularSensor: Optional[InstrumentSensorId] = Field(
-        default=None, description="The sensor id to follow if the other can be ignored."
+    followSingularSensor: InstrumentSensorId | SkipJsonSchema[None] = Field(
+        default=None,
+        description="The sensor id to follow if the other can be ignored.",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -77,7 +84,7 @@ class VerifyTipPresence(
 
     commandType: VerifyTipPresenceCommandType = "verifyTipPresence"
     params: VerifyTipPresenceParams
-    result: Optional[VerifyTipPresenceResult]
+    result: Optional[VerifyTipPresenceResult] = None
 
     _ImplementationCls: Type[
         VerifyTipPresenceImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/wait_for_duration.py b/api/src/opentrons/protocol_engine/commands/wait_for_duration.py
index 04f8693386e..26a4372c8ca 100644
--- a/api/src/opentrons/protocol_engine/commands/wait_for_duration.py
+++ b/api/src/opentrons/protocol_engine/commands/wait_for_duration.py
@@ -1,7 +1,9 @@
 """Wait for duration command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
@@ -14,13 +16,18 @@
 WaitForDurationCommandType = Literal["waitForDuration"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class WaitForDurationParams(BaseModel):
     """Payload required to pause the protocol."""
 
     seconds: float = Field(..., description="Duration, in seconds, to wait for.")
-    message: Optional[str] = Field(
+    message: str | SkipJsonSchema[None] = Field(
         None,
         description="A user-facing message associated with the pause",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -53,7 +60,7 @@ class WaitForDuration(
 
     commandType: WaitForDurationCommandType = "waitForDuration"
     params: WaitForDurationParams
-    result: Optional[WaitForDurationResult]
+    result: Optional[WaitForDurationResult] = None
 
     _ImplementationCls: Type[
         WaitForDurationImplementation
diff --git a/api/src/opentrons/protocol_engine/commands/wait_for_resume.py b/api/src/opentrons/protocol_engine/commands/wait_for_resume.py
index f5066d52521..28458aa3721 100644
--- a/api/src/opentrons/protocol_engine/commands/wait_for_resume.py
+++ b/api/src/opentrons/protocol_engine/commands/wait_for_resume.py
@@ -1,7 +1,9 @@
 """Wait for resume command request, result, and implementation models."""
 from __future__ import annotations
+from typing import TYPE_CHECKING, Optional, Type, Any
+
 from pydantic import BaseModel, Field
-from typing import TYPE_CHECKING, Optional, Type
+from pydantic.json_schema import SkipJsonSchema
 from typing_extensions import Literal
 
 from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
@@ -16,12 +18,17 @@
 WaitForResumeCommandType = Literal["waitForResume", "pause"]
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default", None)
+
+
 class WaitForResumeParams(BaseModel):
     """Payload required to pause the protocol."""
 
-    message: Optional[str] = Field(
+    message: str | SkipJsonSchema[None] = Field(
         None,
         description="A user-facing message associated with the pause",
+        json_schema_extra=_remove_default,
     )
 
 
@@ -54,7 +61,7 @@ class WaitForResume(
 
     commandType: WaitForResumeCommandType = "waitForResume"
     params: WaitForResumeParams
-    result: Optional[WaitForResumeResult]
+    result: Optional[WaitForResumeResult] = None
 
     _ImplementationCls: Type[WaitForResumeImplementation] = WaitForResumeImplementation
 
diff --git a/api/src/opentrons/protocol_engine/errors/error_occurrence.py b/api/src/opentrons/protocol_engine/errors/error_occurrence.py
index 4141befe9b8..34f3e1d2ac7 100644
--- a/api/src/opentrons/protocol_engine/errors/error_occurrence.py
+++ b/api/src/opentrons/protocol_engine/errors/error_occurrence.py
@@ -4,7 +4,7 @@
 from datetime import datetime
 from textwrap import dedent
 from typing import Any, Dict, Mapping, List, Type, Union, Optional, Sequence
-from pydantic import BaseModel, Field
+from pydantic import BaseModel, Field, ConfigDict
 from opentrons_shared_data.errors.codes import ErrorCodes
 from .exceptions import ProtocolEngineError
 from opentrons_shared_data.errors.exceptions import EnumeratedError
@@ -39,6 +39,21 @@ def from_failed(
             wrappedErrors=wrappedErrors,
         )
 
+    @staticmethod
+    def schema_extra(schema: Dict[str, Any], model: object) -> None:
+        """Append the schema to make the errorCode appear required.
+
+        `errorCode`, `wrappedErrors`, and `errorInfo` have defaults because they are not included in earlier
+        versions of this model, _and_ this model is loaded directly from
+        the on-robot store. That means that, without a default, it will
+        fail to parse. Once a default is defined, the automated schema will
+        mark this as a non-required field, which is misleading as this is
+        a response from the server to the client and it will always have an
+        errorCode defined. This hack is required because it informs the client
+        that it does not, in fact, have to account for a missing errorCode, wrappedError, or errorInfo.
+        """
+        schema["required"].extend(["errorCode", "wrappedErrors", "errorInfo"])
+
     id: str = Field(..., description="Unique identifier of this error occurrence.")
     createdAt: datetime = Field(..., description="When the error occurred.")
 
@@ -145,23 +160,7 @@ def from_failed(
         default=[], description="Errors that may have caused this one."
     )
 
-    class Config:
-        """Customize configuration for this model."""
-
-        @staticmethod
-        def schema_extra(schema: Dict[str, Any], model: object) -> None:
-            """Append the schema to make the errorCode appear required.
-
-            `errorCode`, `wrappedErrors`, and `errorInfo` have defaults because they are not included in earlier
-            versions of this model, _and_ this model is loaded directly from
-            the on-robot store. That means that, without a default, it will
-            fail to parse. Once a default is defined, the automated schema will
-            mark this as a non-required field, which is misleading as this is
-            a response from the server to the client and it will always have an
-            errorCode defined. This hack is required because it informs the client
-            that it does not, in fact, have to account for a missing errorCode, wrappedError, or errorInfo.
-            """
-            schema["required"].extend(["errorCode", "wrappedErrors", "errorInfo"])
+    model_config = ConfigDict(json_schema_extra=schema_extra)
 
 
 # TODO (tz, 7-12-23): move this to exceptions.py when we stop relaying on ErrorOccurrence.
@@ -180,4 +179,4 @@ def __init__(
         self.original_error = original_error
 
 
-ErrorOccurrence.update_forward_refs()
+ErrorOccurrence.model_rebuild()
diff --git a/api/src/opentrons/protocol_engine/state/commands.py b/api/src/opentrons/protocol_engine/state/commands.py
index 8aa71c9c1f8..e059212e73f 100644
--- a/api/src/opentrons/protocol_engine/state/commands.py
+++ b/api/src/opentrons/protocol_engine/state/commands.py
@@ -304,7 +304,7 @@ def _handle_queue_command_action(self, action: QueueCommandAction) -> None:
         # TODO(mc, 2021-06-22): mypy has trouble with this automatic
         # request > command mapping, figure out how to type precisely
         # (or wait for a future mypy version that can figure it out).
-        queued_command = action.request._CommandCls.construct(
+        queued_command = action.request._CommandCls.model_construct(  # type: ignore[call-arg]
             id=action.command_id,
             key=(
                 action.request.key
@@ -326,7 +326,7 @@ def _handle_queue_command_action(self, action: QueueCommandAction) -> None:
     def _handle_run_command_action(self, action: RunCommandAction) -> None:
         prev_entry = self._state.command_history.get(action.command_id)
 
-        running_command = prev_entry.command.copy(
+        running_command = prev_entry.command.model_copy(
             update={
                 "status": CommandStatus.RUNNING,
                 "startedAt": action.started_at,
@@ -525,7 +525,7 @@ def _update_to_failed(
         notes: Optional[List[CommandNote]],
     ) -> None:
         prev_entry = self._state.command_history.get(command_id)
-        failed_command = prev_entry.command.copy(
+        failed_command = prev_entry.command.model_copy(
             update={
                 "completedAt": failed_at,
                 "status": CommandStatus.FAILED,
@@ -679,7 +679,7 @@ def get_error(self) -> Optional[ErrorOccurrence]:
         finish_error = self._state.finish_error
 
         if run_error and finish_error:
-            combined_error = ErrorOccurrence.construct(
+            combined_error = ErrorOccurrence(
                 id=finish_error.id,
                 createdAt=finish_error.createdAt,
                 errorType="RunAndFinishFailed",
diff --git a/api/src/opentrons/protocol_engine/state/labware.py b/api/src/opentrons/protocol_engine/state/labware.py
index 95b2baa1974..d81d5bfa756 100644
--- a/api/src/opentrons/protocol_engine/state/labware.py
+++ b/api/src/opentrons/protocol_engine/state/labware.py
@@ -998,11 +998,15 @@ def get_child_gripper_offsets(
             return None
         else:
             return LabwareMovementOffsetData(
-                pickUpOffset=cast(
-                    LabwareOffsetVector, parsed_offsets[offset_key].pickUpOffset
+                pickUpOffset=LabwareOffsetVector.construct(
+                    x=parsed_offsets[offset_key].pickUpOffset.x,
+                    y=parsed_offsets[offset_key].pickUpOffset.y,
+                    z=parsed_offsets[offset_key].pickUpOffset.z,
                 ),
-                dropOffset=cast(
-                    LabwareOffsetVector, parsed_offsets[offset_key].dropOffset
+                dropOffset=LabwareOffsetVector.construct(
+                    x=parsed_offsets[offset_key].dropOffset.x,
+                    y=parsed_offsets[offset_key].dropOffset.y,
+                    z=parsed_offsets[offset_key].dropOffset.z,
                 ),
             )
 
diff --git a/api/src/opentrons/protocol_engine/state/state_summary.py b/api/src/opentrons/protocol_engine/state/state_summary.py
index d6b18613071..64f8e2b2737 100644
--- a/api/src/opentrons/protocol_engine/state/state_summary.py
+++ b/api/src/opentrons/protocol_engine/state/state_summary.py
@@ -28,8 +28,8 @@ class StateSummary(BaseModel):
     pipettes: List[LoadedPipette]
     modules: List[LoadedModule]
     labwareOffsets: List[LabwareOffset]
-    startedAt: Optional[datetime]
-    completedAt: Optional[datetime]
+    startedAt: Optional[datetime] = None
+    completedAt: Optional[datetime] = None
     liquids: List[Liquid] = Field(default_factory=list)
     wells: List[WellInfoSummary] = Field(default_factory=list)
     files: List[str] = Field(default_factory=list)
diff --git a/api/src/opentrons/protocol_engine/types.py b/api/src/opentrons/protocol_engine/types.py
index 11f1972e105..2a4ff4bd726 100644
--- a/api/src/opentrons/protocol_engine/types.py
+++ b/api/src/opentrons/protocol_engine/types.py
@@ -1,30 +1,30 @@
 """Public protocol engine value types and models."""
 from __future__ import annotations
-import re
 from datetime import datetime
 from enum import Enum
 from dataclasses import dataclass
 from pathlib import Path
+from typing import (
+    Any,
+    Dict,
+    FrozenSet,
+    List,
+    Mapping,
+    NamedTuple,
+    Optional,
+    Tuple,
+    Union,
+)
+
 from pydantic import (
+    ConfigDict,
     BaseModel,
     Field,
+    RootModel,
     StrictBool,
     StrictFloat,
     StrictInt,
     StrictStr,
-    validator,
-    Extra,
-)
-from typing import (
-    Optional,
-    Union,
-    List,
-    Dict,
-    Any,
-    NamedTuple,
-    Tuple,
-    FrozenSet,
-    Mapping,
 )
 from typing_extensions import Literal, TypeGuard
 
@@ -554,7 +554,7 @@ class ModuleDimensions(BaseModel):
 
     bareOverallHeight: float
     overLabwareHeight: float
-    lidHeight: Optional[float]
+    lidHeight: Optional[float] = None
 
 
 class Vec3f(BaseModel):
@@ -709,8 +709,8 @@ class LoadedModule(BaseModel):
 
     id: str
     model: ModuleModel
-    location: Optional[DeckSlotLocation]
-    serialNumber: Optional[str]
+    location: Optional[DeckSlotLocation] = None
+    serialNumber: Optional[str] = None
 
 
 class LabwareOffsetLocation(BaseModel):
@@ -819,17 +819,10 @@ class LoadedLabware(BaseModel):
     )
 
 
-class HexColor(BaseModel):
+class HexColor(RootModel[str]):
     """Hex color representation."""
 
-    __root__: str
-
-    @validator("__root__")
-    def _color_is_a_valid_hex(cls, v: str) -> str:
-        match = re.search(r"^#(?:[0-9a-fA-F]{3,4}){1,2}$", v)
-        if not match:
-            raise ValueError("Color is not a valid hex color.")
-        return v
+    root: str = Field(pattern=r"^#(?:[0-9a-fA-F]{3,4}){1,2}$")
 
 
 EmptyLiquidId = Literal["EMPTY"]
@@ -842,7 +835,7 @@ class Liquid(BaseModel):
     id: str
     displayName: str
     description: str
-    displayColor: Optional[HexColor]
+    displayColor: Optional[HexColor] = None
 
 
 class LiquidClassRecord(ByTipTypeSetting, frozen=True):
@@ -1051,12 +1044,12 @@ class QuadrantNozzleLayoutConfiguration(BaseModel):
     )
     frontRightNozzle: str = Field(
         ...,
-        regex=NOZZLE_NAME_REGEX,
+        pattern=NOZZLE_NAME_REGEX,
         description="The front right nozzle in your configuration.",
     )
     backLeftNozzle: str = Field(
         ...,
-        regex=NOZZLE_NAME_REGEX,
+        pattern=NOZZLE_NAME_REGEX,
         description="The back left nozzle in your configuration.",
     )
 
@@ -1186,11 +1179,7 @@ class CustomCommandAnnotation(BaseCommandAnnotation):
     """Annotates a group of atomic commands in some manner that Opentrons software does not anticipate or originate."""
 
     annotationType: Literal["custom"] = "custom"
-
-    class Config:
-        """Config to allow extra, non-defined properties."""
-
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
 
 CommandAnnotation = Union[SecondOrderCommandAnnotation, CustomCommandAnnotation]
diff --git a/api/src/opentrons/protocol_reader/extract_labware_definitions.py b/api/src/opentrons/protocol_reader/extract_labware_definitions.py
index 2ecb64a8a39..6bf8946404b 100644
--- a/api/src/opentrons/protocol_reader/extract_labware_definitions.py
+++ b/api/src/opentrons/protocol_reader/extract_labware_definitions.py
@@ -41,7 +41,10 @@ async def extract_labware_definitions(
 
 
 async def _extract_from_labware_file(path: Path) -> LabwareDefinition:
-    return await anyio.to_thread.run_sync(LabwareDefinition.parse_file, path)
+    def _do_parse() -> LabwareDefinition:
+        return LabwareDefinition.model_validate_json(path.read_bytes())
+
+    return await anyio.to_thread.run_sync(_do_parse)
 
 
 async def _extract_from_json_protocol_file(path: Path) -> List[LabwareDefinition]:
diff --git a/api/src/opentrons/protocol_runner/json_file_reader.py b/api/src/opentrons/protocol_runner/json_file_reader.py
index 488c28d273b..f318be1db5d 100644
--- a/api/src/opentrons/protocol_runner/json_file_reader.py
+++ b/api/src/opentrons/protocol_runner/json_file_reader.py
@@ -30,11 +30,17 @@ def read(
                 },
             )
         if protocol_source.config.schema_version == 6:
-            return ProtocolSchemaV6.parse_file(protocol_source.main_file)
+            return ProtocolSchemaV6.model_validate_json(
+                protocol_source.main_file.read_bytes()
+            )
         elif protocol_source.config.schema_version == 7:
-            return ProtocolSchemaV7.parse_file(protocol_source.main_file)
+            return ProtocolSchemaV7.model_validate_json(
+                protocol_source.main_file.read_bytes()
+            )
         elif protocol_source.config.schema_version == 8:
-            return ProtocolSchemaV8.parse_file(protocol_source.main_file)
+            return ProtocolSchemaV8.model_validate_json(
+                protocol_source.main_file.read_bytes()
+            )
         else:
             raise ProtocolFilesInvalidError(
                 message=f"{name} is a JSON protocol v{protocol_source.config.schema_version} which this robot cannot execute",
diff --git a/api/src/opentrons/protocol_runner/json_translator.py b/api/src/opentrons/protocol_runner/json_translator.py
index 767bf058730..f75b0d51348 100644
--- a/api/src/opentrons/protocol_runner/json_translator.py
+++ b/api/src/opentrons/protocol_runner/json_translator.py
@@ -1,6 +1,7 @@
 """Translation of JSON protocol commands into ProtocolEngine commands."""
-from typing import cast, List, Union, Iterator
-from pydantic import parse_obj_as, ValidationError as PydanticValidationError
+
+from typing import List, Union, Iterator
+from pydantic import ValidationError as PydanticValidationError, TypeAdapter
 
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.protocol.models import (
@@ -10,6 +11,8 @@
     protocol_schema_v7,
     ProtocolSchemaV8,
     protocol_schema_v8,
+    Location,
+    #    CommandSchemaId,
 )
 from opentrons_shared_data import command as command_schema
 from opentrons_shared_data.errors.exceptions import InvalidProtocolData, PythonException
@@ -31,6 +34,15 @@ class CommandTranslatorError(Exception):
     pass
 
 
+# Each time a TypeAdapter is instantiated, it will construct a new validator and
+# serializer. To improve performance, TypeAdapters are instantiated once.
+# See https://docs.pydantic.dev/latest/concepts/performance/#typeadapter-instantiated-once
+LabwareLocationAdapter: TypeAdapter[LabwareLocation] = TypeAdapter(LabwareLocation)
+CommandAnnotationAdapter: TypeAdapter[CommandAnnotation] = TypeAdapter(
+    CommandAnnotation
+)
+
+
 def _translate_labware_command(
     protocol: ProtocolSchemaV6,
     command: protocol_schema_v6.Command,
@@ -41,6 +53,8 @@ def _translate_labware_command(
     assert labware_id is not None
     definition_id = protocol.labware[labware_id].definitionId
     assert definition_id is not None
+
+    location = command.params.location
     labware_command = pe_commands.LoadLabwareCreate(
         params=pe_commands.LoadLabwareParams(
             labwareId=command.params.labwareId,
@@ -48,10 +62,8 @@ def _translate_labware_command(
             version=protocol.labwareDefinitions[definition_id].version,
             namespace=protocol.labwareDefinitions[definition_id].namespace,
             loadName=protocol.labwareDefinitions[definition_id].parameters.loadName,
-            location=parse_obj_as(
-                # https://github.com/samuelcolvin/pydantic/issues/1847
-                LabwareLocation,  # type: ignore[arg-type]
-                command.params.location,
+            location=LabwareLocationAdapter.validate_python(
+                location.dict() if isinstance(location, Location) else location
             ),
         ),
         key=command.key,
@@ -70,6 +82,7 @@ def _translate_v7_labware_command(
     assert command.params.namespace is not None
     assert command.params.loadName is not None
 
+    location = command.params.location
     labware_command = pe_commands.LoadLabwareCreate(
         params=pe_commands.LoadLabwareParams(
             labwareId=command.params.labwareId,
@@ -77,10 +90,8 @@ def _translate_v7_labware_command(
             version=command.params.version,
             namespace=command.params.namespace,
             loadName=command.params.loadName,
-            location=parse_obj_as(
-                # https://github.com/samuelcolvin/pydantic/issues/1847
-                LabwareLocation,  # type: ignore[arg-type]
-                command.params.location,
+            location=LabwareLocationAdapter.validate_python(
+                location.dict() if isinstance(location, Location) else location
             ),
         ),
         key=command.key,
@@ -98,10 +109,14 @@ def _translate_module_command(
     # load module command must contain module_id. modules cannot be None.
     assert module_id is not None
     assert modules is not None
+
+    location = command.params.location
     translated_obj = pe_commands.LoadModuleCreate(
         params=pe_commands.LoadModuleParams(
             model=ModuleModel(modules[module_id].model),
-            location=DeckSlotLocation.parse_obj(command.params.location),
+            location=DeckSlotLocation.parse_obj(
+                location.dict() if isinstance(location, Location) else location
+            ),
             moduleId=command.params.moduleId,
         ),
         key=command.key,
@@ -117,10 +132,13 @@ def _translate_v7_module_command(
     # load module command must contain module_id. modules cannot be None.
     assert module_id is not None
     assert command.params.model is not None
+    location = command.params.location
     translated_obj = pe_commands.LoadModuleCreate(
         params=pe_commands.LoadModuleParams(
             model=ModuleModel(command.params.model),
-            location=DeckSlotLocation.parse_obj(command.params.location),
+            location=DeckSlotLocation.parse_obj(
+                location.dict() if isinstance(location, Location) else location
+            ),
             moduleId=command.params.moduleId,
         ),
         key=command.key,
@@ -171,7 +189,7 @@ def _translate_simple_command(
         protocol_schema_v6.Command,
         protocol_schema_v7.Command,
         protocol_schema_v8.Command,
-    ]
+    ],
 ) -> pe_commands.CommandCreate:
     dict_command = command.dict(exclude_none=True)
 
@@ -182,15 +200,7 @@ def _translate_simple_command(
         else:
             dict_command["commandType"] = "waitForDuration"
 
-    translated_obj = cast(
-        pe_commands.CommandCreate,
-        parse_obj_as(
-            # https://github.com/samuelcolvin/pydantic/issues/1847
-            pe_commands.CommandCreate,  # type: ignore[arg-type]
-            dict_command,
-        ),
-    )
-    return translated_obj
+    return pe_commands.CommandCreateAdapter.validate_python(dict_command)
 
 
 class JsonTranslator:
@@ -207,7 +217,7 @@ def translate_liquids(
                 id=liquid_id,
                 displayName=liquid.displayName,
                 description=liquid.description,
-                displayColor=HexColor(__root__=liquid.displayColor)
+                displayColor=HexColor(liquid.displayColor)
                 if liquid.displayColor is not None
                 else None,
             )
@@ -294,8 +304,7 @@ def translate_command_annotations(
             return []
         else:
             command_annotations: List[CommandAnnotation] = [
-                parse_obj_as(
-                    CommandAnnotation,  # type: ignore[arg-type]
+                CommandAnnotationAdapter.validate_python(
                     command_annotation.dict(),
                 )
                 for command_annotation in protocol.commandAnnotations
diff --git a/api/src/opentrons/protocol_runner/legacy_command_mapper.py b/api/src/opentrons/protocol_runner/legacy_command_mapper.py
index 27b1c7ea331..1dbf99e6e6e 100644
--- a/api/src/opentrons/protocol_runner/legacy_command_mapper.py
+++ b/api/src/opentrons/protocol_runner/legacy_command_mapper.py
@@ -181,7 +181,9 @@ def map_command(  # noqa: C901
                         update={
                             "result": pe_commands.PickUpTipResult.construct(
                                 tipVolume=command["payload"]["location"].max_volume,  # type: ignore[typeddict-item]
-                                tipLength=command["payload"]["instrument"].hw_pipette["tip_length"],  # type: ignore[typeddict-item]
+                                tipLength=command["payload"]["instrument"].hw_pipette[  # type: ignore[typeddict-item]
+                                    "tip_length"
+                                ],
                                 position=pe_types.DeckPoint(x=0, y=0, z=0),
                             ),
                             "status": pe_commands.CommandStatus.SUCCEEDED,
@@ -528,7 +530,7 @@ def _build_liquid_handling(
                     status=pe_commands.CommandStatus.RUNNING,
                     createdAt=now,
                     startedAt=now,
-                    # Don't .construct params, because we want to validate
+                    # Don't .model_construct params, because we want to validate
                     # volume and flowRate.
                     params=pe_commands.DispenseParams(
                         pipetteId=pipette_id,
diff --git a/api/src/opentrons/protocols/labware.py b/api/src/opentrons/protocols/labware.py
index 2fcffaaf2d4..d3159ee5d9f 100644
--- a/api/src/opentrons/protocols/labware.py
+++ b/api/src/opentrons/protocols/labware.py
@@ -3,7 +3,6 @@
 import logging
 import json
 import os
-
 from pathlib import Path
 from typing import Any, AnyStr, Dict, Optional, Union, List
 
@@ -139,14 +138,24 @@ def verify_definition(
     :raises jsonschema.ValidationError: If the definition is not valid.
     :returns: The parsed definition
     """
-    schema_body = load_shared_data("labware/schemas/2.json").decode("utf-8")
-    labware_schema_v2 = json.loads(schema_body)
+    schemata_by_version = {
+        2: json.loads(load_shared_data("labware/schemas/2.json").decode("utf-8")),
+        3: json.loads(load_shared_data("labware/schemas/3.json").decode("utf-8")),
+    }
 
     if isinstance(contents, dict):
         to_return = contents
     else:
         to_return = json.loads(contents)
-    jsonschema.validate(to_return, labware_schema_v2)
+    try:
+        schema_version = to_return["schemaVersion"]
+        schema = schemata_by_version[schema_version]
+    except KeyError:
+        raise RuntimeError(
+            f'Invalid or unknown labware schema version {to_return.get("schemaVersion", None)}'
+        )
+    jsonschema.validate(to_return, schema)
+
     # we can type ignore this because if it passes the jsonschema it has
     # the correct structure
     return to_return  # type: ignore[return-value]
@@ -201,7 +210,6 @@ def _get_labware_definition_from_bundle(
 def _get_standard_labware_definition(
     load_name: str, namespace: Optional[str] = None, version: Optional[int] = None
 ) -> LabwareDefinition:
-
     if version is None:
         checked_version = 1
     else:
diff --git a/api/src/opentrons/protocols/models/json_protocol.py b/api/src/opentrons/protocols/models/json_protocol.py
index 979d0192f62..ef2fec8823d 100644
--- a/api/src/opentrons/protocols/models/json_protocol.py
+++ b/api/src/opentrons/protocols/models/json_protocol.py
@@ -9,7 +9,7 @@
 
 from typing import Any, Dict, List, Optional, Union
 
-from pydantic import BaseModel, Extra, Field
+from pydantic import ConfigDict, BaseModel, Field
 from typing_extensions import Literal
 
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
@@ -75,8 +75,7 @@ class Metadata(BaseModel):
     Optional metadata about the protocol
     """
 
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
     protocolName: Optional[str] = Field(
         None, description="A short, human-readable name for the protocol"
@@ -574,8 +573,7 @@ class Pipettes(BaseModel):
     Fields describing an individual pipette
     """
 
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
     mount: Literal["left", "right"] = Field(
         ..., description="Where the pipette is mounted"
@@ -592,8 +590,7 @@ class Labware(BaseModel):
     Fields describing a single labware on the deck
     """
 
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
     slot: str = Field(
         ...,
@@ -616,8 +613,7 @@ class Modules(BaseModel):
     Fields describing a single module on the deck
     """
 
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
     slot: str = Field(
         ...,
diff --git a/api/src/opentrons/types.py b/api/src/opentrons/types.py
index 1f73d63c8c6..09e138513c1 100644
--- a/api/src/opentrons/types.py
+++ b/api/src/opentrons/types.py
@@ -160,7 +160,7 @@ def __iter__(self) -> Iterator[Union[Point, LabwareLike]]:
            point, labware = location
            some_function_taking_both(*location)
         """
-        return iter((self._point, self._labware))  # type: ignore [arg-type]
+        return iter((self._point, self._labware))
 
     def __eq__(self, other: object) -> bool:
         return (
diff --git a/api/tests/opentrons/calibration_storage/test_deck_attitude.py b/api/tests/opentrons/calibration_storage/test_deck_attitude.py
index bbb832651d1..bce3ae02809 100644
--- a/api/tests/opentrons/calibration_storage/test_deck_attitude.py
+++ b/api/tests/opentrons/calibration_storage/test_deck_attitude.py
@@ -57,7 +57,7 @@ def test_save_ot2_deck_attitude(ot_config_tempdir: Any) -> None:
         "pip1",
         "mytiprack",
     )
-    assert get_robot_deck_attitude() != {}
+    assert get_robot_deck_attitude() is not None
 
 
 def test_save_ot3_deck_attitude(ot_config_tempdir: Any) -> None:
diff --git a/api/tests/opentrons/hardware_control/instruments/test_instrument_calibration.py b/api/tests/opentrons/hardware_control/instruments/test_instrument_calibration.py
index 6f9ad72c460..fd746ed9743 100644
--- a/api/tests/opentrons/hardware_control/instruments/test_instrument_calibration.py
+++ b/api/tests/opentrons/hardware_control/instruments/test_instrument_calibration.py
@@ -55,10 +55,10 @@ def tip_rack_dict() -> LabwareDefDict:
 @pytest.fixture
 def tip_rack_model() -> LabwareDefinition:
     """Get a tip rack Pydantic model definition value object."""
-    return LabwareDefinition.construct(  # type: ignore[call-arg]
+    return LabwareDefinition.model_construct(  # type: ignore[call-arg]
         namespace="test",
         version=1,
-        parameters=Parameters.construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(  # type: ignore[call-arg]
             loadName="cool-labware",
             tipOverlap=None,  # add a None value to validate serialization to dictionary
         ),
diff --git a/api/tests/opentrons/hardware_control/test_gripper.py b/api/tests/opentrons/hardware_control/test_gripper.py
index f084a11df89..7fc54791e33 100644
--- a/api/tests/opentrons/hardware_control/test_gripper.py
+++ b/api/tests/opentrons/hardware_control/test_gripper.py
@@ -105,7 +105,12 @@ def test_reload_instrument_cal_ot3_conf_changed(
         jaw_max_offset=15,
     )
     new_conf = fake_gripper_conf.copy(
-        update={"grip_force_profile": {"default_grip_force": 1}}
+        update={
+            "grip_force_profile": fake_gripper_conf.grip_force_profile.copy(
+                update={"default_grip_force": 1}
+            )
+        },
+        deep=True,
     )
     assert new_conf != old_gripper.config
 
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 352dcb35c58..73f39006299 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
@@ -1,4 +1,5 @@
 """Test for the ProtocolEngine-based instrument API core."""
+
 from typing import cast, Optional
 
 from opentrons_shared_data.errors.exceptions import PipetteLiquidNotFoundError
@@ -99,7 +100,7 @@ def subject(
 ) -> InstrumentCore:
     """Get a InstrumentCore test subject with its dependencies mocked out."""
     decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
-        LoadedPipette.construct(mount=MountType.LEFT)  # type: ignore[call-arg]
+        LoadedPipette.model_construct(mount=MountType.LEFT)  # type: ignore[call-arg]
     )
 
     decoy.when(mock_engine_client.state.pipettes.get_flow_rates("abc123")).then_return(
@@ -130,7 +131,7 @@ def test_get_pipette_name(
 ) -> None:
     """It should get the pipette's load name."""
     decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
-        LoadedPipette.construct(pipetteName=PipetteNameType.P300_SINGLE)  # type: ignore[call-arg]
+        LoadedPipette.model_construct(pipetteName=PipetteNameType.P300_SINGLE)  # type: ignore[call-arg]
     )
 
     result = subject.get_pipette_name()
@@ -143,7 +144,7 @@ def test_get_mount(
 ) -> None:
     """It should get the pipette's mount."""
     decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
-        LoadedPipette.construct(mount=MountType.LEFT)  # type: ignore[call-arg]
+        LoadedPipette.model_construct(mount=MountType.LEFT)  # type: ignore[call-arg]
     )
 
     result = subject.get_mount()
@@ -161,7 +162,7 @@ def test_get_hardware_state(
     pipette_dict = cast(PipetteDict, {"display_name": "Cool Pipette", "has_tip": True})
 
     decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
-        LoadedPipette.construct(mount=MountType.LEFT)  # type: ignore[call-arg]
+        LoadedPipette.model_construct(mount=MountType.LEFT)  # type: ignore[call-arg]
     )
     decoy.when(mock_sync_hardware.get_attached_instrument(Mount.LEFT)).then_return(
         pipette_dict
@@ -530,7 +531,7 @@ def test_aspirate_from_well(
             pipette_id="abc123",
             labware_id="123abc",
             well_name="my cool well",
-            well_location=WellLocation(
+            well_location=LiquidHandlingWellLocation(
                 origin=WellOrigin.TOP, offset=WellOffset(x=3, y=2, z=1)
             ),
         ),
@@ -828,7 +829,7 @@ def test_dispense_to_well(
             pipette_id="abc123",
             labware_id="123abc",
             well_name="my cool well",
-            well_location=WellLocation(
+            well_location=LiquidHandlingWellLocation(
                 origin=WellOrigin.TOP, offset=WellOffset(x=3, y=2, z=1)
             ),
         ),
@@ -1438,7 +1439,7 @@ def test_detect_liquid_presence(
             )
         )
     ).then_return(
-        cmd.TryLiquidProbeResult.construct(
+        cmd.TryLiquidProbeResult.model_construct(
             z_position=returned_from_engine,
             position=object(),  # type: ignore[arg-type]
         )
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_labware_core.py b/api/tests/opentrons/protocol_api/core/engine/test_labware_core.py
index 6f4458f87ff..beca8fe99d1 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_labware_core.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_labware_core.py
@@ -35,7 +35,7 @@
 @pytest.fixture
 def labware_definition() -> LabwareDefinition:
     """Get a LabwareDefinition value object to use in tests."""
-    return LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+    return LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
 
 
 @pytest.fixture
@@ -59,10 +59,10 @@ def subject(mock_engine_client: EngineClient) -> LabwareCore:
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             namespace="hello",
             version=42,
-            parameters=LabwareDefinitionParameters.construct(loadName="world"),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(loadName="world"),  # type: ignore[call-arg]
             ordering=[],
         )
     ],
@@ -76,14 +76,14 @@ def test_get_load_params(subject: LabwareCore) -> None:
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             namespace="hello",
             version=42,
-            parameters=LabwareDefinitionParameters.construct(loadName="world"),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(loadName="world"),  # type: ignore[call-arg]
             ordering=[],
-            metadata=LabwareDefinitionMetadata.construct(
+            metadata=LabwareDefinitionMetadata.model_construct(  # type: ignore[call-arg]
                 displayName="what a cool labware"
-            ),  # type: ignore[call-arg]
+            ),
         )
     ],
 )
@@ -130,10 +130,10 @@ def test_set_calibration_succeeds_in_ok_location(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             namespace="hello",
             version=42,
-            parameters=LabwareDefinitionParameters.construct(loadName="world"),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(loadName="world"),  # type: ignore[call-arg]
             ordering=[],
         )
     ],
@@ -164,9 +164,9 @@ def test_set_calibration_fails_in_bad_location(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             namespace="hello",
-            parameters=LabwareDefinitionParameters.construct(loadName="world"),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(loadName="world"),  # type: ignore[call-arg]
             ordering=[],
             allowedRoles=[],
             stackingOffsetWithLabware={},
@@ -208,9 +208,9 @@ def test_get_user_display_name(decoy: Decoy, mock_engine_client: EngineClient) -
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[],
-            metadata=LabwareDefinitionMetadata.construct(  # type: ignore[call-arg]
+            metadata=LabwareDefinitionMetadata.model_construct(  # type: ignore[call-arg]
                 displayName="Cool Display Name"
             ),
         )
@@ -226,8 +226,10 @@ def test_get_display_name(subject: LabwareCore) -> None:
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
-            parameters=LabwareDefinitionParameters.construct(loadName="load-name"),  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(  # type: ignore[call-arg]
+                loadName="load-name"
+            ),
         ),
     ],
 )
@@ -254,9 +256,9 @@ def test_get_name_display_name(decoy: Decoy, mock_engine_client: EngineClient) -
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[],
-            parameters=LabwareDefinitionParameters.construct(isTiprack=True),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(isTiprack=True),  # type: ignore[call-arg]
         )
     ],
 )
@@ -271,13 +273,13 @@ def test_is_tip_rack(subject: LabwareCore) -> None:
     argnames=["labware_definition", "expected_result"],
     argvalues=[
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 ordering=[], allowedRoles=[LabwareRole.adapter]
             ),
             True,
         ),
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 ordering=[], allowedRoles=[LabwareRole.labware]
             ),
             False,
@@ -294,7 +296,7 @@ def test_is_adapter(expected_result: bool, subject: LabwareCore) -> None:
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[["A1", "B1"], ["A2", "B2"]],
         )
     ],
@@ -354,9 +356,9 @@ def test_get_next_tip(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[],
-            parameters=LabwareDefinitionParameters.construct(isTiprack=True),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(isTiprack=True),  # type: ignore[call-arg]
         )
     ],
 )
@@ -371,10 +373,10 @@ def test_reset_tips(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[],
-            parameters=LabwareDefinitionParameters.construct(isTiprack=False),  # type: ignore[call-arg]
-            metadata=LabwareDefinitionMetadata.construct(  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(isTiprack=False),  # type: ignore[call-arg]
+            metadata=LabwareDefinitionMetadata.model_construct(  # type: ignore[call-arg]
                 displayName="Cool Display Name"
             ),
         )
@@ -430,9 +432,9 @@ def test_get_calibrated_offset(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[],
-            parameters=LabwareDefinitionParameters.construct(quirks=["quirk"]),  # type: ignore[call-arg]
+            parameters=LabwareDefinitionParameters.model_construct(quirks=["quirk"]),  # type: ignore[call-arg]
         )
     ],
 )
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_module_core.py b/api/tests/opentrons/protocol_api/core/engine/test_module_core.py
index f18a672afb8..a1310999d72 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_module_core.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_module_core.py
@@ -1,4 +1,5 @@
 """Tests for opentrons.protocol_api.core.engine.ModuleCore."""
+
 import pytest
 import inspect
 from decoy import Decoy
@@ -107,7 +108,7 @@ def test_get_display_name(
     decoy: Decoy, subject: ModuleCore, mock_engine_client: EngineClient
 ) -> None:
     """It should return the module display name."""
-    module_definition = ModuleDefinition.construct(  # type: ignore[call-arg]
+    module_definition = ModuleDefinition.model_construct(  # type: ignore[call-arg]
         displayName="abra kadabra",
     )
     decoy.when(mock_engine_client.state.modules.get_definition("1234")).then_return(
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py
index 1cf6bc57049..6b5065f98c9 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_protocol_core.py
@@ -1,4 +1,5 @@
 """Test for the ProtocolEngine-based protocol API core."""
+
 import inspect
 from typing import Optional, Type, cast, Tuple
 
@@ -179,7 +180,7 @@ def subject(
     decoy.when(
         mock_engine_client.state.labware.get_definition("fixed-trash-123")
     ).then_return(
-        LabwareDefinition.construct(ordering=[["A1"]])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[["A1"]])  # type: ignore[call-arg]
     )
 
     return ProtocolCore(
@@ -358,13 +359,13 @@ def test_load_labware(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     result = subject.load_labware(
@@ -394,7 +395,7 @@ def test_load_labware(
             slot_name=DeckSlotName.SLOT_5,
         )
     ).then_return(
-        LoadedLabware.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
     )
 
     assert subject.get_slot_item(DeckSlotName.SLOT_5) is result
@@ -432,13 +433,13 @@ def test_load_labware_on_staging_slot(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     result = subject.load_labware(
@@ -468,7 +469,7 @@ def test_load_labware_on_staging_slot(
             slot_name=StagingSlotName.SLOT_B4,
         )
     ).then_return(
-        LoadedLabware.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
     )
 
     assert subject.get_slot_item(StagingSlotName.SLOT_B4) is result
@@ -509,13 +510,13 @@ def test_load_labware_on_labware(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     decoy.when(
@@ -579,13 +580,13 @@ def test_load_labware_off_deck(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     result = subject.load_labware(
@@ -642,13 +643,13 @@ def test_load_adapter(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     result = subject.load_adapter(
@@ -677,7 +678,7 @@ def test_load_adapter(
             slot_name=DeckSlotName.SLOT_5,
         )
     ).then_return(
-        LoadedLabware.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
     )
 
     assert subject.get_slot_item(DeckSlotName.SLOT_5) is result
@@ -714,13 +715,13 @@ def test_load_adapter_on_staging_slot(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     result = subject.load_adapter(
@@ -749,7 +750,7 @@ def test_load_adapter_on_staging_slot(
             slot_name=StagingSlotName.SLOT_B4,
         )
     ).then_return(
-        LoadedLabware.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
     )
 
     assert subject.get_slot_item(StagingSlotName.SLOT_B4) is result
@@ -860,7 +861,7 @@ def test_move_labware(
     decoy.when(
         mock_engine_client.state.labware.get_definition("labware-id")
     ).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
     labware = LabwareCore(labware_id="labware-id", engine_client=mock_engine_client)
     subject.move_labware(
@@ -903,7 +904,7 @@ def test_move_labware_on_staging_slot(
     decoy.when(
         mock_engine_client.state.labware.get_definition("labware-id")
     ).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
     labware = LabwareCore(labware_id="labware-id", engine_client=mock_engine_client)
     subject.move_labware(
@@ -944,7 +945,7 @@ def test_move_labware_on_non_connected_module(
     decoy.when(
         mock_engine_client.state.labware.get_definition("labware-id")
     ).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
     labware = LabwareCore(labware_id="labware-id", engine_client=mock_engine_client)
     non_connected_module_core = NonConnectedModuleCore(
@@ -990,7 +991,7 @@ def test_move_labware_off_deck(
     decoy.when(
         mock_engine_client.state.labware.get_definition("labware-id")
     ).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
     labware = LabwareCore(labware_id="labware-id", engine_client=mock_engine_client)
 
@@ -1056,13 +1057,13 @@ def test_load_labware_on_module(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     module_core = ModuleCore(
@@ -1133,13 +1134,13 @@ def test_load_labware_on_non_connected_module(
     ).then_return(
         commands.LoadLabwareResult(
             labwareId="abc123",
-            definition=LabwareDefinition.construct(),  # type: ignore[call-arg]
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
             offsetId=None,
         )
     )
 
     decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
-        LabwareDefinition.construct(ordering=[])  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
     )
 
     non_connected_module_core = NonConnectedModuleCore(
@@ -1185,7 +1186,7 @@ def test_add_labware_definition(
     """It should add a labware definition to the engine."""
     decoy.when(
         mock_engine_client.add_labware_definition(
-            definition=LabwareDefinition.parse_obj(minimal_labware_def)
+            definition=LabwareDefinition.model_validate(minimal_labware_def)
         )
     ).then_return(LabwareUri("hello/world/123"))
 
@@ -1261,7 +1262,7 @@ def test_load_module(
     robot_type: RobotType,
 ) -> None:
     """It should issue a load module engine command."""
-    definition = ModuleDefinition.construct()  # type: ignore[call-arg]
+    definition = ModuleDefinition.model_construct()  # type: ignore[call-arg]
 
     mock_hw_mod_1 = decoy.mock(cls=AbstractModule)
     mock_hw_mod_2 = decoy.mock(cls=AbstractModule)
@@ -1315,7 +1316,7 @@ def test_load_module(
             slot_name=slot_name,
         )
     ).then_return(
-        LoadedModule.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedModule.model_construct(id="abc123")  # type: ignore[call-arg]
     )
     decoy.when(mock_engine_client.state.labware.get_id_by_module("abc123")).then_raise(
         LabwareNotLoadedOnModuleError("oh no")
@@ -1333,7 +1334,7 @@ def test_load_mag_block(
     subject: ProtocolCore,
 ) -> None:
     """It should issue a load module engine command."""
-    definition = ModuleDefinition.construct()  # type: ignore[call-arg]
+    definition = ModuleDefinition.model_construct()  # type: ignore[call-arg]
 
     decoy.when(mock_engine_client.state.config.robot_type).then_return("OT-3 Standard")
 
@@ -1378,7 +1379,7 @@ def test_load_mag_block(
             slot_name=DeckSlotName.SLOT_1,
         )
     ).then_return(
-        LoadedModule.construct(id="abc123")  # type: ignore[call-arg]
+        LoadedModule.model_construct(id="abc123")  # type: ignore[call-arg]
     )
     decoy.when(mock_engine_client.state.labware.get_id_by_module("abc123")).then_raise(
         LabwareNotLoadedOnModuleError("oh no")
@@ -1413,7 +1414,7 @@ def test_load_module_thermocycler_with_no_location(
     expected_slot: DeckSlotName,
 ) -> None:
     """It should issue a load module engine command with location at 7."""
-    definition = ModuleDefinition.construct()  # type: ignore[call-arg]
+    definition = ModuleDefinition.model_construct()  # type: ignore[call-arg]
 
     mock_hw_mod = decoy.mock(cls=AbstractModule)
     decoy.when(mock_hw_mod.device_info).then_return({"serial": "xyz789"})
@@ -1670,11 +1671,11 @@ def test_add_liquid(
     subject: ProtocolCore,
 ) -> None:
     """It should return the created liquid."""
-    liquid = PE_Liquid.construct(
+    liquid = PE_Liquid.model_construct(
         id="water-id",
         displayName="water",
         description="water desc",
-        displayColor=HexColor(__root__="#fff"),
+        displayColor=HexColor("#fff"),
     )
 
     expected_result = Liquid(
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_well_core.py b/api/tests/opentrons/protocol_api/core/engine/test_well_core.py
index 31b562f7e81..6e1912f0aec 100644
--- a/api/tests/opentrons/protocol_api/core/engine/test_well_core.py
+++ b/api/tests/opentrons/protocol_api/core/engine/test_well_core.py
@@ -1,4 +1,5 @@
 """Test for the ProtocolEngine-based well API core."""
+
 import inspect
 
 import pytest
@@ -49,7 +50,7 @@ def api_version() -> APIVersion:
 @pytest.fixture
 def well_definition() -> WellDefinition:
     """Get a partial WellDefinition value object."""
-    return WellDefinition.construct()  # type: ignore[call-arg]
+    return WellDefinition.model_construct()  # type: ignore[call-arg]
 
 
 @pytest.fixture
@@ -93,7 +94,7 @@ def test_display_name(
 
 @pytest.mark.parametrize(
     "well_definition",
-    [WellDefinition.construct(totalLiquidVolume=101)],  # type: ignore[call-arg]
+    [WellDefinition.model_construct(totalLiquidVolume=101)],  # type: ignore[call-arg]
 )
 def test_max_volume(subject: WellCore) -> None:
     """It should have a max volume."""
@@ -192,7 +193,7 @@ def test_load_liquid(
 
 @pytest.mark.parametrize(
     "well_definition",
-    [WellDefinition.construct(diameter=123.4)],  # type: ignore[call-arg]
+    [WellDefinition.model_construct(diameter=123.4)],  # type: ignore[call-arg]
 )
 def test_diameter(subject: WellCore) -> None:
     """It should get the diameter."""
@@ -201,7 +202,7 @@ def test_diameter(subject: WellCore) -> None:
 
 @pytest.mark.parametrize(
     "well_definition",
-    [WellDefinition.construct(xDimension=567.8)],  # type: ignore[call-arg]
+    [WellDefinition.model_construct(xDimension=567.8)],  # type: ignore[call-arg]
 )
 def test_length(subject: WellCore) -> None:
     """It should get the length."""
@@ -210,7 +211,7 @@ def test_length(subject: WellCore) -> None:
 
 @pytest.mark.parametrize(
     "well_definition",
-    [WellDefinition.construct(yDimension=987.6)],  # type: ignore[call-arg]
+    [WellDefinition.model_construct(yDimension=987.6)],  # type: ignore[call-arg]
 )
 def test_width(subject: WellCore) -> None:
     """It should get the width."""
@@ -219,7 +220,7 @@ def test_width(subject: WellCore) -> None:
 
 @pytest.mark.parametrize(
     "well_definition",
-    [WellDefinition.construct(depth=42.0)],  # type: ignore[call-arg]
+    [WellDefinition.model_construct(depth=42.0)],  # type: ignore[call-arg]
 )
 def test_depth(subject: WellCore) -> None:
     """It should get the depth."""
diff --git a/api/tests/opentrons/protocol_api/test_liquid_class_properties.py b/api/tests/opentrons/protocol_api/test_liquid_class_properties.py
index f335cb385bc..94e6dd49205 100644
--- a/api/tests/opentrons/protocol_api/test_liquid_class_properties.py
+++ b/api/tests/opentrons/protocol_api/test_liquid_class_properties.py
@@ -17,7 +17,7 @@
 def test_build_aspirate_settings() -> None:
     """It should convert the shared data aspirate settings to the PAPI type."""
     fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
-    liquid_class_model = LiquidClassSchemaV1.parse_raw(fixture_data)
+    liquid_class_model = LiquidClassSchemaV1.model_validate_json(fixture_data)
     aspirate_data = liquid_class_model.byPipette[0].byTipType[0].aspirate
 
     aspirate_properties = build_aspirate_properties(aspirate_data)
@@ -61,7 +61,7 @@ def test_build_aspirate_settings() -> None:
 def test_build_single_dispense_settings() -> None:
     """It should convert the shared data single dispense settings to the PAPI type."""
     fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
-    liquid_class_model = LiquidClassSchemaV1.parse_raw(fixture_data)
+    liquid_class_model = LiquidClassSchemaV1.model_validate_json(fixture_data)
     single_dispense_data = liquid_class_model.byPipette[0].byTipType[0].singleDispense
 
     single_dispense_properties = build_single_dispense_properties(single_dispense_data)
@@ -118,7 +118,7 @@ def test_build_single_dispense_settings() -> None:
 def test_build_multi_dispense_settings() -> None:
     """It should convert the shared data multi dispense settings to the PAPI type."""
     fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
-    liquid_class_model = LiquidClassSchemaV1.parse_raw(fixture_data)
+    liquid_class_model = LiquidClassSchemaV1.model_validate_json(fixture_data)
     multi_dispense_data = liquid_class_model.byPipette[0].byTipType[0].multiDispense
 
     assert multi_dispense_data is not None
diff --git a/api/tests/opentrons/protocol_api/test_validation.py b/api/tests/opentrons/protocol_api/test_validation.py
index 342e197535b..ce12d1a8f53 100644
--- a/api/tests/opentrons/protocol_api/test_validation.py
+++ b/api/tests/opentrons/protocol_api/test_validation.py
@@ -1,4 +1,5 @@
 """Tests for Protocol API input validation."""
+
 from typing import ContextManager, List, Type, Union, Optional, Dict, Sequence, Any
 from contextlib import nullcontext as do_not_raise
 
@@ -223,7 +224,9 @@ def test_ensure_deck_slot_invalid(
     """It should raise an exception if given an invalid name."""
     with pytest.raises(expected_error_type, match=expected_error_match):
         subject.ensure_and_convert_deck_slot(
-            input_value, input_api_version, input_robot_type  # type: ignore[arg-type]
+            input_value,  # type: ignore[arg-type]
+            input_api_version,
+            input_robot_type,
         )
 
 
@@ -243,23 +246,23 @@ def test_ensure_lowercase_name_invalid() -> None:
     ("definition", "expected_raise"),
     [
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.labware],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             do_not_raise(),
         ),
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             do_not_raise(),
         ),
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.adapter],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             pytest.raises(subject.LabwareDefinitionIsNotLabwareError),
         ),
@@ -277,23 +280,23 @@ def test_ensure_definition_is_labware(
     ("definition", "expected_raise"),
     [
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.adapter],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             do_not_raise(),
         ),
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             pytest.raises(subject.LabwareDefinitionIsNotAdapterError),
         ),
         (
-            LabwareDefinition.construct(  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.labware],
-                parameters=LabwareDefinitionParameters.construct(loadName="Foo"),  # type: ignore[call-arg]
+                parameters=LabwareDefinitionParameters.model_construct(loadName="Foo"),  # type: ignore[call-arg]
             ),
             pytest.raises(subject.LabwareDefinitionIsNotAdapterError),
         ),
@@ -547,7 +550,8 @@ def test_validate_with_wrong_location() -> None:
     """Should raise a LocationTypeError."""
     with pytest.raises(subject.LocationTypeError):
         subject.validate_location(
-            location=42, last_location=None  # type: ignore[arg-type]
+            location=42,  # type: ignore[arg-type]
+            last_location=None,
         )
 
 
diff --git a/api/tests/opentrons/protocol_engine/clients/test_child_thread_transport.py b/api/tests/opentrons/protocol_engine/clients/test_child_thread_transport.py
index 9cbd03c3ec8..700f11ff190 100644
--- a/api/tests/opentrons/protocol_engine/clients/test_child_thread_transport.py
+++ b/api/tests/opentrons/protocol_engine/clients/test_child_thread_transport.py
@@ -1,4 +1,5 @@
 """Tests for am ChildThreadTransport."""
+
 import threading
 from asyncio import get_running_loop
 from datetime import datetime
@@ -104,7 +105,7 @@ async def test_call_method(
     subject: ChildThreadTransport,
 ) -> None:
     """It should call a synchronous method in a thread-safe manner."""
-    labware_def = LabwareDefinition.construct(namespace="hello")  # type: ignore[call-arg]
+    labware_def = LabwareDefinition.model_construct(namespace="hello")  # type: ignore[call-arg]
     labware_uri = LabwareUri("hello/world/123")
     calling_thread_id = None
 
diff --git a/api/tests/opentrons/protocol_engine/clients/test_sync_client.py b/api/tests/opentrons/protocol_engine/clients/test_sync_client.py
index 03d6912371c..628e23cc052 100644
--- a/api/tests/opentrons/protocol_engine/clients/test_sync_client.py
+++ b/api/tests/opentrons/protocol_engine/clients/test_sync_client.py
@@ -12,6 +12,7 @@
 import pytest
 from decoy import Decoy
 
+
 from opentrons_shared_data.labware.types import LabwareUri
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
@@ -61,7 +62,7 @@ def test_execute_command_without_recovery(
         result_from_transport
     )
     result_from_subject = subject.execute_command_without_recovery(params)
-    assert result_from_subject == result_from_transport
+    assert result_from_subject == result_from_transport  # type: ignore[comparison-overlap]
 
 
 def test_add_labware_definition(
@@ -70,7 +71,7 @@ def test_add_labware_definition(
     subject: SyncClient,
 ) -> None:
     """It should add a labware definition."""
-    labware_definition = LabwareDefinition.construct(namespace="hello")  # type: ignore[call-arg]
+    labware_definition = LabwareDefinition.model_construct(namespace="hello")  # type: ignore[call-arg]
     expected_labware_uri = LabwareUri("hello/world/123")
 
     decoy.when(
@@ -108,7 +109,7 @@ def test_add_liquid(
     subject: SyncClient,
 ) -> None:
     """It should add a liquid to engine state."""
-    liquid = Liquid.construct(displayName="water")  # type: ignore[call-arg]
+    liquid = Liquid.model_construct(displayName="water")  # type: ignore[call-arg]
 
     decoy.when(
         transport.call_method(
diff --git a/api/tests/opentrons/protocol_engine/commands/test_move_labware.py b/api/tests/opentrons/protocol_engine/commands/test_move_labware.py
index 49e3c4f5471..2036bda558a 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_move_labware.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_move_labware.py
@@ -1,4 +1,5 @@
 """Test the ``moveLabware`` command."""
+
 from datetime import datetime
 import inspect
 from unittest.mock import sentinel
@@ -6,13 +7,13 @@
 import pytest
 from decoy import Decoy, matchers
 
+from opentrons_shared_data.labware.labware_definition import Parameters, Dimensions
 from opentrons_shared_data.errors.exceptions import (
     EnumeratedError,
     FailedGripperPickupError,
     LabwareDroppedError,
     StallOrCollisionDetectedError,
 )
-from opentrons_shared_data.labware.labware_definition import Parameters, Dimensions
 from opentrons_shared_data.gripper.constants import GRIPPER_PADDLE_WIDTH
 
 from opentrons.protocol_engine.state import update_types
@@ -168,7 +169,7 @@ async def test_move_labware_implementation_on_labware(
     decoy.when(
         state_view.labware.get_definition(labware_id="my-cool-labware-id")
     ).then_return(
-        LabwareDefinition.construct(namespace="spacename")  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(namespace="spacename")  # type: ignore[call-arg]
     )
     decoy.when(
         state_view.geometry.ensure_location_not_occupied(
@@ -189,7 +190,7 @@ async def test_move_labware_implementation_on_labware(
             "my-even-cooler-labware-id"
         ),
         state_view.labware.raise_if_labware_cannot_be_stacked(
-            LabwareDefinition.construct(namespace="spacename"),  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(namespace="spacename"),  # type: ignore[call-arg]
             "my-even-cooler-labware-id",
         ),
     )
@@ -314,7 +315,7 @@ async def test_gripper_error(
     labware_namespace = "labware-namespace"
     labware_load_name = "load-name"
     labware_definition_uri = "opentrons-test/load-name/1"
-    labware_def = LabwareDefinition.construct(  # type: ignore[call-arg]
+    labware_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
         namespace=labware_namespace,
     )
     original_location = DeckSlotLocation(slotName=DeckSlotName.SLOT_A1)
@@ -324,7 +325,7 @@ async def test_gripper_error(
 
     # Common MoveLabwareImplementation boilerplate:
     decoy.when(state_view.labware.get_definition(labware_id=labware_id)).then_return(
-        LabwareDefinition.construct(namespace=labware_namespace)  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(namespace=labware_namespace)  # type: ignore[call-arg]
     )
     decoy.when(state_view.labware.get(labware_id=labware_id)).then_return(
         LoadedLabware(
@@ -374,7 +375,7 @@ async def test_gripper_error(
     result = await subject.execute(params)
 
     assert result == DefinedErrorData(
-        public=GripperMovementError.construct(
+        public=GripperMovementError.model_construct(
             id=error_id,
             createdAt=error_created_at,
             errorCode=underlying_exception.code.value.code,
@@ -462,7 +463,7 @@ async def test_gripper_move_to_waste_chute_implementation(
         pickUpOffset=LabwareOffsetVector(x=1, y=2, z=3),
         dropOffset=None,
     )
-    labware_def = LabwareDefinition.construct(  # type: ignore[call-arg]
+    labware_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
         namespace="my-cool-namespace",
         dimensions=Dimensions(
             yDimension=labware_width, zDimension=labware_width, xDimension=labware_width
@@ -670,8 +671,8 @@ async def test_move_labware_raises_when_moving_adapter_with_gripper(
         strategy=LabwareMovementStrategy.USING_GRIPPER,
     )
 
-    definition = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(loadName="My cool adapter"),  # type: ignore[call-arg]
+    definition = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(loadName="My cool adapter"),  # type: ignore[call-arg]
     )
 
     decoy.when(state_view.labware.get(labware_id="my-cool-labware-id")).then_return(
@@ -711,8 +712,8 @@ async def test_move_labware_raises_when_moving_labware_with_gripper_incompatible
         strategy=LabwareMovementStrategy.USING_GRIPPER,
     )
 
-    definition = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(loadName="My cool labware"),  # type: ignore[call-arg]
+    definition = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(loadName="My cool labware"),  # type: ignore[call-arg]
     )
 
     decoy.when(state_view.labware.get(labware_id="my-cool-labware-id")).then_return(
@@ -761,7 +762,7 @@ async def test_move_labware_with_gripper_raises_on_ot2(
     decoy.when(
         state_view.labware.get_definition(labware_id="my-cool-labware-id")
     ).then_return(
-        LabwareDefinition.construct(namespace="spacename")  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(namespace="spacename")  # type: ignore[call-arg]
     )
 
     decoy.when(state_view.config).then_return(
@@ -783,8 +784,10 @@ async def test_move_labware_raises_when_moving_fixed_trash_labware(
         strategy=LabwareMovementStrategy.USING_GRIPPER,
     )
 
-    definition = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(loadName="My cool labware", quirks=["fixedTrash"]),  # type: ignore[call-arg]
+    definition = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(  # type: ignore[call-arg]
+            loadName="My cool labware", quirks=["fixedTrash"]
+        ),
     )
 
     decoy.when(state_view.labware.get(labware_id="my-cool-labware-id")).then_return(
diff --git a/api/tests/opentrons/protocol_engine/conftest.py b/api/tests/opentrons/protocol_engine/conftest.py
index 76c5d754f3e..88a166524ba 100644
--- a/api/tests/opentrons/protocol_engine/conftest.py
+++ b/api/tests/opentrons/protocol_engine/conftest.py
@@ -169,63 +169,63 @@ def magdeck_well_plate_def() -> LabwareDefinition:
 def tempdeck_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 tempdeck."""
     definition = load_shared_data("module/definitions/3/temperatureModuleV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def tempdeck_v2_def() -> ModuleDefinition:
     """Get the definition of a V2 tempdeck."""
     definition = load_shared_data("module/definitions/3/temperatureModuleV2.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def magdeck_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 magdeck."""
     definition = load_shared_data("module/definitions/3/magneticModuleV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def magdeck_v2_def() -> ModuleDefinition:
     """Get the definition of a V2 magdeck."""
     definition = load_shared_data("module/definitions/3/magneticModuleV2.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def thermocycler_v1_def() -> ModuleDefinition:
     """Get the definition of a V2 thermocycler."""
     definition = load_shared_data("module/definitions/3/thermocyclerModuleV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def thermocycler_v2_def() -> ModuleDefinition:
     """Get the definition of a V2 thermocycler."""
     definition = load_shared_data("module/definitions/3/thermocyclerModuleV2.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def heater_shaker_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 heater-shaker."""
     definition = load_shared_data("module/definitions/3/heaterShakerModuleV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def mag_block_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 Mag Block."""
     definition = load_shared_data("module/definitions/3/magneticBlockV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
 def abs_reader_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 absorbance plate reader."""
     definition = load_shared_data("module/definitions/3/absorbanceReaderV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture(scope="session")
diff --git a/api/tests/opentrons/protocol_engine/errors/test_error_occurrence.py b/api/tests/opentrons/protocol_engine/errors/test_error_occurrence.py
index a2feb8261f7..531c2decc98 100644
--- a/api/tests/opentrons/protocol_engine/errors/test_error_occurrence.py
+++ b/api/tests/opentrons/protocol_engine/errors/test_error_occurrence.py
@@ -1,4 +1,5 @@
 """Test ErrorOccurrence module."""
+
 import datetime
 from typing import List
 
@@ -11,7 +12,7 @@ def test_error_occurrence_schema() -> None:
     This is explicitly tested because we are overriding the schema
     due to a default value for errorCode.
     """
-    required_items: List[str] = ErrorOccurrence.schema()["definitions"][
+    required_items: List[str] = ErrorOccurrence.model_json_schema()["$defs"][
         "ErrorOccurrence"
     ]["required"]
     assert "errorCode" in required_items
@@ -24,7 +25,7 @@ def test_parse_error_occurrence() -> None:
     """
     input = '{"id": "abcdefg","errorType": "a bad one","createdAt": "2023-06-12 15:08:54.730451","detail": "This is a bad error"}'
 
-    result = ErrorOccurrence.parse_raw(input)
+    result = ErrorOccurrence.model_validate_json(input)
 
     expected = ErrorOccurrence(
         id="abcdefg",
diff --git a/api/tests/opentrons/protocol_engine/execution/test_command_executor.py b/api/tests/opentrons/protocol_engine/execution/test_command_executor.py
index eb84ceb018b..d838eaded87 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_command_executor.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_command_executor.py
@@ -1,11 +1,12 @@
 """Smoke tests for the CommandExecutor class."""
+
 import asyncio
 from datetime import datetime
-from typing import Any, Optional, Type, Union, cast
+from typing import Optional, Type, cast, Any, Union
 
 import pytest
 from decoy import Decoy, matchers
-from pydantic import BaseModel
+from pydantic import BaseModel, PrivateAttr
 
 from opentrons.hardware_control import HardwareControlAPI, OT2HardwareControlAPI
 
@@ -13,6 +14,7 @@
 from opentrons.protocol_engine.error_recovery_policy import (
     ErrorRecoveryPolicy,
     ErrorRecoveryType,
+    never_recover,
 )
 from opentrons.protocol_engine.errors.error_occurrence import ErrorOccurrence
 from opentrons.protocol_engine.errors.exceptions import (
@@ -253,6 +255,12 @@ async def test_execute(
     TestCommandImplCls = decoy.mock(func=_TestCommandImpl)
     command_impl = decoy.mock(cls=_TestCommandImpl)
 
+    # Note: private attrs (which are attrs that start with _) are instantiated via deep
+    # copy from a provided default in the model, so if
+    # _TestCommand()._ImplementationCls != _TestCommand._ImplementationCls.default if
+    # we provide a default. Therefore, provide a default factory, so we can always have
+    # the same object.
+
     class _TestCommand(
         BaseCommand[_TestCommandParams, _TestCommandResult, ErrorOccurrence]
     ):
@@ -260,14 +268,16 @@ class _TestCommand(
         params: _TestCommandParams
         result: Optional[_TestCommandResult]
 
-        _ImplementationCls: Type[_TestCommandImpl] = TestCommandImplCls
+        _ImplementationCls: Type[_TestCommandImpl] = PrivateAttr(
+            default_factory=lambda: TestCommandImplCls
+        )
 
     command_params = _TestCommandParams()
     command_result = SuccessData(public=_TestCommandResult())
 
     queued_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id="command-id",
             key="command-key",
             createdAt=datetime(year=2021, month=1, day=1),
@@ -278,7 +288,7 @@ class _TestCommand(
 
     running_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id="command-id",
             key="command-key",
             createdAt=datetime(year=2021, month=1, day=1),
@@ -299,7 +309,7 @@ class _TestCommand(
 
     expected_completed_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(
             id="command-id",
             key="command-key",
             createdAt=datetime(year=2021, month=1, day=1),
@@ -327,7 +337,6 @@ class _TestCommand(
             state_store.commands.get(command_id="command-id")
         ).then_return(running_command)
     )
-
     decoy.when(
         queued_command._ImplementationCls(
             state_view=state_store,
@@ -358,6 +367,10 @@ class _TestCommand(
         datetime(year=2023, month=3, day=3),
     )
 
+    decoy.when(state_store.commands.get_error_recovery_policy()).then_return(
+        never_recover
+    )
+
     await subject.execute("command-id")
 
     decoy.verify(
@@ -421,13 +434,15 @@ class _TestCommand(
         params: _TestCommandParams
         result: Optional[_TestCommandResult]
 
-        _ImplementationCls: Type[_TestCommandImpl] = TestCommandImplCls
+        _ImplementationCls: Type[_TestCommandImpl] = PrivateAttr(
+            default_factory=lambda: TestCommandImplCls
+        )
 
     command_params = _TestCommandParams()
 
     queued_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id="command-id",
             key="command-key",
             createdAt=datetime(year=2021, month=1, day=1),
@@ -438,7 +453,7 @@ class _TestCommand(
 
     running_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id="command-id",
             key="command-key",
             createdAt=datetime(year=2021, month=1, day=1),
@@ -556,7 +571,9 @@ class _TestCommand(
         params: _TestCommandParams
         result: Optional[_TestCommandResult]
 
-        _ImplementationCls: Type[_TestCommandImpl] = TestCommandImplCls
+        _ImplementationCls: Type[_TestCommandImpl] = PrivateAttr(
+            default_factory=lambda: TestCommandImplCls
+        )
 
     command_params = _TestCommandParams()
     command_id = "command-id"
@@ -569,7 +586,7 @@ class _TestCommand(
     )
     queued_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id=command_id,
             key="command-key",
             createdAt=created_at,
@@ -579,7 +596,7 @@ class _TestCommand(
     )
     running_command = cast(
         Command,
-        _TestCommand(
+        _TestCommand.model_construct(  # type: ignore[call-arg]
             id=command_id,
             key="command-key",
             createdAt=created_at,
diff --git a/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py b/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py
index 39208184754..29117a894b5 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py
@@ -1,4 +1,5 @@
 """Test equipment command execution side effects."""
+
 import pytest
 from _pytest.fixtures import SubRequest
 import inspect
@@ -648,7 +649,7 @@ async def test_load_pipette(
     decoy.when(state_store.config.use_virtual_pipettes).then_return(False)
     decoy.when(model_utils.generate_id()).then_return("unique-id")
     decoy.when(state_store.pipettes.get_by_mount(MountType.RIGHT)).then_return(
-        LoadedPipette.construct(pipetteName=PipetteNameType.P300_MULTI)  # type: ignore[call-arg]
+        LoadedPipette.model_construct(pipetteName=PipetteNameType.P300_MULTI)  # type: ignore[call-arg]
     )
     decoy.when(hardware_api.get_attached_instrument(mount=HwMount.LEFT)).then_return(
         pipette_dict
diff --git a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
index 4e9a10fdfaa..23f701db80b 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
@@ -1,4 +1,5 @@
 """Pipetting execution handler."""
+
 import pytest
 from decoy import Decoy, matchers
 
@@ -51,7 +52,7 @@ def mock_labware_data_provider(decoy: Decoy) -> LabwareDataProvider:
 @pytest.fixture
 def tip_rack_definition() -> LabwareDefinition:
     """Get a tip rack defintion value object."""
-    return LabwareDefinition.construct(namespace="test", version=42)  # type: ignore[call-arg]
+    return LabwareDefinition.model_construct(namespace="test", version=42)  # type: ignore[call-arg]
 
 
 MOCK_MAP = NozzleMap.build(
diff --git a/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py b/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py
index 663aec7337f..fbe9d6c21a4 100644
--- a/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py
+++ b/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py
@@ -14,9 +14,18 @@
 @pytest.mark.parametrize(
     ("definition", "expected_result"),
     [
-        (LabwareDefinition.construct(allowedRoles=[LabwareRole.labware]), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(allowedRoles=[]), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(allowedRoles=[LabwareRole.adapter]), False),  # type: ignore[call-arg]
+        (
+            LabwareDefinition.model_construct(allowedRoles=[LabwareRole.labware]),  # type: ignore[call-arg]
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(allowedRoles=[]),  # type: ignore[call-arg]
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(allowedRoles=[LabwareRole.adapter]),  # type: ignore[call-arg]
+            False,
+        ),
     ],
 )
 def test_validate_definition_is_labware(
@@ -29,9 +38,18 @@ def test_validate_definition_is_labware(
 @pytest.mark.parametrize(
     ("definition", "expected_result"),
     [
-        (LabwareDefinition.construct(allowedRoles=[LabwareRole.adapter]), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(allowedRoles=[]), False),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(allowedRoles=[LabwareRole.labware]), False),  # type: ignore[call-arg]
+        (
+            LabwareDefinition.model_construct(allowedRoles=[LabwareRole.adapter]),  # type: ignore[call-arg]
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(allowedRoles=[]),  # type: ignore[call-arg]
+            False,
+        ),
+        (
+            LabwareDefinition.model_construct(allowedRoles=[LabwareRole.labware]),  # type: ignore[call-arg]
+            False,
+        ),
     ],
 )
 def test_validate_definition_is_adapter(
@@ -44,9 +62,22 @@ def test_validate_definition_is_adapter(
 @pytest.mark.parametrize(
     ("definition", "expected_result"),
     [
-        (LabwareDefinition.construct(stackingOffsetWithLabware={"labware123": OverlapOffset(x=4, y=5, z=6)}), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(stackingOffsetWithLabware={"labwareXYZ": OverlapOffset(x=4, y=5, z=6)}), False),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(stackingOffsetWithLabware={}), False),  # type: ignore[call-arg]
+        (
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                stackingOffsetWithLabware={"labware123": OverlapOffset(x=4, y=5, z=6)}
+            ),
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                stackingOffsetWithLabware={"labwareXYZ": OverlapOffset(x=4, y=5, z=6)}
+            ),
+            False,
+        ),
+        (
+            LabwareDefinition.model_construct(stackingOffsetWithLabware={}),  # type: ignore[call-arg]
+            False,
+        ),
     ],
 )
 def test_validate_labware_can_be_stacked(
@@ -62,9 +93,24 @@ def test_validate_labware_can_be_stacked(
 @pytest.mark.parametrize(
     ("definition", "expected_result"),
     [
-        (LabwareDefinition.construct(parameters=Parameters.construct(quirks=None)), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(parameters=Parameters.construct(quirks=["foo"])), True),  # type: ignore[call-arg]
-        (LabwareDefinition.construct(parameters=Parameters.construct(quirks=["gripperIncompatible"])), False),  # type: ignore[call-arg]
+        (
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(quirks=None)  # type: ignore[call-arg]
+            ),
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(quirks=["foo"])  # type: ignore[call-arg]
+            ),
+            True,
+        ),
+        (
+            LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(quirks=["gripperIncompatible"])  # type: ignore[call-arg]
+            ),
+            False,
+        ),
     ],
 )
 def test_validate_gripper_compatible(
diff --git a/api/tests/opentrons/protocol_engine/state/command_fixtures.py b/api/tests/opentrons/protocol_engine/state/command_fixtures.py
index 5ac522095f2..31f06858b53 100644
--- a/api/tests/opentrons/protocol_engine/state/command_fixtures.py
+++ b/api/tests/opentrons/protocol_engine/state/command_fixtures.py
@@ -1,4 +1,5 @@
 """Command factories to use in tests as data fixtures."""
+
 from datetime import datetime
 from pydantic import BaseModel
 from typing import Optional, cast, Dict
@@ -21,6 +22,12 @@
 )
 
 
+class FixtureModel(BaseModel):
+    """Fixture Model."""
+
+    ...
+
+
 def create_queued_command(
     command_id: str = "command-id",
     command_key: str = "command-key",
@@ -29,6 +36,10 @@ def create_queued_command(
     params: Optional[BaseModel] = None,
 ) -> cmd.Command:
     """Given command data, build a pending command model."""
+
+    class DummyParams(BaseModel):
+        pass
+
     return cast(
         cmd.Command,
         cmd.BaseCommand(
@@ -37,7 +48,7 @@ def create_queued_command(
             commandType=command_type,
             createdAt=datetime(year=2021, month=1, day=1),
             status=cmd.CommandStatus.QUEUED,
-            params=params or BaseModel(),
+            params=params or DummyParams(),
             intent=intent,
         ),
     )
@@ -59,7 +70,7 @@ def create_running_command(
             createdAt=created_at,
             commandType=command_type,
             status=cmd.CommandStatus.RUNNING,
-            params=params or BaseModel(),
+            params=params or FixtureModel(),
         ),
     )
 
@@ -84,7 +95,7 @@ def create_failed_command(
             completedAt=completed_at,
             commandType=command_type,
             status=cmd.CommandStatus.FAILED,
-            params=params or BaseModel(),
+            params=params or FixtureModel(),
             error=error,
             intent=intent,
         ),
@@ -108,8 +119,8 @@ def create_succeeded_command(
             createdAt=created_at,
             commandType=command_type,
             status=cmd.CommandStatus.SUCCEEDED,
-            params=params or BaseModel(),
-            result=result or BaseModel(),
+            params=params or FixtureModel(),
+            result=result or FixtureModel(),
         ),
     )
 
@@ -193,7 +204,7 @@ def create_load_module_command(
         moduleId=module_id,
         model=model,
         serialNumber=None,
-        definition=ModuleDefinition.construct(),  # type: ignore[call-arg]
+        definition=ModuleDefinition.model_construct(),  # type: ignore[call-arg]
     )
 
     return cmd.LoadModule(
diff --git a/api/tests/opentrons/protocol_engine/state/test_addressable_area_store_old.py b/api/tests/opentrons/protocol_engine/state/test_addressable_area_store_old.py
index 1bbccf96d42..b04237c702d 100644
--- a/api/tests/opentrons/protocol_engine/state/test_addressable_area_store_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_addressable_area_store_old.py
@@ -45,7 +45,7 @@ def _make_deck_config() -> DeckConfigurationType:
 
 def _dummy_command() -> Command:
     """Return a placeholder command."""
-    return Comment.construct()  # type: ignore[call-arg]
+    return Comment.model_construct()  # type: ignore[call-arg]
 
 
 @pytest.fixture
diff --git a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
index b145458649d..fda32a56ce0 100644
--- a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
+++ b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
@@ -1,4 +1,5 @@
 """Test state getters for retrieving geometry views of state."""
+
 import inspect
 import json
 from datetime import datetime
@@ -257,7 +258,7 @@ def addressable_area_view(
 @pytest.fixture
 def nice_labware_definition() -> LabwareDefinition:
     """Load a nice labware def that won't blow up your terminal."""
-    return LabwareDefinition.parse_obj(
+    return LabwareDefinition.model_validate(
         json.loads(
             load_shared_data("labware/fixtures/2/fixture_12_trough_v2.json").decode(
                 "utf-8"
@@ -269,7 +270,7 @@ def nice_labware_definition() -> LabwareDefinition:
 @pytest.fixture
 def nice_adapter_definition() -> LabwareDefinition:
     """Load a friendly adapter definition."""
-    return LabwareDefinition.parse_obj(
+    return LabwareDefinition.model_validate(
         json.loads(
             load_shared_data(
                 "labware/definitions/2/opentrons_aluminum_flat_bottom_plate/1.json"
@@ -849,8 +850,8 @@ def test_get_all_obstacle_highest_z_with_modules(
     subject: GeometryView,
 ) -> None:
     """It should get the highest Z including modules."""
-    module_1 = LoadedModule.construct(id="module-id-1")  # type: ignore[call-arg]
-    module_2 = LoadedModule.construct(id="module-id-2")  # type: ignore[call-arg]
+    module_1 = LoadedModule.model_construct(id="module-id-1")  # type: ignore[call-arg]
+    module_2 = LoadedModule.model_construct(id="module-id-2")  # type: ignore[call-arg]
 
     decoy.when(mock_labware_view.get_all()).then_return([])
     decoy.when(mock_addressable_area_view.get_all()).then_return([])
@@ -939,7 +940,7 @@ def test_get_highest_z_in_slot_with_single_module(
 ) -> None:
     """It should get the highest Z in slot with just a single module."""
     # Case: Slot has a module that doesn't have any labware on it. Highest z is equal to module height.
-    module_in_slot = LoadedModule.construct(
+    module_in_slot = LoadedModule.model_construct(
         id="only-module",
         model=ModuleModel.THERMOCYCLER_MODULE_V2,
         location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
@@ -1094,7 +1095,7 @@ def test_get_highest_z_in_slot_with_labware_stack_on_module(
         location=ModuleLocation(moduleId="module-id"),
         offsetId="offset-id2",
     )
-    module_on_slot = LoadedModule.construct(
+    module_on_slot = LoadedModule.model_construct(
         id="module-id",
         model=ModuleModel.THERMOCYCLER_MODULE_V2,
         location=DeckSlotLocation(slotName=DeckSlotName.SLOT_4),
@@ -1982,7 +1983,7 @@ def test_get_relative_well_location(
 
     assert result == WellLocation(
         origin=WellOrigin.TOP,
-        offset=WellOffset.construct(
+        offset=WellOffset.model_construct(
             x=cast(float, pytest.approx(7)),
             y=cast(float, pytest.approx(8)),
             z=cast(float, pytest.approx(9)),
@@ -2007,7 +2008,7 @@ def test_get_relative_liquid_handling_well_location(
 
     assert result == LiquidHandlingWellLocation(
         origin=WellOrigin.MENISCUS,
-        offset=WellOffset.construct(
+        offset=WellOffset.model_construct(
             x=0.0,
             y=0.0,
             z=cast(float, pytest.approx(-2)),
@@ -2457,8 +2458,8 @@ def test_get_slot_item(
     subject: GeometryView,
 ) -> None:
     """It should get items in certain slots."""
-    labware = LoadedLabware.construct(id="cool-labware")  # type: ignore[call-arg]
-    module = LoadedModule.construct(id="cool-module")  # type: ignore[call-arg]
+    labware = LoadedLabware.model_construct(id="cool-labware")  # type: ignore[call-arg]
+    module = LoadedModule.model_construct(id="cool-module")  # type: ignore[call-arg]
 
     decoy.when(mock_labware_view.get_by_slot(DeckSlotName.SLOT_1)).then_return(None)
     decoy.when(mock_labware_view.get_by_slot(DeckSlotName.SLOT_2)).then_return(labware)
@@ -2485,7 +2486,7 @@ def test_get_slot_item_that_is_overflowed_module(
     subject: GeometryView,
 ) -> None:
     """It should return the module that occupies the slot, even if not loaded on it."""
-    module = LoadedModule.construct(id="cool-module")  # type: ignore[call-arg]
+    module = LoadedModule.model_construct(id="cool-module")  # type: ignore[call-arg]
     decoy.when(mock_labware_view.get_by_slot(DeckSlotName.SLOT_3)).then_return(None)
     decoy.when(mock_module_view.get_by_slot(DeckSlotName.SLOT_3)).then_return(None)
     decoy.when(
@@ -2901,19 +2902,19 @@ def test_check_gripper_labware_tip_collision(
         )
     )
 
-    definition = LabwareDefinition.construct(  # type: ignore[call-arg]
+    definition = LabwareDefinition.model_construct(  # type: ignore[call-arg]
         namespace="hello",
-        dimensions=LabwareDimensions.construct(
+        dimensions=LabwareDimensions.model_construct(
             yDimension=1, zDimension=2, xDimension=3
         ),
         version=1,
-        parameters=LabwareDefinitionParameters.construct(
+        parameters=LabwareDefinitionParameters.model_construct(
             format="96Standard",
             loadName="labware-id",
             isTiprack=True,
             isMagneticModuleCompatible=False,
         ),
-        cornerOffsetFromSlot=CornerOffsetFromSlot.construct(x=1, y=2, z=3),
+        cornerOffsetFromSlot=CornerOffsetFromSlot.model_construct(x=1, y=2, z=3),
         ordering=[],
     )
 
diff --git a/api/tests/opentrons/protocol_engine/state/test_labware_view_old.py b/api/tests/opentrons/protocol_engine/state/test_labware_view_old.py
index 0b6886040c6..7ace6d767ad 100644
--- a/api/tests/opentrons/protocol_engine/state/test_labware_view_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_labware_view_old.py
@@ -261,13 +261,13 @@ def test_find_custom_labware_params(
     namespace: Optional[str], version: Optional[int]
 ) -> None:
     """It should find the missing (if any) load labware parameters."""
-    labware_def = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(loadName="hello"),  # type: ignore[call-arg]
+    labware_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(loadName="hello"),  # type: ignore[call-arg]
         namespace="world",
         version=123,
     )
-    standard_def = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(loadName="goodbye"),  # type: ignore[call-arg]
+    standard_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(loadName="goodbye"),  # type: ignore[call-arg]
         namespace="opentrons",
         version=456,
     )
@@ -551,12 +551,12 @@ def test_validate_liquid_allowed_raises_incompatible_labware() -> None:
             ),
         },
         definitions_by_uri={
-            "some-tiprack-uri": LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(isTiprack=True),  # type: ignore[call-arg]
+            "some-tiprack-uri": LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(isTiprack=True),  # type: ignore[call-arg]
                 wells={},
             ),
-            "some-adapter-uri": LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(isTiprack=False),  # type: ignore[call-arg]
+            "some-adapter-uri": LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(isTiprack=False),  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.adapter],
                 wells={},
             ),
@@ -598,8 +598,8 @@ def test_get_tip_length_gets_length_from_definition(
 
 def test_get_tip_drop_z_offset() -> None:
     """It should get a tip drop z offset by scaling the tip length."""
-    tip_rack_def = LabwareDefinition.construct(  # type: ignore[call-arg]
-        parameters=Parameters.construct(  # type: ignore[call-arg]
+    tip_rack_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        parameters=Parameters.model_construct(  # type: ignore[call-arg]
             tipLength=100,
         )
     )
@@ -693,7 +693,7 @@ def test_get_labware_overlap_offsets() -> None:
     """It should get the labware overlap offsets."""
     subject = get_labware_view()
     result = subject.get_labware_overlap_offsets(
-        definition=LabwareDefinition.construct(  # type: ignore[call-arg]
+        definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
             stackingOffsetWithLabware={
                 "bottom-labware-name": SharedDataOverlapOffset(x=1, y=2, z=3)
             }
@@ -779,7 +779,7 @@ def test_get_module_overlap_offsets(
         deck_definition=spec_deck_definition,
     )
     result = subject.get_module_overlap_offsets(
-        definition=LabwareDefinition.construct(  # type: ignore[call-arg]
+        definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
             stackingOffsetWithModule=stacking_offset_with_module
         ),
         module_model=module_model,
@@ -1131,13 +1131,13 @@ def test_raise_if_labware_in_location(
 
 def test_get_by_slot() -> None:
     """It should get the labware in a given slot."""
-    labware_1 = LoadedLabware.construct(  # type: ignore[call-arg]
+    labware_1 = LoadedLabware.model_construct(  # type: ignore[call-arg]
         id="1", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1)
     )
-    labware_2 = LoadedLabware.construct(  # type: ignore[call-arg]
+    labware_2 = LoadedLabware.model_construct(  # type: ignore[call-arg]
         id="2", location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2)
     )
-    labware_3 = LoadedLabware.construct(  # type: ignore[call-arg]
+    labware_3 = LoadedLabware.model_construct(  # type: ignore[call-arg]
         id="3", location=ModuleLocation(moduleId="cool-module")
     )
 
@@ -1183,7 +1183,7 @@ def test_get_edge_path_type(
         offsetId=None,
     )
 
-    labware_def = LabwareDefinition.construct(  # type: ignore[call-arg]
+    labware_def = LabwareDefinition.model_construct(  # type: ignore[call-arg]
         ordering=[["abc", "def"], ["ghi", "jkl"], ["mno", "pqr"]]
     )
 
@@ -1307,10 +1307,8 @@ def test_raise_if_labware_cannot_be_stacked_is_adapter() -> None:
         errors.LabwareCannotBeStackedError, match="defined as an adapter"
     ):
         subject.raise_if_labware_cannot_be_stacked(
-            top_labware_definition=LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(  # type: ignore[call-arg]
-                    loadName="name"
-                ),
+            top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(loadName="name"),  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.adapter],
             ),
             bottom_labware_id="labware-id",
@@ -1334,10 +1332,8 @@ def test_raise_if_labware_cannot_be_stacked_not_validated() -> None:
         errors.LabwareCannotBeStackedError, match="loaded onto labware test"
     ):
         subject.raise_if_labware_cannot_be_stacked(
-            top_labware_definition=LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(  # type: ignore[call-arg]
-                    loadName="name"
-                ),
+            top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(loadName="name"),  # type: ignore[call-arg]
                 stackingOffsetWithLabware={},
             ),
             bottom_labware_id="labware-id",
@@ -1356,7 +1352,7 @@ def test_raise_if_labware_cannot_be_stacked_on_module_not_adapter() -> None:
             )
         },
         definitions_by_uri={
-            "def-uri": LabwareDefinition.construct(  # type: ignore[call-arg]
+            "def-uri": LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.labware]
             )
         },
@@ -1364,10 +1360,8 @@ def test_raise_if_labware_cannot_be_stacked_on_module_not_adapter() -> None:
 
     with pytest.raises(errors.LabwareCannotBeStackedError, match="module"):
         subject.raise_if_labware_cannot_be_stacked(
-            top_labware_definition=LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(  # type: ignore[call-arg]
-                    loadName="name"
-                ),
+            top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(loadName="name"),  # type: ignore[call-arg]
                 stackingOffsetWithLabware={
                     "test": SharedDataOverlapOffset(x=0, y=0, z=0)
                 },
@@ -1394,10 +1388,10 @@ def test_raise_if_labware_cannot_be_stacked_on_labware_on_adapter() -> None:
             ),
         },
         definitions_by_uri={
-            "def-uri-1": LabwareDefinition.construct(  # type: ignore[call-arg]
+            "def-uri-1": LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.labware]
             ),
-            "def-uri-2": LabwareDefinition.construct(  # type: ignore[call-arg]
+            "def-uri-2": LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=[LabwareRole.adapter]
             ),
         },
@@ -1407,10 +1401,8 @@ def test_raise_if_labware_cannot_be_stacked_on_labware_on_adapter() -> None:
         errors.LabwareCannotBeStackedError, match="cannot be loaded to stack"
     ):
         subject.raise_if_labware_cannot_be_stacked(
-            top_labware_definition=LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(  # type: ignore[call-arg]
-                    loadName="name"
-                ),
+            top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(loadName="name"),  # type: ignore[call-arg]
                 stackingOffsetWithLabware={
                     "test": SharedDataOverlapOffset(x=0, y=0, z=0)
                 },
@@ -1472,9 +1464,9 @@ def test_labware_stacking_height_passes_or_raises(
             ),
         },
         definitions_by_uri={
-            "def-uri-1": LabwareDefinition.construct(  # type: ignore[call-arg]
+            "def-uri-1": LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 allowedRoles=allowed_roles,
-                parameters=Parameters.construct(
+                parameters=Parameters.model_construct(
                     format="irregular",
                     quirks=stacking_quirks,
                     isTiprack=False,
@@ -1487,8 +1479,8 @@ def test_labware_stacking_height_passes_or_raises(
 
     with exception:
         subject.raise_if_labware_cannot_be_stacked(
-            top_labware_definition=LabwareDefinition.construct(  # type: ignore[call-arg]
-                parameters=Parameters.construct(
+            top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
+                parameters=Parameters.model_construct(
                     format="irregular",
                     quirks=stacking_quirks,
                     isTiprack=False,
@@ -1554,7 +1546,7 @@ def test_get_labware_gripper_offsets_default_no_slots(
             )
         },
         definitions_by_uri={
-            "some-labware-uri": LabwareDefinition.construct(  # type: ignore[call-arg]
+            "some-labware-uri": LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 gripperOffsets={
                     "default": GripperOffsets(
                         pickUpOffset=OffsetVector(x=1, y=2, z=3),
@@ -1618,7 +1610,7 @@ def test_calculates_well_bounding_box(
     labware_to_check: str, well_bbox: Dimensions
 ) -> None:
     """It should be able to calculate well bounding boxes."""
-    definition = LabwareDefinition.parse_obj(load_definition(labware_to_check, 1))
+    definition = LabwareDefinition.model_validate(load_definition(labware_to_check, 1))
     subject = get_labware_view()
     assert subject.get_well_bbox(definition).x == pytest.approx(well_bbox.x)
     assert subject.get_well_bbox(definition).y == pytest.approx(well_bbox.y)
diff --git a/api/tests/opentrons/protocol_engine/state/test_liquid_class_store_old.py b/api/tests/opentrons/protocol_engine/state/test_liquid_class_store_old.py
index 57397ec61cb..9d910d9495a 100644
--- a/api/tests/opentrons/protocol_engine/state/test_liquid_class_store_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_liquid_class_store_old.py
@@ -39,7 +39,7 @@ def test_handles_add_liquid_class(
 
     subject.handle_action(
         actions.SucceedCommandAction(
-            command=LoadLiquidClass.construct(),  # type: ignore[call-arg]
+            command=LoadLiquidClass.model_construct(),  # type: ignore[call-arg]
             state_update=update_types.StateUpdate(
                 liquid_class_loaded=update_types.LiquidClassLoadedUpdate(
                     liquid_class_id="liquid-class-id",
diff --git a/api/tests/opentrons/protocol_engine/state/test_module_store_old.py b/api/tests/opentrons/protocol_engine/state/test_module_store_old.py
index e4ab52ebaf8..4767ecad16b 100644
--- a/api/tests/opentrons/protocol_engine/state/test_module_store_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_module_store_old.py
@@ -202,7 +202,7 @@ def test_load_module(
 ) -> None:
     """It should handle a successful LoadModule command."""
     action = actions.SucceedCommandAction(
-        command=commands.LoadModule.construct(  # type: ignore[call-arg]
+        command=commands.LoadModule.model_construct(  # type: ignore[call-arg]
             params=commands.LoadModuleParams(
                 model=params_model,
                 location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -265,7 +265,7 @@ def test_load_thermocycler_in_thermocycler_slot(
 ) -> None:
     """It should update additional slots for thermocycler module."""
     action = actions.SucceedCommandAction(
-        command=commands.LoadModule.construct(  # type: ignore[call-arg]
+        command=commands.LoadModule.model_construct(  # type: ignore[call-arg]
             params=commands.LoadModuleParams(
                 model=ModuleModel.THERMOCYCLER_MODULE_V2,
                 location=DeckSlotLocation(slotName=tc_slot),
@@ -389,7 +389,7 @@ def test_add_module_action(
 
 def test_handle_hs_temperature_commands(heater_shaker_v1_def: ModuleDefinition) -> None:
     """It should update `plate_target_temperature` correctly."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.HEATER_SHAKER_MODULE_V1,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -401,11 +401,11 @@ def test_handle_hs_temperature_commands(heater_shaker_v1_def: ModuleDefinition)
             definition=heater_shaker_v1_def,
         ),
     )
-    set_temp_cmd = hs_commands.SetTargetTemperature.construct(  # type: ignore[call-arg]
+    set_temp_cmd = hs_commands.SetTargetTemperature.model_construct(  # type: ignore[call-arg]
         params=hs_commands.SetTargetTemperatureParams(moduleId="module-id", celsius=42),
         result=hs_commands.SetTargetTemperatureResult(),
     )
-    deactivate_cmd = hs_commands.DeactivateHeater.construct(  # type: ignore[call-arg]
+    deactivate_cmd = hs_commands.DeactivateHeater.model_construct(  # type: ignore[call-arg]
         params=hs_commands.DeactivateHeaterParams(moduleId="module-id"),
         result=hs_commands.DeactivateHeaterResult(),
     )
@@ -437,7 +437,7 @@ def test_handle_hs_temperature_commands(heater_shaker_v1_def: ModuleDefinition)
 
 def test_handle_hs_shake_commands(heater_shaker_v1_def: ModuleDefinition) -> None:
     """It should update heater-shaker's `is_plate_shaking` correctly."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.HEATER_SHAKER_MODULE_V1,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -449,11 +449,11 @@ def test_handle_hs_shake_commands(heater_shaker_v1_def: ModuleDefinition) -> Non
             definition=heater_shaker_v1_def,
         ),
     )
-    set_shake_cmd = hs_commands.SetAndWaitForShakeSpeed.construct(  # type: ignore[call-arg]
+    set_shake_cmd = hs_commands.SetAndWaitForShakeSpeed.model_construct(  # type: ignore[call-arg]
         params=hs_commands.SetAndWaitForShakeSpeedParams(moduleId="module-id", rpm=111),
         result=hs_commands.SetAndWaitForShakeSpeedResult(pipetteRetracted=False),
     )
-    deactivate_cmd = hs_commands.DeactivateShaker.construct(  # type: ignore[call-arg]
+    deactivate_cmd = hs_commands.DeactivateShaker.model_construct(  # type: ignore[call-arg]
         params=hs_commands.DeactivateShakerParams(moduleId="module-id"),
         result=hs_commands.DeactivateShakerResult(),
     )
@@ -487,7 +487,7 @@ def test_handle_hs_labware_latch_commands(
     heater_shaker_v1_def: ModuleDefinition,
 ) -> None:
     """It should update heater-shaker's `is_labware_latch_closed` correctly."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.HEATER_SHAKER_MODULE_V1,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -499,11 +499,11 @@ def test_handle_hs_labware_latch_commands(
             definition=heater_shaker_v1_def,
         ),
     )
-    close_latch_cmd = hs_commands.CloseLabwareLatch.construct(  # type: ignore[call-arg]
+    close_latch_cmd = hs_commands.CloseLabwareLatch.model_construct(  # type: ignore[call-arg]
         params=hs_commands.CloseLabwareLatchParams(moduleId="module-id"),
         result=hs_commands.CloseLabwareLatchResult(),
     )
-    open_latch_cmd = hs_commands.OpenLabwareLatch.construct(  # type: ignore[call-arg]
+    open_latch_cmd = hs_commands.OpenLabwareLatch.model_construct(  # type: ignore[call-arg]
         params=hs_commands.OpenLabwareLatchParams(moduleId="module-id"),
         result=hs_commands.OpenLabwareLatchResult(pipetteRetracted=False),
     )
@@ -546,7 +546,7 @@ def test_handle_tempdeck_temperature_commands(
     tempdeck_v2_def: ModuleDefinition,
 ) -> None:
     """It should update Tempdeck's `plate_target_temperature` correctly."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.TEMPERATURE_MODULE_V2,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -558,13 +558,13 @@ def test_handle_tempdeck_temperature_commands(
             definition=tempdeck_v2_def,
         ),
     )
-    set_temp_cmd = temp_commands.SetTargetTemperature.construct(  # type: ignore[call-arg]
+    set_temp_cmd = temp_commands.SetTargetTemperature.model_construct(  # type: ignore[call-arg]
         params=temp_commands.SetTargetTemperatureParams(
             moduleId="module-id", celsius=42.4
         ),
         result=temp_commands.SetTargetTemperatureResult(targetTemperature=42),
     )
-    deactivate_cmd = temp_commands.DeactivateTemperature.construct(  # type: ignore[call-arg]
+    deactivate_cmd = temp_commands.DeactivateTemperature.model_construct(  # type: ignore[call-arg]
         params=temp_commands.DeactivateTemperatureParams(moduleId="module-id"),
         result=temp_commands.DeactivateTemperatureResult(),
     )
@@ -592,7 +592,7 @@ def test_handle_thermocycler_temperature_commands(
     thermocycler_v1_def: ModuleDefinition,
 ) -> None:
     """It should update thermocycler's temperature statuses correctly."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.THERMOCYCLER_MODULE_V1,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -604,23 +604,23 @@ def test_handle_thermocycler_temperature_commands(
             definition=thermocycler_v1_def,
         ),
     )
-    set_block_temp_cmd = tc_commands.SetTargetBlockTemperature.construct(  # type: ignore[call-arg]
+    set_block_temp_cmd = tc_commands.SetTargetBlockTemperature.model_construct(  # type: ignore[call-arg]
         params=tc_commands.SetTargetBlockTemperatureParams(
             moduleId="module-id", celsius=42.4
         ),
         result=tc_commands.SetTargetBlockTemperatureResult(targetBlockTemperature=42.4),
     )
-    deactivate_block_cmd = tc_commands.DeactivateBlock.construct(  # type: ignore[call-arg]
+    deactivate_block_cmd = tc_commands.DeactivateBlock.model_construct(  # type: ignore[call-arg]
         params=tc_commands.DeactivateBlockParams(moduleId="module-id"),
         result=tc_commands.DeactivateBlockResult(),
     )
-    set_lid_temp_cmd = tc_commands.SetTargetLidTemperature.construct(  # type: ignore[call-arg]
+    set_lid_temp_cmd = tc_commands.SetTargetLidTemperature.model_construct(  # type: ignore[call-arg]
         params=tc_commands.SetTargetLidTemperatureParams(
             moduleId="module-id", celsius=35.3
         ),
         result=tc_commands.SetTargetLidTemperatureResult(targetLidTemperature=35.3),
     )
-    deactivate_lid_cmd = tc_commands.DeactivateLid.construct(  # type: ignore[call-arg]
+    deactivate_lid_cmd = tc_commands.DeactivateLid.model_construct(  # type: ignore[call-arg]
         params=tc_commands.DeactivateLidParams(moduleId="module-id"),
         result=tc_commands.DeactivateLidResult(),
     )
@@ -672,7 +672,7 @@ def test_handle_thermocycler_lid_commands(
     thermocycler_v1_def: ModuleDefinition,
 ) -> None:
     """It should update thermocycler's lid status after executing lid commands."""
-    load_module_cmd = commands.LoadModule.construct(  # type: ignore[call-arg]
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
         params=commands.LoadModuleParams(
             model=ModuleModel.THERMOCYCLER_MODULE_V1,
             location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
@@ -685,11 +685,11 @@ def test_handle_thermocycler_lid_commands(
         ),
     )
 
-    open_lid_cmd = tc_commands.OpenLid.construct(  # type: ignore[call-arg]
+    open_lid_cmd = tc_commands.OpenLid.model_construct(  # type: ignore[call-arg]
         params=tc_commands.OpenLidParams(moduleId="module-id"),
         result=tc_commands.OpenLidResult(),
     )
-    close_lid_cmd = tc_commands.CloseLid.construct(  # type: ignore[call-arg]
+    close_lid_cmd = tc_commands.CloseLid.model_construct(  # type: ignore[call-arg]
         params=tc_commands.CloseLidParams(moduleId="module-id"),
         result=tc_commands.CloseLidResult(),
     )
diff --git a/api/tests/opentrons/protocol_engine/state/test_module_view_old.py b/api/tests/opentrons/protocol_engine/state/test_module_view_old.py
index 3902eedc76f..65e1a467977 100644
--- a/api/tests/opentrons/protocol_engine/state/test_module_view_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_module_view_old.py
@@ -149,7 +149,7 @@ def get_sample_parent_module_view(
 ) -> ModuleView:
     """Get a ModuleView with attached modules including a requested matching module."""
     definition = load_shared_data("module/definitions/2/magneticModuleV1.json")
-    magdeck_def = ModuleDefinition.parse_raw(definition)
+    magdeck_def = ModuleDefinition.model_validate_json(definition)
 
     return make_module_view(
         slot_by_module_id={
@@ -1735,13 +1735,13 @@ def test_get_by_slot() -> None:
         hardware_by_module_id={
             "1": HardwareModule(
                 serial_number="serial-number-1",
-                definition=ModuleDefinition.construct(  # type: ignore[call-arg]
+                definition=ModuleDefinition.model_construct(  # type: ignore[call-arg]
                     model=ModuleModel.TEMPERATURE_MODULE_V1
                 ),
             ),
             "2": HardwareModule(
                 serial_number="serial-number-2",
-                definition=ModuleDefinition.construct(  # type: ignore[call-arg]
+                definition=ModuleDefinition.model_construct(  # type: ignore[call-arg]
                     model=ModuleModel.TEMPERATURE_MODULE_V2
                 ),
             ),
@@ -1773,13 +1773,13 @@ def test_get_by_slot_prefers_later() -> None:
         hardware_by_module_id={
             "1": HardwareModule(
                 serial_number="serial-number-1",
-                definition=ModuleDefinition.construct(  # type: ignore[call-arg]
+                definition=ModuleDefinition.model_construct(  # type: ignore[call-arg]
                     model=ModuleModel.TEMPERATURE_MODULE_V1
                 ),
             ),
             "1-again": HardwareModule(
                 serial_number="serial-number-1-again",
-                definition=ModuleDefinition.construct(  # type: ignore[call-arg]
+                definition=ModuleDefinition.model_construct(  # type: ignore[call-arg]
                     model=ModuleModel.TEMPERATURE_MODULE_V1
                 ),
             ),
diff --git a/api/tests/opentrons/protocol_engine/state/test_pipette_store_old.py b/api/tests/opentrons/protocol_engine/state/test_pipette_store_old.py
index b88844bb53d..9e4db725415 100644
--- a/api/tests/opentrons/protocol_engine/state/test_pipette_store_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_pipette_store_old.py
@@ -770,8 +770,8 @@ def test_add_pipette_config(
     available_sensors: pipette_definition.AvailableSensorDefinition,
 ) -> None:
     """It should update state from any pipette config private result."""
-    command = cmd.LoadPipette.construct(  # type: ignore[call-arg]
-        params=cmd.LoadPipetteParams.construct(
+    command = cmd.LoadPipette.model_construct(
+        params=cmd.LoadPipetteParams.model_construct(  # type: ignore[call-arg]
             mount=MountType.LEFT, pipetteName="p300_single"  # type: ignore[arg-type]
         ),
         result=cmd.LoadPipetteResult(pipetteId="pipette-id"),
diff --git a/api/tests/opentrons/protocol_engine/state/test_tip_state.py b/api/tests/opentrons/protocol_engine/state/test_tip_state.py
index 7a958a37e5f..7246a5f4cb2 100644
--- a/api/tests/opentrons/protocol_engine/state/test_tip_state.py
+++ b/api/tests/opentrons/protocol_engine/state/test_tip_state.py
@@ -32,7 +32,7 @@
     get_default_nozzle_map,
 )
 
-_tip_rack_parameters = LabwareParameters.construct(isTiprack=True)  # type: ignore[call-arg]
+_tip_rack_parameters = LabwareParameters.model_construct(isTiprack=True)  # type: ignore[call-arg]
 
 
 @pytest.fixture
@@ -50,7 +50,7 @@ def subject() -> TipStore:
 @pytest.fixture
 def labware_definition() -> LabwareDefinition:
     """Get a labware definition value object."""
-    return LabwareDefinition.construct(  # type: ignore[call-arg]
+    return LabwareDefinition.model_construct(  # type: ignore[call-arg]
         ordering=[
             ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],
             ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"],
@@ -90,14 +90,12 @@ def load_labware_action(
 
 def _dummy_command() -> commands.Command:
     """Return a placeholder command."""
-    return commands.Comment.construct()  # type: ignore[call-arg]
+    return commands.Comment.model_construct()  # type: ignore[call-arg]
 
 
 @pytest.mark.parametrize(
     "labware_definition",
-    [
-        LabwareDefinition.construct(ordering=[], parameters=_tip_rack_parameters)  # type: ignore[call-arg]
-    ],
+    [LabwareDefinition.model_construct(ordering=[], parameters=_tip_rack_parameters)],  # type: ignore[call-arg]
 )
 def test_get_next_tip_returns_none(
     load_labware_action: actions.SucceedCommandAction,
@@ -594,7 +592,6 @@ def test_get_next_tip_with_1_channel_followed_by_8_channel(
             command=_dummy_command(),
         )
     )
-
     config_update_2 = update_types.PipetteConfigUpdate(
         pipette_id="pipette-id2",
         serial_number="pipette-serial2",
@@ -929,9 +926,9 @@ def test_handle_pipette_config_action(
 @pytest.mark.parametrize(
     "labware_definition",
     [
-        LabwareDefinition.construct(  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(  # type: ignore[call-arg]
             ordering=[["A1"]],
-            parameters=LabwareParameters.construct(isTiprack=False),  # type: ignore[call-arg]
+            parameters=LabwareParameters.model_construct(isTiprack=False),  # type: ignore[call-arg]
         )
     ],
 )
diff --git a/api/tests/opentrons/protocol_engine/test_protocol_engine.py b/api/tests/opentrons/protocol_engine/test_protocol_engine.py
index cd6ffeb99cb..95289d681b8 100644
--- a/api/tests/opentrons/protocol_engine/test_protocol_engine.py
+++ b/api/tests/opentrons/protocol_engine/test_protocol_engine.py
@@ -1,4 +1,5 @@
 """Tests for the ProtocolEngine class."""
+
 import inspect
 from datetime import datetime
 from typing import Any
@@ -803,9 +804,9 @@ async def test_finish_with_estop_error_will_not_drop_tip_and_home(
 ) -> None:
     """It should be able to tell the engine it's finished because of an error and will not drop tip and home."""
     error = ProtocolCommandFailedError(
-        original_error=ErrorOccurrence.construct(  # type: ignore[call-arg]
+        original_error=ErrorOccurrence.model_construct(  # type: ignore[call-arg]
             wrappedErrors=[
-                ErrorOccurrence.construct(errorCode="3008")  # type: ignore[call-arg]
+                ErrorOccurrence.model_construct(errorCode="3008")  # type: ignore[call-arg]
             ]
         )
     )
diff --git a/api/tests/opentrons/protocol_engine/test_types.py b/api/tests/opentrons/protocol_engine/test_types.py
index ccf6b91de7f..d48c67ee61e 100644
--- a/api/tests/opentrons/protocol_engine/test_types.py
+++ b/api/tests/opentrons/protocol_engine/test_types.py
@@ -9,10 +9,14 @@
 def test_hex_validation(hex_color: str) -> None:
     """Should allow creating a HexColor."""
     # make sure noting is raised when instantiating this class
-    assert HexColor(__root__=hex_color)
+    assert HexColor(hex_color)
+    assert HexColor.model_validate_json(f'"{hex_color}"')
 
 
-def test_handles_invalid_hex() -> None:
+@pytest.mark.parametrize("invalid_hex_color", ["true", "null", "#123456789"])
+def test_handles_invalid_hex(invalid_hex_color: str) -> None:
     """Should raise a validation error."""
     with pytest.raises(ValidationError):
-        HexColor(__root__="#123456789")
+        HexColor(invalid_hex_color)
+    with pytest.raises(ValidationError):
+        HexColor.model_validate_json(f'"{invalid_hex_color}"')
diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/conftest.py b/api/tests/opentrons/protocol_runner/smoke_tests/conftest.py
index 5a758922e59..ade6ed4dae8 100644
--- a/api/tests/opentrons/protocol_runner/smoke_tests/conftest.py
+++ b/api/tests/opentrons/protocol_runner/smoke_tests/conftest.py
@@ -17,7 +17,7 @@
 def tempdeck_v1_def() -> ModuleDefinition:
     """Get the definition of a V1 tempdeck."""
     definition = load_shared_data("module/definitions/3/temperatureModuleV1.json")
-    return ModuleDefinition.parse_raw(definition)
+    return ModuleDefinition.model_validate_json(definition)
 
 
 @pytest.fixture()
diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py
index a652d76eac3..d4b59513be7 100644
--- a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py
+++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_command_mapper.py
@@ -278,14 +278,12 @@ async def test_big_protocol_commands(big_protocol_file: Path) -> None:
         result=pipette_right_result_captor,
     )
 
-    # TODO(mc, 2021-11-11): not sure why I have to dict-access these properties
-    # might be a bug in Decoy, might be something weird that Pydantic does
-    tiprack_1_id = tiprack_1_result_captor.value["labwareId"]
-    tiprack_2_id = tiprack_2_result_captor.value["labwareId"]
-    well_plate_1_id = well_plate_1_result_captor.value["labwareId"]
-    module_plate_1_id = module_plate_1_result_captor.value["labwareId"]
-    pipette_left_id = pipette_left_result_captor.value["pipetteId"]
-    pipette_right_id = pipette_right_result_captor.value["pipetteId"]
+    tiprack_1_id = tiprack_1_result_captor.value.labwareId
+    tiprack_2_id = tiprack_2_result_captor.value.labwareId
+    well_plate_1_id = well_plate_1_result_captor.value.labwareId
+    module_plate_1_id = module_plate_1_result_captor.value.labwareId
+    pipette_left_id = pipette_left_result_captor.value.pipetteId
+    pipette_right_id = pipette_right_result_captor.value.pipetteId
 
     assert commands_result[8] == commands.PickUpTip.construct(
         id=matchers.IsA(str),
diff --git a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py
index de14413a7ab..e27c23faa27 100644
--- a/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py
+++ b/api/tests/opentrons/protocol_runner/smoke_tests/test_legacy_module_commands.py
@@ -146,12 +146,9 @@ async def test_runner_with_modules_in_legacy_python(
         result=heater_shaker_result_captor,
     )
 
-    assert temp_module_result_captor.value["model"] == ModuleModel.TEMPERATURE_MODULE_V1
-    assert mag_module_result_captor.value["model"] == ModuleModel.MAGNETIC_MODULE_V1
+    assert temp_module_result_captor.value.model == ModuleModel.TEMPERATURE_MODULE_V1
+    assert mag_module_result_captor.value.model == ModuleModel.MAGNETIC_MODULE_V1
+    assert thermocycler_result_captor.value.model == ModuleModel.THERMOCYCLER_MODULE_V1
     assert (
-        thermocycler_result_captor.value["model"] == ModuleModel.THERMOCYCLER_MODULE_V1
-    )
-    assert (
-        heater_shaker_result_captor.value["model"]
-        == ModuleModel.HEATER_SHAKER_MODULE_V1
+        heater_shaker_result_captor.value.model == ModuleModel.HEATER_SHAKER_MODULE_V1
     )
diff --git a/api/tests/opentrons/protocol_runner/test_json_translator.py b/api/tests/opentrons/protocol_runner/test_json_translator.py
index e2735e4cdbc..b9abbf4e655 100644
--- a/api/tests/opentrons/protocol_runner/test_json_translator.py
+++ b/api/tests/opentrons/protocol_runner/test_json_translator.py
@@ -1,4 +1,5 @@
 """Tests for the JSON JsonTranslator interface."""
+
 import pytest
 from typing import Dict, List
 
@@ -193,7 +194,7 @@
                 wellName="A1",
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="dropTip",
             params={
                 "pipetteId": "pipette-id-1",
@@ -230,7 +231,7 @@
                 wellName="A1",
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="pickUpTip",
             params={
                 "pipetteId": "pipette-id-1",
@@ -272,7 +273,7 @@
                 ),
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="touchTip",
             params={
                 "pipetteId": "pipette-id-1",
@@ -307,7 +308,7 @@
                 pipetteId="pipette-id-1", mount="left", pipetteName="p10_single"
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="loadPipette",
             params={
                 "pipetteId": "pipette-id-1",
@@ -339,7 +340,7 @@
                 location=Location(slotName="3"),
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="loadModule",
             params={
                 "moduleId": "module-id-1",
@@ -374,7 +375,7 @@
                 displayName="Trash",
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="loadLabware",
             params={
                 "labwareId": "labware-id-2",
@@ -423,7 +424,7 @@
                 flowRate=1.23,
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="blowout",
             params={
                 "pipetteId": "pipette-id-1",
@@ -458,7 +459,7 @@
             commandType="delay",
             params=protocol_schema_v7.Params(waitForResume=True, message="hello world"),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="delay",
             params={"waitForResume": True, "message": "hello world"},
         ),
@@ -475,7 +476,7 @@
             commandType="delay",
             params=protocol_schema_v7.Params(seconds=12.34, message="hello world"),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="delay",
             params={"seconds": 12.34, "message": "hello world"},
         ),
@@ -495,7 +496,7 @@
             commandType="waitForResume",
             params=protocol_schema_v7.Params(message="hello world"),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="waitForResume",
             params={"message": "hello world"},
         ),
@@ -512,7 +513,7 @@
             commandType="waitForDuration",
             params=protocol_schema_v7.Params(seconds=12.34, message="hello world"),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="waitForDuration",
             params={"seconds": 12.34, "message": "hello world"},
         ),
@@ -542,7 +543,7 @@
                 forceDirect=True,
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="moveToCoordinates",
             params={
                 "pipetteId": "pipette-id-1",
@@ -595,7 +596,7 @@
                 ],
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="thermocycler/runProfile",
             params={
                 "moduleId": "module-id-2",
@@ -646,7 +647,7 @@
                 volumeByWell={"A1": 32, "B2": 50},
             ),
         ),
-        protocol_schema_v8.Command(
+        protocol_schema_v8.Command.construct(
             commandType="loadLiquid",
             key=None,
             params={
@@ -873,6 +874,6 @@ def test_load_liquid(
             id="liquid-id-555",
             displayName="water",
             description="water description",
-            displayColor=HexColor(__root__="#F00"),
+            displayColor=HexColor("#F00"),
         )
     ]
diff --git a/api/tests/opentrons/protocol_runner/test_protocol_runner.py b/api/tests/opentrons/protocol_runner/test_protocol_runner.py
index 15e0192175e..2080ec69587 100644
--- a/api/tests/opentrons/protocol_runner/test_protocol_runner.py
+++ b/api/tests/opentrons/protocol_runner/test_protocol_runner.py
@@ -361,7 +361,7 @@ async def test_run_json_runner_stop_requested_stops_enqueuing(
     json_translator: JsonTranslator,
 ) -> None:
     """It should run a protocol to completion."""
-    labware_definition = LabwareDefinition.construct()  # type: ignore[call-arg]
+    labware_definition = LabwareDefinition.model_construct()  # type: ignore[call-arg]
     json_protocol_source = ProtocolSource(
         directory=Path("/dev/null"),
         main_file=Path("/dev/null/abc.json"),
@@ -388,7 +388,7 @@ async def test_run_json_runner_stop_requested_stops_enqueuing(
         Liquid(id="water-id", displayName="water", description="water desc")
     ]
 
-    json_protocol = ProtocolSchemaV6.construct()  # type: ignore[call-arg]
+    json_protocol = ProtocolSchemaV6.model_construct()  # type: ignore[call-arg]
 
     decoy.when(
         await protocol_reader.extract_labware_definitions(json_protocol_source)
@@ -401,7 +401,7 @@ async def test_run_json_runner_stop_requested_stops_enqueuing(
             pe_commands.HomeCreate(params=pe_commands.HomeParams()),
         )
     ).then_return(
-        pe_commands.Home.construct(status=pe_commands.CommandStatus.SUCCEEDED)  # type: ignore[call-arg]
+        pe_commands.Home.model_construct(status=pe_commands.CommandStatus.SUCCEEDED)  # type: ignore[call-arg]
     )
     decoy.when(
         await protocol_engine.add_and_execute_command_wait_for_recovery(
@@ -410,7 +410,7 @@ async def test_run_json_runner_stop_requested_stops_enqueuing(
             ),
         )
     ).then_return(
-        pe_commands.WaitForDuration.construct(  # type: ignore[call-arg]
+        pe_commands.WaitForDuration.model_construct(  # type: ignore[call-arg]
             id="protocol-command-id",
             error=pe_errors.ErrorOccurrence.from_failed(
                 id="some-id",
@@ -452,8 +452,8 @@ async def test_run_json_runner_stop_requested_stops_enqueuing(
 @pytest.mark.parametrize(
     "schema_version, json_protocol",
     [
-        (6, ProtocolSchemaV6.construct()),  # type: ignore[call-arg]
-        (7, ProtocolSchemaV7.construct()),  # type: ignore[call-arg]
+        (6, ProtocolSchemaV6.model_construct()),  # type: ignore[call-arg]
+        (7, ProtocolSchemaV7.model_construct()),  # type: ignore[call-arg]
     ],
 )
 async def test_load_json_runner(
@@ -467,7 +467,7 @@ async def test_load_json_runner(
     json_protocol: Union[ProtocolSchemaV6, ProtocolSchemaV7],
 ) -> None:
     """It should load a JSON protocol file."""
-    labware_definition = LabwareDefinition.construct()  # type: ignore[call-arg]
+    labware_definition = LabwareDefinition.model_construct()  # type: ignore[call-arg]
 
     json_protocol_source = ProtocolSource(
         directory=Path("/dev/null"),
@@ -528,7 +528,7 @@ async def test_load_json_runner(
             ),
         )
     ).then_return(
-        pe_commands.WaitForResume.construct(  # type: ignore[call-arg]
+        pe_commands.WaitForResume.model_construct(  # type: ignore[call-arg]
             id="command-id-1",
             status=CommandStatus.SUCCEEDED,
             error=None,
@@ -541,7 +541,7 @@ async def test_load_json_runner(
             ),
         )
     ).then_return(
-        pe_commands.WaitForResume.construct(  # type: ignore[call-arg]
+        pe_commands.WaitForResume.model_construct(  # type: ignore[call-arg]
             id="command-id-2",
             status=CommandStatus.SUCCEEDED,
             error=None,
@@ -556,7 +556,7 @@ async def test_load_json_runner(
             ),
         )
     ).then_return(
-        pe_commands.WaitForResume.construct(  # type: ignore[call-arg]
+        pe_commands.WaitForResume.model_construct(  # type: ignore[call-arg]
             id="command-id-3",
             status=CommandStatus.SUCCEEDED,
             error=None,
@@ -601,7 +601,7 @@ async def test_load_legacy_python(
     python_runner_subject: PythonAndLegacyRunner,
 ) -> None:
     """It should load a legacy context-based Python protocol."""
-    labware_definition = LabwareDefinition.construct()  # type: ignore[call-arg]
+    labware_definition = LabwareDefinition.model_construct()  # type: ignore[call-arg]
 
     legacy_protocol_source = ProtocolSource(
         directory=Path("/dev/null"),
@@ -752,7 +752,7 @@ async def test_load_legacy_json(
     python_runner_subject: PythonAndLegacyRunner,
 ) -> None:
     """It should load a legacy context-based JSON protocol."""
-    labware_definition = LabwareDefinition.construct()  # type: ignore[call-arg]
+    labware_definition = LabwareDefinition.model_construct()  # type: ignore[call-arg]
 
     legacy_protocol_source = ProtocolSource(
         directory=Path("/dev/null"),
diff --git a/g-code-testing/Pipfile b/g-code-testing/Pipfile
index 0b39a9dd222..2eb3d56782a 100644
--- a/g-code-testing/Pipfile
+++ b/g-code-testing/Pipfile
@@ -11,7 +11,7 @@ opentrons-shared-data = { editable = true, path = "../shared-data/python" }
 opentrons_hardware = { editable = true, path = "../hardware" }
 g-code-testing = { editable = true, path = "." }
 anyio = "==3.7.1"
-pydantic = "==1.10.12"
+pydantic = "==2.6.4"
 # opentrons dependency on linux, spec'd here to force lockfile inclusion
 # https://github.com/pypa/pipenv/issues/4408#issuecomment-668324177
 systemd-python = { version = "==234", markers="sys_platform=='linux'" }
diff --git a/g-code-testing/Pipfile.lock b/g-code-testing/Pipfile.lock
index c2ea7426d71..760db936cda 100644
--- a/g-code-testing/Pipfile.lock
+++ b/g-code-testing/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "214f2b205b35dd2d385ec40836249499ecebefc1696107a12d48c58b13c6353d"
+            "sha256": "fa448b83f70b6937f46be6aeec3c0562410958165490aa6c5ede4f906364b751"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -23,6 +23,14 @@
             ],
             "version": "==0.3.1"
         },
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "anyio": {
             "hashes": [
                 "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780",
@@ -58,11 +66,11 @@
         },
         "fastapi": {
             "hashes": [
-                "sha256:976df7bab51ac7beda9f68c4513b8c4490b5c1135c72aafd0a5ee4023ec5282e",
-                "sha256:ac78f717cd80d657bd183f94d33b9bda84aa376a46a9dab513586b8eef1dc6fc"
+                "sha256:271662daf986da8fa98dc2b7c7f61c4abdfdccfb4786d79ed8b2878f172c6d5f",
+                "sha256:acb5f941ea8215663283c10018323ba7ea737c571b67fc7e88e9469c7eb1d12e"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==0.99.1"
+            "version": "==0.100.0"
         },
         "g-code-testing": {
             "editable": true,
@@ -86,11 +94,19 @@
         },
         "jsonschema": {
             "hashes": [
-                "sha256:0f864437ab8b6076ba6707453ef8f98a6a0d512a80e93f8abdb676f737ecb60d",
-                "sha256:a870ad254da1a8ca84b6a2905cac29d265f805acc57af304784962a2aa6508f6"
+                "sha256:5b22d434a45935119af990552c862e5d6d564e8f6601206b305a61fdf661a2b7",
+                "sha256:ff4cfd6b1367a40e7bc6411caec72effadd3db0bbe5017de188f2d6108335802"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==4.17.3"
+            "markers": "python_version >= '3.8'",
+            "version": "==4.22.0"
+        },
+        "jsonschema-specifications": {
+            "hashes": [
+                "sha256:48a76787b3e70f5ed53f1160d2b81f586e4ca6d1548c5de7085d1682674764cc",
+                "sha256:87e4fdf3a94858b8a2ba2778d9ba57d8a9cafca7c7489c46ba0d30a8bc6a9c3c"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==2023.12.1"
         },
         "numpy": {
             "hashes": [
@@ -156,84 +172,105 @@
         },
         "pydantic": {
             "hashes": [
-                "sha256:0fe8a415cea8f340e7a9af9c54fc71a649b43e8ca3cc732986116b3cb135d303",
-                "sha256:1289c180abd4bd4555bb927c42ee42abc3aee02b0fb2d1223fb7c6e5bef87dbe",
-                "sha256:1eb2085c13bce1612da8537b2d90f549c8cbb05c67e8f22854e201bde5d98a47",
-                "sha256:2031de0967c279df0d8a1c72b4ffc411ecd06bac607a212892757db7462fc494",
-                "sha256:2a7bac939fa326db1ab741c9d7f44c565a1d1e80908b3797f7f81a4f86bc8d33",
-                "sha256:2d5a58feb9a39f481eda4d5ca220aa8b9d4f21a41274760b9bc66bfd72595b86",
-                "sha256:2f9a6fab5f82ada41d56b0602606a5506aab165ca54e52bc4545028382ef1c5d",
-                "sha256:2fcfb5296d7877af406ba1547dfde9943b1256d8928732267e2653c26938cd9c",
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             "hashes": [
@@ -258,10 +295,123 @@
             "markers": "python_version >= '3.7'",
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         },
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+                "sha256:312fe69b4fe1ffbe76520a7676b1e5ac06ddf7826d764cc10265c3b53f96dbe9",
+                "sha256:32b7daaa3e9389db3695964ce8e566e3413b0c43e3394c05e4b243a4cd7bef26",
+                "sha256:338dee44b0cef8b70fd2ef54b4e09bb1b97fc6c3a58fea5db6cc083fd9fc2724",
+                "sha256:352a88dc7892f1da66b6027af06a2e7e5d53fe05924cc2cfc56495b586a10b72",
+                "sha256:35b2b771b13eee8729a5049c976197ff58a27a3829c018a04341bcf1ae409b2b",
+                "sha256:38e14fb4e370885c4ecd734f093a2225ee52dc384b86fa55fe3f74638b2cfb09",
+                "sha256:3c20f05e8e3d4fc76875fc9cb8cf24b90a63f5a1b4c5b9273f0e8225e169b100",
+                "sha256:3dd3cd86e1db5aadd334e011eba4e29d37a104b403e8ca24dcd6703c68ca55b3",
+                "sha256:489bdfe1abd0406eba6b3bb4fdc87c7fa40f1031de073d0cfb744634cc8fa261",
+                "sha256:48c2faaa8adfacefcbfdb5f2e2e7bdad081e5ace8d182e5f4ade971f128e6bb3",
+                "sha256:4a98a1f0552b5f227a3d6422dbd61bc6f30db170939bd87ed14f3c339aa6c7c9",
+                "sha256:4adec039b8e2928983f885c53b7cc4cda8965b62b6596501a0308d2703f8af1b",
+                "sha256:4e0ee01ad8260184db21468a6e1c37afa0529acc12c3a697ee498d3c2c4dcaf3",
+                "sha256:51584acc5916212e1bf45edd17f3a6b05fe0cbb40482d25e619f824dccb679de",
+                "sha256:531796fb842b53f2695e94dc338929e9f9dbf473b64710c28af5a160b2a8927d",
+                "sha256:5463c47c08630007dc0fe99fb480ea4f34a89712410592380425a9b4e1611d8e",
+                "sha256:5c45a639e93a0c5d4b788b2613bd637468edd62f8f95ebc6fcc303d58ab3f0a8",
+                "sha256:6031b25fb1b06327b43d841f33842b383beba399884f8228a6bb3df3088485ff",
+                "sha256:607345bd5912aacc0c5a63d45a1f73fef29e697884f7e861094e443187c02be5",
+                "sha256:618916f5535784960f3ecf8111581f4ad31d347c3de66d02e728de460a46303c",
+                "sha256:636a15acc588f70fda1661234761f9ed9ad79ebed3f2125d44be0862708b666e",
+                "sha256:673fdbbf668dd958eff750e500495ef3f611e2ecc209464f661bc82e9838991e",
+                "sha256:6afd80f6c79893cfc0574956f78a0add8c76e3696f2d6a15bca2c66c415cf2d4",
+                "sha256:6b5ff7e1d63a8281654b5e2896d7f08799378e594f09cf3674e832ecaf396ce8",
+                "sha256:6c4c4c3f878df21faf5fac86eda32671c27889e13570645a9eea0a1abdd50922",
+                "sha256:6cd8098517c64a85e790657e7b1e509b9fe07487fd358e19431cb120f7d96338",
+                "sha256:6d1e42d2735d437e7e80bab4d78eb2e459af48c0a46e686ea35f690b93db792d",
+                "sha256:6e30ac5e329098903262dc5bdd7e2086e0256aa762cc8b744f9e7bf2a427d3f8",
+                "sha256:70a838f7754483bcdc830444952fd89645569e7452e3226de4a613a4c1793fb2",
+                "sha256:720edcb916df872d80f80a1cc5ea9058300b97721efda8651efcd938a9c70a72",
+                "sha256:732672fbc449bab754e0b15356c077cc31566df874964d4801ab14f71951ea80",
+                "sha256:740884bc62a5e2bbb31e584f5d23b32320fd75d79f916f15a788d527a5e83644",
+                "sha256:7700936ef9d006b7ef605dc53aa364da2de5a3aa65516a1f3ce73bf82ecfc7ae",
+                "sha256:7732770412bab81c5a9f6d20aeb60ae943a9b36dcd990d876a773526468e7163",
+                "sha256:7750569d9526199c5b97e5a9f8d96a13300950d910cf04a861d96f4273d5b104",
+                "sha256:7f1944ce16401aad1e3f7d312247b3d5de7981f634dc9dfe90da72b87d37887d",
+                "sha256:81c5196a790032e0fc2464c0b4ab95f8610f96f1f2fa3d4deacce6a79852da60",
+                "sha256:8352f48d511de5f973e4f2f9412736d7dea76c69faa6d36bcf885b50c758ab9a",
+                "sha256:8927638a4d4137a289e41d0fd631551e89fa346d6dbcfc31ad627557d03ceb6d",
+                "sha256:8c7672e9fba7425f79019db9945b16e308ed8bc89348c23d955c8c0540da0a07",
+                "sha256:8d2e182c9ee01135e11e9676e9a62dfad791a7a467738f06726872374a83db49",
+                "sha256:910e71711d1055b2768181efa0a17537b2622afeb0424116619817007f8a2b10",
+                "sha256:942695a206a58d2575033ff1e42b12b2aece98d6003c6bc739fbf33d1773b12f",
+                "sha256:9437ca26784120a279f3137ee080b0e717012c42921eb07861b412340f85bae2",
+                "sha256:967342e045564cef76dfcf1edb700b1e20838d83b1aa02ab313e6a497cf923b8",
+                "sha256:998125738de0158f088aef3cb264a34251908dd2e5d9966774fdab7402edfab7",
+                "sha256:9e6934d70dc50f9f8ea47081ceafdec09245fd9f6032669c3b45705dea096b88",
+                "sha256:a3d456ff2a6a4d2adcdf3c1c960a36f4fd2fec6e3b4902a42a384d17cf4e7a65",
+                "sha256:a7b28c5b066bca9a4eb4e2f2663012debe680f097979d880657f00e1c30875a0",
+                "sha256:a888e8bdb45916234b99da2d859566f1e8a1d2275a801bb8e4a9644e3c7e7909",
+                "sha256:aa3679e751408d75a0b4d8d26d6647b6d9326f5e35c00a7ccd82b78ef64f65f8",
+                "sha256:aaa71ee43a703c321906813bb252f69524f02aa05bf4eec85f0c41d5d62d0f4c",
+                "sha256:b646bf655b135ccf4522ed43d6902af37d3f5dbcf0da66c769a2b3938b9d8184",
+                "sha256:b906b5f58892813e5ba5c6056d6a5ad08f358ba49f046d910ad992196ea61397",
+                "sha256:b9bb1f182a97880f6078283b3505a707057c42bf55d8fca604f70dedfdc0772a",
+                "sha256:bd1105b50ede37461c1d51b9698c4f4be6e13e69a908ab7751e3807985fc0346",
+                "sha256:bf18932d0003c8c4d51a39f244231986ab23ee057d235a12b2684ea26a353590",
+                "sha256:c273e795e7a0f1fddd46e1e3cb8be15634c29ae8ff31c196debb620e1edb9333",
+                "sha256:c69882964516dc143083d3795cb508e806b09fc3800fd0d4cddc1df6c36e76bb",
+                "sha256:c827576e2fa017a081346dce87d532a5310241648eb3700af9a571a6e9fc7e74",
+                "sha256:cbfbea39ba64f5e53ae2915de36f130588bba71245b418060ec3330ebf85678e",
+                "sha256:ce0bb20e3a11bd04461324a6a798af34d503f8d6f1aa3d2aa8901ceaf039176d",
+                "sha256:d0cee71bc618cd93716f3c1bf56653740d2d13ddbd47673efa8bf41435a60daa",
+                "sha256:d21be4770ff4e08698e1e8e0bce06edb6ea0626e7c8f560bc08222880aca6a6f",
+                "sha256:d31dea506d718693b6b2cffc0648a8929bdc51c70a311b2770f09611caa10d53",
+                "sha256:d44607f98caa2961bab4fa3c4309724b185b464cdc3ba6f3d7340bac3ec97cc1",
+                "sha256:d58ad6317d188c43750cb76e9deacf6051d0f884d87dc6518e0280438648a9ac",
+                "sha256:d70129cef4a8d979caa37e7fe957202e7eee8ea02c5e16455bc9808a59c6b2f0",
+                "sha256:d85164315bd68c0806768dc6bb0429c6f95c354f87485ee3593c4f6b14def2bd",
+                "sha256:d960de62227635d2e61068f42a6cb6aae91a7fe00fca0e3aeed17667c8a34611",
+                "sha256:dc48b479d540770c811fbd1eb9ba2bb66951863e448efec2e2c102625328e92f",
+                "sha256:e1735502458621921cee039c47318cb90b51d532c2766593be6207eec53e5c4c",
+                "sha256:e2be6e9dd4111d5b31ba3b74d17da54a8319d8168890fbaea4b9e5c3de630ae5",
+                "sha256:e4c39ad2f512b4041343ea3c7894339e4ca7839ac38ca83d68a832fc8b3748ab",
+                "sha256:ed402d6153c5d519a0faf1bb69898e97fb31613b49da27a84a13935ea9164dfc",
+                "sha256:ee17cd26b97d537af8f33635ef38be873073d516fd425e80559f4585a7b90c43",
+                "sha256:f3027be483868c99b4985fda802a57a67fdf30c5d9a50338d9db646d590198da",
+                "sha256:f5bab211605d91db0e2995a17b5c6ee5edec1270e46223e513eaa20da20076ac",
+                "sha256:f6f8e3fecca256fefc91bb6765a693d96692459d7d4c644660a9fff32e517843",
+                "sha256:f7afbfee1157e0f9376c00bb232e80a60e59ed716e3211a80cb8506550671e6e",
+                "sha256:fa242ac1ff583e4ec7771141606aafc92b361cd90a05c30d93e343a0c2d82a89",
+                "sha256:fab6ce90574645a0d6c58890e9bcaac8d94dff54fb51c69e5522a7358b80ab64"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.18.1"
+        },
         "server-utils": {
             "editable": true,
             "path": "./../server-utils"
@@ -343,11 +493,11 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0",
-                "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"
+                "sha256:8cbcdc8606ebcb0d95453ad7dc5065e6237b6aa230a31e81d0f440c30fed5fd8",
+                "sha256:b349c66bea9016ac22978d800cfff206d5f9816951f12a7d0ec5578b0a819594"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==4.11.0"
+            "version": "==4.12.0"
         },
         "uvicorn": {
             "hashes": [
@@ -980,11 +1130,11 @@
         },
         "pytest-asyncio": {
             "hashes": [
-                "sha256:68516fdd1018ac57b846c9846b954f0393b26f094764a28c955eabb0536a4e8a",
-                "sha256:ffe523a89c1c222598c76856e76852b787504ddb72dd5d9b6617ffa8aa2cde5f"
+                "sha256:009b48127fbe44518a547bddd25611551b0e43ccdbf1e67d12479f569832c20b",
+                "sha256:5f5c72948f4c49e7db4f29f2521d4031f1c27f86e57b046126654083d4770268"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==0.23.6"
+            "version": "==0.23.7"
         },
         "pytest-cov": {
             "hashes": [
@@ -1047,11 +1197,11 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0",
-                "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"
+                "sha256:8cbcdc8606ebcb0d95453ad7dc5065e6237b6aa230a31e81d0f440c30fed5fd8",
+                "sha256:b349c66bea9016ac22978d800cfff206d5f9816951f12a7d0ec5578b0a819594"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==4.11.0"
+            "version": "==4.12.0"
         },
         "yarl": {
             "hashes": [
diff --git a/g-code-testing/g_code_test_data/g_code_configuration.py b/g-code-testing/g_code_test_data/g_code_configuration.py
index 488496e030a..ff7ccda0fb8 100644
--- a/g-code-testing/g_code_test_data/g_code_configuration.py
+++ b/g-code-testing/g_code_test_data/g_code_configuration.py
@@ -10,6 +10,7 @@
     Union,
 )
 from typing_extensions import (
+    Annotated,
     Final,
     Literal,
 )
@@ -22,10 +23,11 @@
 from opentrons.protocols.api_support.types import APIVersion
 
 from pydantic import (
+    StringConstraints,
+    ConfigDict,
     BaseModel,
     Field,
-    constr,
-    validator,
+    model_validator,
 )
 
 BUCKET_NAME = "g-code-comparison"
@@ -41,20 +43,21 @@ def add_mark(self, user_mark: Mark) -> None:
 
 class ProtocolGCodeConfirmConfig(BaseModel, SharedFunctionsMixin):
     path: str
-    name: Optional[constr(regex=r'^[a-z0-9_]*$')]
+    name: Optional[Annotated[str, StringConstraints(pattern=r'^[a-z0-9_]*$')]] = None
     settings: Settings
     results_dir: ClassVar[str] = "protocols"
     driver: str = 'protocol'
     marks: List[Mark] = [pytest.mark.g_code_confirm]
-    versions: Set[Union[APIVersion,int]] = Field(..., min_items=1)
+    versions: Set[Union[APIVersion,int]] = Field(..., min_length=1)
+    model_config = ConfigDict(arbitrary_types_allowed=True)
 
-    class Config:
-        arbitrary_types_allowed = True
-
-    @validator("name", pre=True, always=True)
-    def name_from_path(cls, name, values) -> str:
-        derived_name = os.path.splitext(os.path.basename(values["path"]))[0]
-        return derived_name if name is None else name
+    @model_validator(mode="after")
+    def _populate_name_from_path(self) -> "ProtocolGCodeConfirmConfig":
+        """If `.name` was not given, give it a default based on `.path`."""
+        derived_name = os.path.splitext(os.path.basename(self.path))[0]
+        if self.name is None:
+            self.name = derived_name
+        return self
 
     def _get_full_path(self, version: APIVersion):
         return os.path.join(
@@ -92,15 +95,13 @@ async def execute(self, version: APIVersion):
 
 
 class HTTPGCodeConfirmConfig(BaseModel, SharedFunctionsMixin):
-    name: constr(regex=r'^[a-z0-9_]*$')
+    name: Annotated[str, StringConstraints(pattern=r'^[a-z0-9_]*$')]
     executable: Callable
     settings: Settings
     results_dir: ClassVar[str] = "http"
     driver: str = 'http'
     marks: List[Mark] = [pytest.mark.g_code_confirm]
-
-    class Config:
-        arbitrary_types_allowed = True
+    model_config = ConfigDict(arbitrary_types_allowed=True)
 
     def _get_full_path(self) -> str:
         return os.path.join(COMPARISON_FILES_FOLDER_PATH, self.get_comparison_file_path())
diff --git a/hardware-testing/Pipfile b/hardware-testing/Pipfile
index e3c824f42b2..8182a96a66f 100644
--- a/hardware-testing/Pipfile
+++ b/hardware-testing/Pipfile
@@ -19,7 +19,7 @@ atomicwrites = "==1.4.1"
 colorama = "==0.4.4"
 pytest = "==7.1.1"
 pytest-cov = "==2.10.1"
-mypy = "==0.990"
+mypy = "==1.11.0"
 black = "==22.3.0"
 flake8 = "~=3.9.0"
 flake8-annotations = "~=2.6.2"
diff --git a/hardware-testing/Pipfile.lock b/hardware-testing/Pipfile.lock
index f8dcfd2f7df..5b88acf5b7a 100644
--- a/hardware-testing/Pipfile.lock
+++ b/hardware-testing/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "bfa6574dcab4bd350d77135bd8ecefd5e12ad6479664f932a7c0c544ecdf4c47"
+            "sha256": "b99e29478d0dfb1309ba9c71f0b214bdaf682bb09eac44d9dad8bbbdc54fe12a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -28,6 +28,14 @@
             "markers": "python_version >= '3.8'",
             "version": "==0.3.1"
         },
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "anyio": {
             "hashes": [
                 "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780",
@@ -46,36 +54,34 @@
         },
         "bcrypt": {
             "hashes": [
-                "sha256:096a15d26ed6ce37a14c1ac1e48119660f21b24cba457f160a4b830f3fe6b5cb",
-                "sha256:0da52759f7f30e83f1e30a888d9163a81353ef224d82dc58eb5bb52efcabc399",
-                "sha256:1bb429fedbe0249465cdd85a58e8376f31bb315e484f16e68ca4c786dcc04291",
-                "sha256:1d84cf6d877918620b687b8fd1bf7781d11e8a0998f576c7aa939776b512b98d",
-                "sha256:1ee38e858bf5d0287c39b7a1fc59eec64bbf880c7d504d3a06a96c16e14058e7",
-                "sha256:1ff39b78a52cf03fdf902635e4c81e544714861ba3f0efc56558979dd4f09170",
-                "sha256:27fe0f57bb5573104b5a6de5e4153c60814c711b29364c10a75a54bb6d7ff48d",
-                "sha256:3413bd60460f76097ee2e0a493ccebe4a7601918219c02f503984f0a7ee0aebe",
-                "sha256:3698393a1b1f1fd5714524193849d0c6d524d33523acca37cd28f02899285060",
-                "sha256:373db9abe198e8e2c70d12b479464e0d5092cc122b20ec504097b5f2297ed184",
-                "sha256:39e1d30c7233cfc54f5c3f2c825156fe044efdd3e0b9d309512cc514a263ec2a",
-                "sha256:3bbbfb2734f0e4f37c5136130405332640a1e46e6b23e000eeff2ba8d005da68",
-                "sha256:3d3a6d28cb2305b43feac298774b997e372e56c7c7afd90a12b3dc49b189151c",
-                "sha256:5a1e8aa9b28ae28020a3ac4b053117fb51c57a010b9f969603ed885f23841458",
-                "sha256:61ed14326ee023917ecd093ee6ef422a72f3aec6f07e21ea5f10622b735538a9",
-                "sha256:655ea221910bcac76ea08aaa76df427ef8625f92e55a8ee44fbf7753dbabb328",
-                "sha256:762a2c5fb35f89606a9fde5e51392dad0cd1ab7ae64149a8b935fe8d79dd5ed7",
-                "sha256:77800b7147c9dc905db1cba26abe31e504d8247ac73580b4aa179f98e6608f34",
-                "sha256:8ac68872c82f1add6a20bd489870c71b00ebacd2e9134a8aa3f98a0052ab4b0e",
-                "sha256:8d7bb9c42801035e61c109c345a28ed7e84426ae4865511eb82e913df18f58c2",
-                "sha256:8f6ede91359e5df88d1f5c1ef47428a4420136f3ce97763e31b86dd8280fbdf5",
-                "sha256:9c1c4ad86351339c5f320ca372dfba6cb6beb25e8efc659bedd918d921956bae",
-                "sha256:c02d944ca89d9b1922ceb8a46460dd17df1ba37ab66feac4870f6862a1533c00",
-                "sha256:c52aac18ea1f4a4f65963ea4f9530c306b56ccd0c6f8c8da0c06976e34a6e841",
-                "sha256:cb2a8ec2bc07d3553ccebf0746bbf3d19426d1c6d1adbd4fa48925f66af7b9e8",
-                "sha256:cf69eaf5185fd58f268f805b505ce31f9b9fc2d64b376642164e9244540c1221",
-                "sha256:f4f4acf526fcd1c34e7ce851147deedd4e26e6402369304220250598b26448db"
+                "sha256:041fa0155c9004eb98a232d54da05c0b41d4b8e66b6fc3cb71b4b3f6144ba837",
+                "sha256:04e56e3fe8308a88b77e0afd20bec516f74aecf391cdd6e374f15cbed32783d6",
+                "sha256:1340411a0894b7d3ef562fb233e4b6ed58add185228650942bdc885362f32c17",
+                "sha256:533e7f3bcf2f07caee7ad98124fab7499cb3333ba2274f7a36cf1daee7409d99",
+                "sha256:6765386e3ab87f569b276988742039baab087b2cdb01e809d74e74503c2faafe",
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@@ -147,7 +153,7 @@
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-            "markers": "platform_python_implementation != 'PyPy'",
+            "markers": "python_version >= '3.8'",
             "version": "==1.17.1"
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         "click": {
@@ -160,43 +166,43 @@
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-            "markers": "python_version >= '3.7'",
-            "version": "==43.0.3"
+            "markers": "python_version >= '3.7' and python_full_version not in '3.9.0, 3.9.1'",
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+            "markers": "python_version >= '3.7'",
             "version": "==1.2.2"
         },
         "hardware-testing": {
@@ -213,11 +219,19 @@
         },
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-            "markers": "python_version >= '3.7'",
-            "version": "==4.17.3"
+            "markers": "python_version >= '3.8'",
+            "version": "==4.23.0"
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@@ -278,7 +292,7 @@
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-            "markers": "platform_system != 'Windows'",
+            "markers": "python_version >= '3.8'",
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@@ -370,52 +384,125 @@
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@@ -487,6 +536,14 @@
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+            "markers": "python_version >= '3.8'",
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@@ -673,7 +842,7 @@
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             "version": "==2.0.12"
         },
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@@ -695,71 +864,71 @@
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@@ -821,40 +990,37 @@
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-                "sha256:2a3150d409609a775c8cb65dbe305c4edd7fe576c22ea79d77d1454acd9aeda8",
-                "sha256:2b6f85c2ad378e3224e017904a051b26660087b3b76490d533b7344f1546d3ff",
-                "sha256:3227f14fe943524f5794679156488f18bf8d34bfecd4623cf76bc55958d229c5",
-                "sha256:3ff201a0c6d3ea029d73b1648943387d75aa052491365b101f6edd5570d018ea",
-                "sha256:46897755f944176fbc504178422a5a2875bbf3f7436727374724842c0987b5af",
-                "sha256:47a9955214615108c3480a500cfda8513a0b1cd3c09a1ed42764ca0dd7b931dd",
-                "sha256:49082382f571c3186ce9ea0bd627cb1345d4da8d44a8377870f4442401f0a706",
-                "sha256:4a8a6c10f4c63fbf6ad6c03eba22c9331b3946a4cec97f008e9ffb4d3b31e8e2",
-                "sha256:6826d9c4d85bbf6d68cb279b561de6a4d8d778ca8e9ab2d00ee768ab501a9852",
-                "sha256:72382cb609142dba3f04140d016c94b4092bc7b4d98ca718740dc989e5271b8d",
-                "sha256:7da0005e47975287a92b43276e460ac1831af3d23032c34e67d003388a0ce8d0",
-                "sha256:8798c8ed83aa809f053abff08664bdca056038f5a02af3660de00b7290b64c47",
-                "sha256:8f1940325a8ed460ba03d19ab83742260fa9534804c317224e5d4e5aa588e2d6",
-                "sha256:8f694d6d09a460b117dccb6857dda269188e3437c880d7b60fa0014fa872d1e9",
-                "sha256:9b8f4a8213b1fd4b751e26b59ae0e0c12896568d7e805861035c7a15ed6dc9eb",
-                "sha256:9d851c09b981a65d9d283a8ccb5b1d0b698e580493416a10942ef1a04b19fd37",
-                "sha256:aaf1be63e0207d7d17be942dcf9a6b641745581fe6c64df9a38deb562a7dbafa",
-                "sha256:aba38e3dd66bdbafbbfe9c6e79637841928ea4c79b32e334099463c17b0d90ef",
-                "sha256:b08541a06eed35b543ae1a6b301590eb61826a1eb099417676ddc5a42aa151c5",
-                "sha256:be88d665e76b452c26fb2bdc3d54555c01226fba062b004ede780b190a50f9db",
-                "sha256:c76c769c46a1e6062a84837badcb2a7b0cdb153d68601a61f60739c37d41cc74",
-                "sha256:cc6019808580565040cd2a561b593d7c3c646badd7e580e07d875eb1bf35c695",
-                "sha256:cd2dd3730ba894ec2a2082cc703fbf3e95a08479f7be84912e3131fc68809d46",
-                "sha256:d555aa7f44cecb7ea3c0ac69d58b1a5afb92caa017285a8e9c4efbf0518b61b4",
-                "sha256:d847dd23540e2912d9667602271e5ebf25e5788e7da46da5ffd98e7872616e8e"
+                "sha256:0bea2a0e71c2a375c9fa0ede3d98324214d67b3cbbfcbd55ac8f750f85a414e3",
+                "sha256:104e9c1620c2675420abd1f6c44bab7dd33cc85aea751c985006e83dcd001095",
+                "sha256:14f9294528b5f5cf96c721f231c9f5b2733164e02c1c018ed1a0eff8a18005ac",
+                "sha256:1a5d8d8dd8613a3e2be3eae829ee891b6b2de6302f24766ff06cb2875f5be9c6",
+                "sha256:1d44c1e44a8be986b54b09f15f2c1a66368eb43861b4e82573026e04c48a9e20",
+                "sha256:25bcfa75b9b5a5f8d67147a54ea97ed63a653995a82798221cca2a315c0238c1",
+                "sha256:35ce88b8ed3a759634cb4eb646d002c4cef0a38f20565ee82b5023558eb90c00",
+                "sha256:56913ec8c7638b0091ef4da6fcc9136896914a9d60d54670a75880c3e5b99ace",
+                "sha256:65f190a6349dec29c8d1a1cd4aa71284177aee5949e0502e6379b42873eddbe7",
+                "sha256:6801319fe76c3f3a3833f2b5af7bd2c17bb93c00026a2a1b924e6762f5b19e13",
+                "sha256:72596a79bbfb195fd41405cffa18210af3811beb91ff946dbcb7368240eed6be",
+                "sha256:93743608c7348772fdc717af4aeee1997293a1ad04bc0ea6efa15bf65385c538",
+                "sha256:940bfff7283c267ae6522ef926a7887305945f716a7704d3344d6d07f02df850",
+                "sha256:96f8dbc2c85046c81bcddc246232d500ad729cb720da4e20fce3b542cab91287",
+                "sha256:98790025861cb2c3db8c2f5ad10fc8c336ed2a55f4daf1b8b3f877826b6ff2eb",
+                "sha256:a3824187c99b893f90c845bab405a585d1ced4ff55421fdf5c84cb7710995229",
+                "sha256:a83ec98ae12d51c252be61521aa5731f5512231d0b738b4cb2498344f0b840cd",
+                "sha256:becc9111ca572b04e7e77131bc708480cc88a911adf3d0239f974c034b78085c",
+                "sha256:c1a184c64521dc549324ec6ef7cbaa6b351912be9cb5edb803c2808a0d7e85ac",
+                "sha256:c7b73a856522417beb78e0fb6d33ef89474e7a622db2653bc1285af36e2e3e3d",
+                "sha256:cea3d0fb69637944dd321f41bc896e11d0fb0b0aa531d887a6da70f6e7473aba",
+                "sha256:d2b3d36baac48e40e3064d2901f2fbd2a2d6880ec6ce6358825c85031d7c0d4d",
+                "sha256:d7b54c27783991399046837df5c7c9d325d921394757d09dbcbf96aee4649fe9",
+                "sha256:d8e2e43977f0e09f149ea69fd0556623919f816764e26d74da0c8a7b48f3e18a",
+                "sha256:dbe286303241fea8c2ea5466f6e0e6a046a135a7e7609167b07fd4e7baf151bf",
+                "sha256:f006e955718ecd8d159cee9932b64fba8f86ee6f7728ca3ac66c3a54b0062abe",
+                "sha256:f2268d9fcd9686b61ab64f077be7ffbc6fbcdfb4103e5dd0cc5eaab53a8886c2"
             ],
             "index": "pypi",
-            "markers": "python_version >= '3.7'",
-            "version": "==0.990"
+            "markers": "python_version >= '3.8'",
+            "version": "==1.11.0"
         },
         "mypy-extensions": {
             "hashes": [
@@ -972,11 +1138,41 @@
         },
         "tomli": {
             "hashes": [
-                "sha256:3f646cae2aec94e17d04973e4249548320197cfabdf130015d023de4b74d8ab8",
-                "sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391"
+                "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6",
+                "sha256:02abe224de6ae62c19f090f68da4e27b10af2b93213d36cf44e6e1c5abd19fdd",
+                "sha256:286f0ca2ffeeb5b9bd4fcc8d6c330534323ec51b2f52da063b11c502da16f30c",
+                "sha256:2d0f2fdd22b02c6d81637a3c95f8cd77f995846af7414c5c4b8d0545afa1bc4b",
+                "sha256:33580bccab0338d00994d7f16f4c4ec25b776af3ffaac1ed74e0b3fc95e885a8",
+                "sha256:400e720fe168c0f8521520190686ef8ef033fb19fc493da09779e592861b78c6",
+                "sha256:40741994320b232529c802f8bc86da4e1aa9f413db394617b9a256ae0f9a7f77",
+                "sha256:465af0e0875402f1d226519c9904f37254b3045fc5084697cefb9bdde1ff99ff",
+                "sha256:4a8f6e44de52d5e6c657c9fe83b562f5f4256d8ebbfe4ff922c495620a7f6cea",
+                "sha256:4e340144ad7ae1533cb897d406382b4b6fede8890a03738ff1683af800d54192",
+                "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249",
+                "sha256:6972ca9c9cc9f0acaa56a8ca1ff51e7af152a9f87fb64623e31d5c83700080ee",
+                "sha256:7fc04e92e1d624a4a63c76474610238576942d6b8950a2d7f908a340494e67e4",
+                "sha256:889f80ef92701b9dbb224e49ec87c645ce5df3fa2cc548664eb8a25e03127a98",
+                "sha256:8d57ca8095a641b8237d5b079147646153d22552f1c637fd3ba7f4b0b29167a8",
+                "sha256:8dd28b3e155b80f4d54beb40a441d366adcfe740969820caf156c019fb5c7ec4",
+                "sha256:9316dc65bed1684c9a98ee68759ceaed29d229e985297003e494aa825ebb0281",
+                "sha256:a198f10c4d1b1375d7687bc25294306e551bf1abfa4eace6650070a5c1ae2744",
+                "sha256:a38aa0308e754b0e3c67e344754dff64999ff9b513e691d0e786265c93583c69",
+                "sha256:a92ef1a44547e894e2a17d24e7557a5e85a9e1d0048b0b5e7541f76c5032cb13",
+                "sha256:ac065718db92ca818f8d6141b5f66369833d4a80a9d74435a268c52bdfa73140",
+                "sha256:b82ebccc8c8a36f2094e969560a1b836758481f3dc360ce9a3277c65f374285e",
+                "sha256:c954d2250168d28797dd4e3ac5cf812a406cd5a92674ee4c8f123c889786aa8e",
+                "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc",
+                "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff",
+                "sha256:d3f5614314d758649ab2ab3a62d4f2004c825922f9e370b29416484086b264ec",
+                "sha256:d920f33822747519673ee656a4b6ac33e382eca9d331c87770faa3eef562aeb2",
+                "sha256:db2b95f9de79181805df90bedc5a5ab4c165e6ec3fe99f970d0e302f384ad222",
+                "sha256:e59e304978767a54663af13c07b3d1af22ddee3bb2fb0618ca1593e4f593a106",
+                "sha256:e85e99945e688e32d5a35c1ff38ed0b3f41f43fad8df0bdf79f72b2ba7bc5272",
+                "sha256:ece47d672db52ac607a3d9599a9d48dcb2f2f735c6c2d1f34130085bb12b112a",
+                "sha256:f4039b9cbc3048b2416cc57ab3bda989a6fcf9b36cf8937f01a6e731b64f80d7"
             ],
-            "markers": "python_version < '3.11'",
-            "version": "==2.1.0"
+            "markers": "python_version >= '3.8'",
+            "version": "==2.2.1"
         },
         "types-requests": {
             "hashes": [
diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
index b68e8e98343..0905e1cdefd 100644
--- a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
+++ b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
@@ -6,7 +6,17 @@
 from math import pi
 from subprocess import run, Popen
 from time import time
-from typing import Callable, Coroutine, Dict, List, Optional, Tuple, Union, cast
+from typing import (
+    Callable,
+    Coroutine,
+    Dict,
+    List,
+    Optional,
+    Tuple,
+    Union,
+    cast,
+    Sequence,
+)
 import atexit
 from opentrons_hardware.drivers.can_bus import DriverSettings, build, CanMessenger
 from opentrons_hardware.drivers.can_bus import settings as can_bus_settings
@@ -146,7 +156,7 @@ def _create_attached_instruments_dict(
 
 
 async def update_firmware(
-    api: OT3API, force: bool = False, subsystems: Optional[List[SubSystem]] = None
+    api: OT3API, force: bool = False, subsystems: Optional[Sequence[SubSystem]] = None
 ) -> None:
     """Update firmware of OT3."""
     if not api.is_simulator:
diff --git a/hardware-testing/hardware_testing/opentrons_api/p1000_gen3_ul_per_mm.py b/hardware-testing/hardware_testing/opentrons_api/p1000_gen3_ul_per_mm.py
index 9da7424eda4..ea6c7afef00 100644
--- a/hardware-testing/hardware_testing/opentrons_api/p1000_gen3_ul_per_mm.py
+++ b/hardware-testing/hardware_testing/opentrons_api/p1000_gen3_ul_per_mm.py
@@ -287,4 +287,4 @@ def overwrite_attached_pipette_ul_per_mm(
     pipette: Optional[Pipette] = api._pipette_handler._attached_instruments[mount]
     if pipette is None:
         raise RuntimeError(f"No pipette is attached to mount: {mount}")
-    pipette._config = replace(pipette._config, ul_per_mm=ul_per_mm)
+    pipette._config = replace(pipette._config, ul_per_mm=ul_per_mm)  # type: ignore[type-var]
diff --git a/hardware-testing/hardware_testing/production_qc/firmware_check.py b/hardware-testing/hardware_testing/production_qc/firmware_check.py
index f84f5eb386c..097eab4dc76 100644
--- a/hardware-testing/hardware_testing/production_qc/firmware_check.py
+++ b/hardware-testing/hardware_testing/production_qc/firmware_check.py
@@ -1,6 +1,6 @@
 """Firmware Check."""
 from asyncio import run
-from typing import List
+from typing import Sequence
 
 from opentrons.hardware_control.ot3api import OT3API
 
@@ -31,7 +31,7 @@ def _get_instrument_serial_number(api: OT3API, subsystem: SubSystem) -> str:
     return _id
 
 
-async def _main(simulate: bool, subsystems: List[SubSystem]) -> None:
+async def _main(simulate: bool, subsystems: Sequence[SubSystem]) -> None:
     api = await helpers_ot3.build_async_ot3_hardware_api(is_simulating=simulate)
     while True:
         for subsys, state in api.attached_subsystems.items():
diff --git a/hardware-testing/hardware_testing/production_qc/robot_assembly_qc_ot3/test_instruments.py b/hardware-testing/hardware_testing/production_qc/robot_assembly_qc_ot3/test_instruments.py
index 45c1a7cc9c3..a9a86cc6d9b 100644
--- a/hardware-testing/hardware_testing/production_qc/robot_assembly_qc_ot3/test_instruments.py
+++ b/hardware-testing/hardware_testing/production_qc/robot_assembly_qc_ot3/test_instruments.py
@@ -58,7 +58,7 @@ def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]:
     for t, d in PIPETTE_TESTS.items():
         for m in ["left", "right"]:
             tests.append(CSVLine(f"{m}-{t}", d))  # type: ignore[arg-type]
-    for t, d in GRIPPER_TESTS.items():
+    for t, d in GRIPPER_TESTS.items():  # type: ignore[assignment]
         tests.append(CSVLine(f"gripper-{t}", d))  # type: ignore[arg-type]
     return tests
 
diff --git a/hardware-testing/mypy.ini b/hardware-testing/mypy.ini
index eeb271520a5..30f61a87de7 100644
--- a/hardware-testing/mypy.ini
+++ b/hardware-testing/mypy.ini
@@ -1,5 +1,6 @@
 [mypy]
 show_error_codes = True
+plugins = pydantic.mypy
 strict = False
 
 [mypy-can.*]
diff --git a/hardware/Pipfile b/hardware/Pipfile
index b02e50c7c51..aeb7992ccf7 100644
--- a/hardware/Pipfile
+++ b/hardware/Pipfile
@@ -8,13 +8,14 @@ python-can = "==4.2.2"
 pyserial = "==3.5"
 typing-extensions = ">=4.0.0,<5"
 numpy = "==1.22.3"
-pydantic = "==1.9.2"
+pydantic = "==2.9.0"
+pydantic-settings = "==2.4.0"
 
 [dev-packages]
 pytest = "==7.4.4"
 pytest-lazy-fixture = "==0.6.3"
 pytest-cov = "==4.1.0"
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 black = "==22.3.0"
 flake8 = "==7.0.0"
 flake8-annotations = "~=3.0.1"
diff --git a/hardware/Pipfile.lock b/hardware/Pipfile.lock
index ccab8884999..aa21398c5f2 100644
--- a/hardware/Pipfile.lock
+++ b/hardware/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "04ae6d52e739cf67e21d13822316f7dc2030d272976c0a9cfd0f7d35db743301"
+            "sha256": "570a23b85a17fe0749ea5bc3d8f0e9c52b88608d795c507ce5adaf65744d8587"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -16,67 +16,75 @@
         ]
     },
     "default": {
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "msgpack": {
             "hashes": [
-                "sha256:04ad6069c86e531682f9e1e71b71c1c3937d6014a7c3e9edd2aa81ad58842862",
-                "sha256:0bfdd914e55e0d2c9e1526de210f6fe8ffe9705f2b1dfcc4aecc92a4cb4b533d",
-                "sha256:1dc93e8e4653bdb5910aed79f11e165c85732067614f180f70534f056da97db3",
-                "sha256:1e2d69948e4132813b8d1131f29f9101bc2c915f26089a6d632001a5c1349672",
-                "sha256:235a31ec7db685f5c82233bddf9858748b89b8119bf4538d514536c485c15fe0",
-                "sha256:27dcd6f46a21c18fa5e5deed92a43d4554e3df8d8ca5a47bf0615d6a5f39dbc9",
-                "sha256:28efb066cde83c479dfe5a48141a53bc7e5f13f785b92ddde336c716663039ee",
-                "sha256:3476fae43db72bd11f29a5147ae2f3cb22e2f1a91d575ef130d2bf49afd21c46",
-                "sha256:36e17c4592231a7dbd2ed09027823ab295d2791b3b1efb2aee874b10548b7524",
-                "sha256:384d779f0d6f1b110eae74cb0659d9aa6ff35aaf547b3955abf2ab4c901c4819",
-                "sha256:38949d30b11ae5f95c3c91917ee7a6b239f5ec276f271f28638dec9156f82cfc",
-                "sha256:3967e4ad1aa9da62fd53e346ed17d7b2e922cba5ab93bdd46febcac39be636fc",
-                "sha256:3e7bf4442b310ff154b7bb9d81eb2c016b7d597e364f97d72b1acc3817a0fdc1",
-                "sha256:3f0c8c6dfa6605ab8ff0611995ee30d4f9fcff89966cf562733b4008a3d60d82",
-                "sha256:484ae3240666ad34cfa31eea7b8c6cd2f1fdaae21d73ce2974211df099a95d81",
-                "sha256:4a7b4f35de6a304b5533c238bee86b670b75b03d31b7797929caa7a624b5dda6",
-                "sha256:4cb14ce54d9b857be9591ac364cb08dc2d6a5c4318c1182cb1d02274029d590d",
-                "sha256:4e71bc4416de195d6e9b4ee93ad3f2f6b2ce11d042b4d7a7ee00bbe0358bd0c2",
-                "sha256:52700dc63a4676669b341ba33520f4d6e43d3ca58d422e22ba66d1736b0a6e4c",
-                "sha256:572efc93db7a4d27e404501975ca6d2d9775705c2d922390d878fcf768d92c87",
-                "sha256:576eb384292b139821c41995523654ad82d1916da6a60cff129c715a6223ea84",
-                "sha256:5b0bf0effb196ed76b7ad883848143427a73c355ae8e569fa538365064188b8e",
-                "sha256:5b6ccc0c85916998d788b295765ea0e9cb9aac7e4a8ed71d12e7d8ac31c23c95",
-                "sha256:5ed82f5a7af3697b1c4786053736f24a0efd0a1b8a130d4c7bfee4b9ded0f08f",
-                "sha256:6d4c80667de2e36970ebf74f42d1088cc9ee7ef5f4e8c35eee1b40eafd33ca5b",
-                "sha256:730076207cb816138cf1af7f7237b208340a2c5e749707457d70705715c93b93",
-                "sha256:7687e22a31e976a0e7fc99c2f4d11ca45eff652a81eb8c8085e9609298916dcf",
-                "sha256:822ea70dc4018c7e6223f13affd1c5c30c0f5c12ac1f96cd8e9949acddb48a61",
-                "sha256:84b0daf226913133f899ea9b30618722d45feffa67e4fe867b0b5ae83a34060c",
-                "sha256:85765fdf4b27eb5086f05ac0491090fc76f4f2b28e09d9350c31aac25a5aaff8",
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@@ -107,53 +115,124 @@
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@@ -172,22 +251,38 @@
             "markers": "python_version >= '3.7'",
             "version": "==4.2.2"
         },
+        "python-dotenv": {
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@@ -267,13 +362,21 @@
         }
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@@ -434,11 +557,11 @@
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@@ -478,60 +601,60 @@
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@@ -543,155 +666,174 @@
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@@ -712,37 +854,37 @@
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@@ -781,16 +923,16 @@
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-            "markers": "python_version >= '3.7'",
+            "markers": "python_version >= '3.10'",
             "path": "../shared-data/python"
         },
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+                "sha256:f90a4cd061914a60bd51c68bcb4357086991bd0bb93d8aa66a6da7701370708f",
+                "sha256:f918a1a130a6dfe1d7fe0f105064141342e7dd1611f2e6a21cd2f5c8cb1cfb3e",
+                "sha256:fa518bcd7600c584bf42e6617ee8132869e877db2f76bcdc281ec6a4113a53ab",
+                "sha256:faefcc78f53a88f3076b7f8be0a8f8d35133a3ecf7f3770895c25f8813460f08",
+                "sha256:fcaeb7b57f1a1e071ebd748984359fef83ecb026325b9d4ca847c95bc7311c92",
+                "sha256:fd2d84f40633bc475ef2d5490b9c19543fbf18596dcb1b291e3a12ea5d722f7a",
+                "sha256:fdfc3a892927458d98f3d55428ae46b921d1f7543b89382fdb483f5640daaec8"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.20.0"
         },
         "six": {
             "hashes": [
@@ -1085,21 +1372,29 @@
         },
         "types-mock": {
             "hashes": [
-                "sha256:13ca379d5710ccb3f18f69ade5b08881874cb83383d8fb49b1d4dac9d5c5d090",
-                "sha256:3d116955495935b0bcba14954b38d97e507cd43eca3e3700fc1b8e4f5c6bf2c7"
+                "sha256:5281a645d72e827d70043e3cc144fe33b1c003db084f789dc203aa90e812a5a4",
+                "sha256:d586a01d39ad919d3ddcd73de6cde73ca7f3c69707219f722d1b8d7733641ad7"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==5.1.0.20240106"
+            "version": "==5.1.0.20240425"
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
-                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
+                "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
+                "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "version": "==4.12.2"
+        },
+        "tzdata": {
+            "hashes": [
+                "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd",
+                "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"
+            ],
+            "markers": "python_version >= '3.9'",
+            "version": "==2024.1"
         }
     }
 }
diff --git a/hardware/mypy.ini b/hardware/mypy.ini
index 0fd2feea554..e92fb180b4f 100644
--- a/hardware/mypy.ini
+++ b/hardware/mypy.ini
@@ -2,6 +2,3 @@
 show_error_codes = True
 warn_unused_configs = True
 strict = True
-
-[mypy-can.*]
-ignore_missing_imports = True
diff --git a/hardware/opentrons_hardware/drivers/can_bus/settings.py b/hardware/opentrons_hardware/drivers/can_bus/settings.py
index c36bd791fb9..21ab27cda2d 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/settings.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/settings.py
@@ -1,11 +1,12 @@
 """Driver settings."""
 from typing_extensions import Final, TypedDict
 from typing import Optional
-from pydantic import BaseSettings, Field
+from pydantic import Field
 
 from opentrons_shared_data.errors.exceptions import CANBusConfigurationError
 
 from math import floor
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 DEFAULT_INTERFACE: Final = "socketcan"
 
@@ -50,24 +51,22 @@ class DriverSettings(BaseSettings):
     """Settings for driver building."""
 
     interface: str = Field(
-        DEFAULT_INTERFACE,
+        default=DEFAULT_INTERFACE,
         description=f"Can either be {OPENTRONS_INTERFACE} for simple socket "
         f"or a python can interface.",
     )
     bit_rate: int = Field(
-        DEFAULT_BITRATE,
+        default=DEFAULT_BITRATE,
         description=f"Bit rate. Not applicable to {OPENTRONS_INTERFACE} interface.",
     )
-    channel: str = Field(DEFAULT_CHANNEL, description="The SocketCan channel.")
-
-    host: str = Field(DEFAULT_HOST, description=f"{OPENTRONS_INTERFACE} only.")
-    port: int = Field(DEFAULT_PORT, description=f"{OPENTRONS_INTERFACE} only.")
-    fcan_clock: int = Field(DEFAULT_FDCAN_CLK, description="pcan only.")
-    sample_rate: float = Field(DEFAULT_SAMPLE_RATE, description="pcan only.")
-    jump_width: int = Field(DEFAULT_JUMP_WIDTH_SEG, descript="pcan only.")
-
-    class Config:  # noqa: D106
-        env_prefix = "OT3_CAN_DRIVER_"
+    channel: str = Field(default=DEFAULT_CHANNEL, description="The SocketCan channel.")
+
+    host: str = Field(default=DEFAULT_HOST, description=f"{OPENTRONS_INTERFACE} only.")
+    port: int = Field(default=DEFAULT_PORT, description=f"{OPENTRONS_INTERFACE} only.")
+    fcan_clock: int = Field(default=DEFAULT_FDCAN_CLK, description="pcan only.")
+    sample_rate: float = Field(default=DEFAULT_SAMPLE_RATE, description="pcan only.")
+    jump_width: int = Field(default=DEFAULT_JUMP_WIDTH_SEG, description="pcan only.")
+    model_config = SettingsConfigDict(env_prefix="OT3_CAN_DRIVER_")
 
 
 def _check_calculated_bit_timing_values(
diff --git a/hardware/setup.py b/hardware/setup.py
index b463a3fbd20..8d0f621e67c 100644
--- a/hardware/setup.py
+++ b/hardware/setup.py
@@ -48,6 +48,8 @@ def get_version() -> str:
 PACKAGES = find_packages(where=".", exclude=["tests.*", "tests"])
 INSTALL_REQUIRES = [
     "pyserial==3.5",
+    "pydantic>=2,<3",
+    "pydantic-settings>=2,<3",
     f"opentrons_shared_data=={VERSION}",
 ]
 
diff --git a/performance-metrics/Pipfile b/performance-metrics/Pipfile
index b57cd339814..79a023f1dcf 100644
--- a/performance-metrics/Pipfile
+++ b/performance-metrics/Pipfile
@@ -6,7 +6,7 @@ name        = "pypi"
 [packages]
 performance-metrics = {file = ".", editable = true}
 psutil = "==6.0.0"
-systemd-python = "234"
+systemd-python = {version="==234", markers="sys_platform=='linux'" }
 
 [dev-packages]
 pytest  = "==7.4.4"
diff --git a/performance-metrics/Pipfile.lock b/performance-metrics/Pipfile.lock
index 9bb77d23330..3a70b502d5a 100644
--- a/performance-metrics/Pipfile.lock
+++ b/performance-metrics/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "a123325c3bebd1451774ebfadc532a4ca78a92897b80cf1d20ded030e145bac2"
+            "sha256": "259baa6d557d8069c945cca566e64d0135576284244f14461c67e044366535b5"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -48,18 +48,18 @@
             "hashes": [
                 "sha256:fd0e44bf70eadae45aadc292cb0a7eb5b0b6372cd1b391228047d33895db83e7"
             ],
-            "index": "pypi",
+            "markers": "sys_platform == 'linux'",
             "version": "==234"
         }
     },
     "develop": {
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346",
+                "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
         },
         "black": {
             "hashes": [
@@ -101,11 +101,11 @@
         },
         "exceptiongroup": {
             "hashes": [
-                "sha256:5258b9ed329c5bbdd31a309f53cbfb0b155341807f6ff7606a1e801a891b29ad",
-                "sha256:a4785e48b045528f5bfe627b6ad554ff32def154f42372786903b7abcfe1aa16"
+                "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b",
+                "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==1.2.1"
+            "version": "==1.2.2"
         },
         "flake8": {
             "hashes": [
@@ -203,11 +203,11 @@
         },
         "packaging": {
             "hashes": [
-                "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002",
-                "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124"
+                "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759",
+                "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==24.1"
+            "version": "==24.2"
         },
         "pathspec": {
             "hashes": [
@@ -219,11 +219,11 @@
         },
         "platformdirs": {
             "hashes": [
-                "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee",
-                "sha256:38b7b51f512eed9e84a22788b4bce1de17c0adb134d6becb09836e37d8654cd3"
+                "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907",
+                "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==4.2.2"
+            "version": "==4.3.6"
         },
         "pluggy": {
             "hashes": [
@@ -268,12 +268,12 @@
         },
         "pytest-asyncio": {
             "hashes": [
-                "sha256:009b48127fbe44518a547bddd25611551b0e43ccdbf1e67d12479f569832c20b",
-                "sha256:5f5c72948f4c49e7db4f29f2521d4031f1c27f86e57b046126654083d4770268"
+                "sha256:50265d892689a5faefb84df80819d1ecef566eb3549cf915dfb33569359d1ce2",
+                "sha256:759b10b33a6dc61cce40a8bd5205e302978bbbcc00e279a8b61d9a6a3c82e4d3"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==0.23.7"
+            "version": "==0.23.8"
         },
         "snowballstemmer": {
             "hashes": [
@@ -284,11 +284,41 @@
         },
         "tomli": {
             "hashes": [
-                "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc",
-                "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"
+                "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6",
+                "sha256:02abe224de6ae62c19f090f68da4e27b10af2b93213d36cf44e6e1c5abd19fdd",
+                "sha256:286f0ca2ffeeb5b9bd4fcc8d6c330534323ec51b2f52da063b11c502da16f30c",
+                "sha256:2d0f2fdd22b02c6d81637a3c95f8cd77f995846af7414c5c4b8d0545afa1bc4b",
+                "sha256:33580bccab0338d00994d7f16f4c4ec25b776af3ffaac1ed74e0b3fc95e885a8",
+                "sha256:400e720fe168c0f8521520190686ef8ef033fb19fc493da09779e592861b78c6",
+                "sha256:40741994320b232529c802f8bc86da4e1aa9f413db394617b9a256ae0f9a7f77",
+                "sha256:465af0e0875402f1d226519c9904f37254b3045fc5084697cefb9bdde1ff99ff",
+                "sha256:4a8f6e44de52d5e6c657c9fe83b562f5f4256d8ebbfe4ff922c495620a7f6cea",
+                "sha256:4e340144ad7ae1533cb897d406382b4b6fede8890a03738ff1683af800d54192",
+                "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249",
+                "sha256:6972ca9c9cc9f0acaa56a8ca1ff51e7af152a9f87fb64623e31d5c83700080ee",
+                "sha256:7fc04e92e1d624a4a63c76474610238576942d6b8950a2d7f908a340494e67e4",
+                "sha256:889f80ef92701b9dbb224e49ec87c645ce5df3fa2cc548664eb8a25e03127a98",
+                "sha256:8d57ca8095a641b8237d5b079147646153d22552f1c637fd3ba7f4b0b29167a8",
+                "sha256:8dd28b3e155b80f4d54beb40a441d366adcfe740969820caf156c019fb5c7ec4",
+                "sha256:9316dc65bed1684c9a98ee68759ceaed29d229e985297003e494aa825ebb0281",
+                "sha256:a198f10c4d1b1375d7687bc25294306e551bf1abfa4eace6650070a5c1ae2744",
+                "sha256:a38aa0308e754b0e3c67e344754dff64999ff9b513e691d0e786265c93583c69",
+                "sha256:a92ef1a44547e894e2a17d24e7557a5e85a9e1d0048b0b5e7541f76c5032cb13",
+                "sha256:ac065718db92ca818f8d6141b5f66369833d4a80a9d74435a268c52bdfa73140",
+                "sha256:b82ebccc8c8a36f2094e969560a1b836758481f3dc360ce9a3277c65f374285e",
+                "sha256:c954d2250168d28797dd4e3ac5cf812a406cd5a92674ee4c8f123c889786aa8e",
+                "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc",
+                "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff",
+                "sha256:d3f5614314d758649ab2ab3a62d4f2004c825922f9e370b29416484086b264ec",
+                "sha256:d920f33822747519673ee656a4b6ac33e382eca9d331c87770faa3eef562aeb2",
+                "sha256:db2b95f9de79181805df90bedc5a5ab4c165e6ec3fe99f970d0e302f384ad222",
+                "sha256:e59e304978767a54663af13c07b3d1af22ddee3bb2fb0618ca1593e4f593a106",
+                "sha256:e85e99945e688e32d5a35c1ff38ed0b3f41f43fad8df0bdf79f72b2ba7bc5272",
+                "sha256:ece47d672db52ac607a3d9599a9d48dcb2f2f735c6c2d1f34130085bb12b112a",
+                "sha256:f4039b9cbc3048b2416cc57ab3bda989a6fcf9b36cf8937f01a6e731b64f80d7"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==2.0.1"
+            "version": "==2.2.1"
         },
         "types-psutil": {
             "hashes": [
diff --git a/performance-metrics/src/performance_metrics/system_resource_tracker/__main__.py b/performance-metrics/src/performance_metrics/system_resource_tracker/__main__.py
index e810175bfb0..37c15337eba 100644
--- a/performance-metrics/src/performance_metrics/system_resource_tracker/__main__.py
+++ b/performance-metrics/src/performance_metrics/system_resource_tracker/__main__.py
@@ -2,7 +2,7 @@
 
 import logging
 import time
-import systemd.daemon  # type: ignore [import-untyped]
+import systemd.daemon  # type: ignore [import-untyped,import-not-found,unused-ignore]
 from .._logging_config import log_init, LOGGER_NAME
 from ._config import SystemResourceTrackerConfiguration
 from ._system_resource_tracker import SystemResourceTracker
diff --git a/robot-server/Pipfile b/robot-server/Pipfile
index c66f132ecd4..541cd8bca90 100755
--- a/robot-server/Pipfile
+++ b/robot-server/Pipfile
@@ -22,7 +22,7 @@ pytest-xdist = "~=2.5.0"
 requests = "==2.27.1"
 graphviz = "==0.19"
 mock = "~=5.0.1"
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 flake8 = "==7.0.0"
 flake8-annotations = "~=3.0.1"
 flake8-docstrings = "~=1.7.0"
@@ -37,18 +37,14 @@ sqlalchemy2-stubs = "==0.0.2a21"
 python-box = "==6.1.0"
 types-paho-mqtt = "==1.6.0.20240106"
 pyusb = "==1.2.1"
-performance-metrics = {file = "../performance-metrics", editable = true}
 
 [packages]
 anyio = "==3.7.1"
 aiohttp = "==3.8.1"
-# fastapi >=0.100.0 is intended for use with pydantic 2.x, and while it theoretically is
-# backwards compatible, best to be sure
-fastapi = "==0.99.1"
+fastapi = "==0.100.0"
 python-dotenv = "==1.0.1"
 python-multipart = "==0.0.6"
-# pydantic 2.x has many breaking api changes
-pydantic = "==1.10.12"
+pydantic = "==2.9.0"
 typing-extensions = ">=4.0.0,<5"
 uvicorn = "==0.27.0.post1"
 wsproto = "==1.2.0"
@@ -63,4 +59,10 @@ opentrons-hardware = {editable = true, path='../hardware', extras=['FLEX']}
 opentrons = { editable = true, path = "../api"}
 opentrons-shared-data = { editable = true, path = "../shared-data/python" }
 server-utils = {editable = true, path = "./../server-utils"}
+performance-metrics = {editable = true, path = "../performance-metrics" }
 robot-server = { editable = true, path = "."}
+pydantic-settings = "==2.4.0"
+# this is a dependency of jsonschema (which requires just >0.7.0).
+# versions above 0.18.1 require a version of triomphe that requires a version of
+# rust too new for openembedded
+rpds-py = "==0.18.1"
diff --git a/robot-server/Pipfile.lock b/robot-server/Pipfile.lock
index 0f33283b0ee..df7ec2c7a92 100644
--- a/robot-server/Pipfile.lock
+++ b/robot-server/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "f43123500e774f5b9a92f2be8ae39a04af8df7ba2ae4b2a505f1bb4b751cc30a"
+            "sha256": "d1bb17b5871fccc0c2b2aebc24507d29016a8078c3a3894271fb4c2a920fb37a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -100,15 +100,24 @@
                 "sha256:25816a9eef030c774beaee22189a24e29bc43f81cebe574ef723851eaf89ddee",
                 "sha256:9651e1373873c75786101330e302e114f85b6e8b5ad70b491497c8b3609a8449"
             ],
+            "markers": "python_version >= '3.8'",
             "version": "==0.3.1"
         },
         "aiosignal": {
             "hashes": [
-                "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc",
-                "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17"
+                "sha256:45cde58e409a301715980c2b01d0c28bdde3770d8290b5eb2173759d9acb31a5",
+                "sha256:a8c255c66fafb1e499c9351d0bf32ff2d8a0321595ebac3b93713656d2436f54"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==1.3.1"
+            "markers": "python_version >= '3.9'",
+            "version": "==1.3.2"
+        },
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
         },
         "anyio": {
             "hashes": [
@@ -129,11 +138,11 @@
         },
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:8f5c07333d543103541ba7be0e2ce16eeee8130cb0b3f9238ab904ce1e85baff",
+                "sha256:ac96cd038792094f438ad1f6ff80837353805ac950cd2aa0e0625ef19850c308"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "markers": "python_version >= '3.8'",
+            "version": "==24.3.0"
         },
         "charset-normalizer": {
             "hashes": [
@@ -154,167 +163,197 @@
         },
         "exceptiongroup": {
             "hashes": [
-                "sha256:5258b9ed329c5bbdd31a309f53cbfb0b155341807f6ff7606a1e801a891b29ad",
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@@ -545,11 +586,11 @@
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@@ -557,48 +598,210 @@
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@@ -671,21 +874,135 @@
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             "editable": true,
             "path": "./../server-utils"
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@@ -772,6 +1089,14 @@
             "markers": "python_version >= '3.8'",
             "version": "==4.12.2"
         },
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@@ -783,79 +1108,74 @@
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@@ -1325,11 +1647,11 @@
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@@ -1347,23 +1669,19 @@
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-            "file": "../performance-metrics"
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@@ -1407,11 +1725,11 @@
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@@ -1431,12 +1749,12 @@
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-                "sha256:aab7fd643f71d7946f2ee58cc88c9b7bfc97debd71dcc93e03e2d174628e7e2d",
-                "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248",
-                "sha256:b42169467c42b692c19cf539c38d4602069d8c1505e97b86387fcf7afb766e1d",
-                "sha256:bba64af9fa9cebe325a62fa398760f5c7206b215201b0ec825005f1b18b9bccf",
-                "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512",
-                "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069",
-                "sha256:c2a72e9109ea74e511e29032f3b670835f8a59bbdc9ce692c5b4ed91ccf1eedb",
-                "sha256:c58ecd827313af6864893e7af0a3bb85fd529f862b6adbefe14643947cfe2942",
-                "sha256:c69212f63169ec1cfc9bb44723bf2917cbbd8f6191a00ef3410f5a7fe300722d",
-                "sha256:cabddb8d8ead485e255fe80429f833172b4cadf99274db39abc080e068cbcc31",
-                "sha256:d176b57452ab5b7028ac47e7b3cf644bcfdc8cacfecf7e71759f7f51a59e5c92",
-                "sha256:da09ad1c359a728e112d60116f626cc9f29730ff3e0e7db72b9a2dbc2e4beed5",
-                "sha256:e2b4c44b60eadec492926a7270abb100ef9f72798e18743939bdbf037aab8c28",
-                "sha256:e79e5db08739731b0ce4850bed599235d601701d5694c36570a99a0c5ca41a9d",
-                "sha256:ebc06178e8821efc9692ea7544aa5644217358490145629914d8020042c24aa1",
-                "sha256:edaef1c1200c4b4cb914583150dcaa3bc30e592e907c01117c08b13a07255ec2",
-                "sha256:f481f16baec5290e45aebdc2a5168ebc6d35189ae6fea7a58787613a25f6e875",
-                "sha256:fff3573c2db359f091e1589c3d7c5fc2f86f5bdb6f24252c2d8e539d4e45f412"
+                "sha256:040ae85536960525ea62868b642bdb0c2cc6021c9f9d507810c0c604e66f5a7b",
+                "sha256:0467c5965282c62203273b838ae77c0d29d7638c8a4e3a1c8bdd3602c10904e4",
+                "sha256:0b7e75b4965e1d4690e93021adfcecccbca7d61c7bddd8e22406ef2ff20d74ef",
+                "sha256:11f891336688faf5156a36293a9c362bdc7c88f03a8a027c2c1d8e0bcde998e5",
+                "sha256:1492a6051dab8d912fc2adeef0e8c72216b24d57bd896ea607cb90bb0c4981d3",
+                "sha256:20b0f8dc160ba83b6dcc0e256846e1a02d044e13f7ea74a3d1d56ede4e48c632",
+                "sha256:22353049ba4181685023b25b5b51a574bce33e7f51c759371a7422dcae5402a6",
+                "sha256:2c59aa6170b990d8d2719323e628aaf36f3bfbc1c26279c0eeeb24d05d2d11c7",
+                "sha256:32621c177bbf782ca5a18ba4d7af0f1082a3f6e517ac2a18b3974d4edf349680",
+                "sha256:3bc2a80e6420ca8b7d3590791e2dfc709c88ab9152c00eeb511c9875ce5778bf",
+                "sha256:3eac5a91891ceb88138c113f9db04f3cebdae277f5d44eaa3651a4f573e6a5da",
+                "sha256:4a6679521a58256a90b0d89e03992c15144c5f3858f40d7c18886023d7943db6",
+                "sha256:4c8c5d82f50bb53986a5e02d1b3092b03622c02c2eb78e29bec33fd9593bae1a",
+                "sha256:4f6f3eac23941b32afccc23081e1f50612bdbe4e982012ef4f5797986828cd01",
+                "sha256:5a0e060aace4c24dcaf71023bbd7d42674e3b230f7e7b97317baf1e953e5b519",
+                "sha256:6442cb36270b3afb1b4951f060eccca1ce49f3d087ca1ca4563a6eb479cb3de6",
+                "sha256:6c8fbb13ec503f99a91901ab46e0b07ae7941cd527393187039aec586fdfd36f",
+                "sha256:749c16fcc4a2b09f28843cda5a193e0283e47454b63ec4b81eaa2242f50e4ccd",
+                "sha256:7dd5adc8b930b12c8fc5b99e2d535a09889941aa0d0bd06f4749e9a9397c71d2",
+                "sha256:811ea1594b8a0fb466172c384267a4e5e367298af6b228931f273b111f17ef52",
+                "sha256:932205970b9f9991b34f55136be327501903f7c66830e9760a8ffb15b07f05cd",
+                "sha256:943f32bc9dedb3abff9879edc134901df92cfce2c3d5c9348f172f62eb2d771d",
+                "sha256:95c3829bb364fdb8e0332c9931ecf57d9be3519241323c5274bd82f709cebc0c",
+                "sha256:96777d473c05ee3e5e3c3e999f5d23c6f4ec5b0c38c098b3a5229085f74236c6",
+                "sha256:a274fb2cb086c7a3dea4322ec27f4cb5cc4b6298adb583ab0e211a4682f241eb",
+                "sha256:a52d48f4e7bf9005e8f0a89209bf9a73f7190ddf0489eee5eb51377385f59f2a",
+                "sha256:a606ef75a60ecf3d924613892cc603b154178ee25abb3055db5062da811fd969",
+                "sha256:ab007f2f5a87bd08ab1499bdf96f3d5c6ad4dcfa364884cb4549aa0154b13a28",
+                "sha256:b82a7c94a498853aa0b272fd5bc67f29008da798d4f93a2f9f289feb8426a58d",
+                "sha256:bb43a269eb827806502c7c8efb7ae7e9e9d0573257a46e8e952f4d4caba4f31e",
+                "sha256:bc5f1e1c28e966d61d2519f2a3d451ba989f9ea0f2307de7bc45baa526de9e45",
+                "sha256:bd0a08f0bab19093c54e18a14a10b4322e1eacc5217056f3c063bd2f59853ce4",
+                "sha256:beffaed67936fbbeffd10966a4eb53c402fafd3d6833770516bf7314bc6ffa12",
+                "sha256:bf165fef1f223beae7333275156ab2022cffe255dcc51c27f066b4370da81e31",
+                "sha256:cf12567a7b565cbf65d438dec6cfbe2917d3c1bdddfce84a9930b7d35ea59642",
+                "sha256:d84318609196d6bd6da0edfa25cedfbabd8dbde5140a0a23af29ad4b8f91fb1e",
+                "sha256:d85252669dc32f98ebcd5d36768f5d4faeaeaa2d655ac0473be490ecdae3c285",
+                "sha256:e143ada795c341b56de9418c58d028989093ee611aa27ffb9b7f609c00d813ed",
+                "sha256:e188d2699864c11c36cdfdada94d781fd5d6b0071cd9c427bceb08ad3d7c70e1",
+                "sha256:e2f1c3765db32be59d18ab3953f43ab62a761327aafc1594a2a1fbe038b8b8a7",
+                "sha256:e5b8daf27af0b90da7bb903a876477a9e6d7270be6146906b276605997c7e9a3",
+                "sha256:e7e3736715fbf53e9be2a79eb4db68e4ed857017344d697e8b9749444ae57475",
+                "sha256:e8c4ebfcfd57177b572e2040777b8abc537cdef58a2120e830124946aa9b42c5",
+                "sha256:f66efbc1caa63c088dead1c4170d148eabc9b80d95fb75b6c92ac0aad2437d76",
+                "sha256:fc4b630cd3fa2cf7fce38afa91d7cfe844a9f75d7f0f36393fa98815e911d987",
+                "sha256:fd5415dded15c3822597455bc02bcd66e81ef8b7a48cb71a33628fc9fdde39df"
             ],
             "markers": "python_version < '3.13' and platform_python_implementation == 'CPython'",
-            "version": "==0.2.8"
+            "version": "==0.2.12"
         },
         "six": {
             "hashes": [
-                "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926",
-                "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"
+                "sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274",
+                "sha256:ff70335d468e7eb6ec65b95b99d3a2836546063f63acc5171de367e834932a81"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==1.16.0"
+            "version": "==1.17.0"
         },
         "sniffio": {
             "hashes": [
@@ -1807,11 +2123,41 @@
         },
         "tomli": {
             "hashes": [
-                "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc",
-                "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"
+                "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6",
+                "sha256:02abe224de6ae62c19f090f68da4e27b10af2b93213d36cf44e6e1c5abd19fdd",
+                "sha256:286f0ca2ffeeb5b9bd4fcc8d6c330534323ec51b2f52da063b11c502da16f30c",
+                "sha256:2d0f2fdd22b02c6d81637a3c95f8cd77f995846af7414c5c4b8d0545afa1bc4b",
+                "sha256:33580bccab0338d00994d7f16f4c4ec25b776af3ffaac1ed74e0b3fc95e885a8",
+                "sha256:400e720fe168c0f8521520190686ef8ef033fb19fc493da09779e592861b78c6",
+                "sha256:40741994320b232529c802f8bc86da4e1aa9f413db394617b9a256ae0f9a7f77",
+                "sha256:465af0e0875402f1d226519c9904f37254b3045fc5084697cefb9bdde1ff99ff",
+                "sha256:4a8f6e44de52d5e6c657c9fe83b562f5f4256d8ebbfe4ff922c495620a7f6cea",
+                "sha256:4e340144ad7ae1533cb897d406382b4b6fede8890a03738ff1683af800d54192",
+                "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249",
+                "sha256:6972ca9c9cc9f0acaa56a8ca1ff51e7af152a9f87fb64623e31d5c83700080ee",
+                "sha256:7fc04e92e1d624a4a63c76474610238576942d6b8950a2d7f908a340494e67e4",
+                "sha256:889f80ef92701b9dbb224e49ec87c645ce5df3fa2cc548664eb8a25e03127a98",
+                "sha256:8d57ca8095a641b8237d5b079147646153d22552f1c637fd3ba7f4b0b29167a8",
+                "sha256:8dd28b3e155b80f4d54beb40a441d366adcfe740969820caf156c019fb5c7ec4",
+                "sha256:9316dc65bed1684c9a98ee68759ceaed29d229e985297003e494aa825ebb0281",
+                "sha256:a198f10c4d1b1375d7687bc25294306e551bf1abfa4eace6650070a5c1ae2744",
+                "sha256:a38aa0308e754b0e3c67e344754dff64999ff9b513e691d0e786265c93583c69",
+                "sha256:a92ef1a44547e894e2a17d24e7557a5e85a9e1d0048b0b5e7541f76c5032cb13",
+                "sha256:ac065718db92ca818f8d6141b5f66369833d4a80a9d74435a268c52bdfa73140",
+                "sha256:b82ebccc8c8a36f2094e969560a1b836758481f3dc360ce9a3277c65f374285e",
+                "sha256:c954d2250168d28797dd4e3ac5cf812a406cd5a92674ee4c8f123c889786aa8e",
+                "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc",
+                "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff",
+                "sha256:d3f5614314d758649ab2ab3a62d4f2004c825922f9e370b29416484086b264ec",
+                "sha256:d920f33822747519673ee656a4b6ac33e382eca9d331c87770faa3eef562aeb2",
+                "sha256:db2b95f9de79181805df90bedc5a5ab4c165e6ec3fe99f970d0e302f384ad222",
+                "sha256:e59e304978767a54663af13c07b3d1af22ddee3bb2fb0618ca1593e4f593a106",
+                "sha256:e85e99945e688e32d5a35c1ff38ed0b3f41f43fad8df0bdf79f72b2ba7bc5272",
+                "sha256:ece47d672db52ac607a3d9599a9d48dcb2f2f735c6c2d1f34130085bb12b112a",
+                "sha256:f4039b9cbc3048b2416cc57ab3bda989a6fcf9b36cf8937f01a6e731b64f80d7"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==2.0.1"
+            "version": "==2.2.1"
         },
         "types-mock": {
             "hashes": [
@@ -1857,11 +2203,11 @@
         },
         "urllib3": {
             "hashes": [
-                "sha256:37a0344459b199fce0e80b0d3569837ec6b6937435c5244e7fd73fa6006830f3",
-                "sha256:3e3d753a8618b86d7de333b4223005f68720bcd6a7d2bcb9fbd2229ec7c1e429"
+                "sha256:0ed14ccfbf1c30a9072c7ca157e4319b70d65f623e91e7b32fadb2853431016e",
+                "sha256:40c2dc0c681e47eb8f90e7e27bf6ff7df2e677421fd46756da1161c39ca70d32"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4, 3.5'",
-            "version": "==1.26.19"
+            "version": "==1.26.20"
         }
     }
 }
diff --git a/robot-server/robot_server/errors/error_responses.py b/robot-server/robot_server/errors/error_responses.py
index 410fa9d46ab..73f8a97f445 100644
--- a/robot-server/robot_server/errors/error_responses.py
+++ b/robot-server/robot_server/errors/error_responses.py
@@ -1,6 +1,5 @@
 """JSON API errors and response models."""
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
 from typing import Any, Dict, Generic, Optional, Sequence, TypeVar, Type
 
 from robot_server.service.json_api import BaseResponseBody, ResourceLinks
@@ -26,27 +25,24 @@ class BaseErrorBody(BaseResponseBody):
 
     def as_error(self, status_code: int) -> ApiError:
         """Serialize the response as an API error to raise in a handler."""
-        return ApiError(
-            status_code=status_code,
-            content=self.dict(),
-        )
+        return ApiError(status_code=status_code, content=self.dict())
 
 
 class ErrorSource(BaseModel):
     """An object containing references to the source of the error."""
 
     pointer: Optional[str] = Field(
-        None,
+        default=None,
         description=(
             "A JSON Pointer [RFC6901] to the associated entity in the request document."
         ),
     )
     parameter: Optional[str] = Field(
-        None,
+        default=None,
         description="a string indicating which URI query parameter caused the error.",
     )
     header: Optional[str] = Field(
-        None,
+        default=None,
         description="A string indicating which header caused the error.",
     )
 
@@ -96,18 +92,18 @@ def get_some_model():
         ),
     )
     source: Optional[ErrorSource] = Field(
-        None,
+        default=None,
         description="An object containing references to the source of the error.",
     )
     meta: Optional[Dict[str, Any]] = Field(
-        None,
+        default=None,
         description=(
             "An object containing non-standard information about this "
             "occurrence of the error"
         ),
     )
     errorCode: str = Field(
-        ErrorCodes.GENERAL_ERROR.value.code,
+        default=ErrorCodes.GENERAL_ERROR.value.code,
         description=("The Opentrons error code associated with the error"),
     )
 
@@ -175,12 +171,12 @@ def from_exc(
         )
 
 
-class ErrorBody(BaseErrorBody, GenericModel, Generic[ErrorDetailsT]):
+class ErrorBody(BaseErrorBody, Generic[ErrorDetailsT]):
     """A response body for a single error."""
 
     errors: Sequence[ErrorDetailsT] = Field(..., description="Error details.")
     links: Optional[ResourceLinks] = Field(
-        None,
+        default=None,
         description=(
             "Links that leads to further details about "
             "this particular occurrence of the problem."
@@ -188,12 +184,12 @@ class ErrorBody(BaseErrorBody, GenericModel, Generic[ErrorDetailsT]):
     )
 
 
-class MultiErrorResponse(BaseErrorBody, GenericModel, Generic[ErrorDetailsT]):
+class MultiErrorResponse(BaseErrorBody, Generic[ErrorDetailsT]):
     """An response body for multiple errors."""
 
     errors: Sequence[ErrorDetailsT] = Field(..., description="Error details.")
     links: Optional[ResourceLinks] = Field(
-        None,
+        default=None,
         description=(
             "Links that leads to further details about "
             "this particular occurrence of the problem."
diff --git a/robot-server/robot_server/health/models.py b/robot-server/robot_server/health/models.py
index ce8a0c2a56f..c0b01385402 100644
--- a/robot-server/robot_server/health/models.py
+++ b/robot-server/robot_server/health/models.py
@@ -16,7 +16,7 @@ class HealthLinks(BaseModel):
             " or refer to the OpenAPI specification of the `/logs` endpoint, instead."
         ),
         examples=["/logs/api.log"],
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     serialLog: str = Field(
         ...,
@@ -26,7 +26,7 @@ class HealthLinks(BaseModel):
             " or refer to the OpenAPI specification of the `/logs` endpoint, instead."
         ),
         examples=["/logs/serial.log"],
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     serverLog: str = Field(
         ...,
@@ -36,10 +36,10 @@ class HealthLinks(BaseModel):
             " or refer to the OpenAPI specification of the `/logs` endpoint, instead."
         ),
         examples=["/logs/server.log"],
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     oddLog: typing.Optional[str] = Field(
-        None,
+        default=None,
         description=(
             "The path to the on-device display app logs endpoint"
             " (only present on the Opentrons Flex)."
@@ -47,7 +47,7 @@ class HealthLinks(BaseModel):
             " or refer to the OpenAPI specification of the `/logs` endpoint, instead."
         ),
         examples=["/logs/touchscreen.log"],
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     apiSpec: str = Field(
         ...,
@@ -103,16 +103,16 @@ class Health(BaseResponseBody):
         ...,
         description="The system's maximum supported Protocol API version, "
         "in the format `[major_version, minor_version]`",
-        min_items=2,
-        max_items=2,
+        min_length=2,
+        max_length=2,
         examples=[[2, 8]],
     )
     minimum_protocol_api_version: typing.List[int] = Field(
         ...,
         description="The system's minimum supported Protocol API version, "
         "in the format `[major_version, minor_version]`",
-        min_items=2,
-        max_items=2,
+        min_length=2,
+        max_length=2,
         examples=[[2, 0]],
     )
     robot_serial: typing.Optional[str] = Field(
diff --git a/robot-server/robot_server/health/router.py b/robot-server/robot_server/health/router.py
index a4ca84bd2c1..20f02f0803b 100644
--- a/robot-server/robot_server/health/router.py
+++ b/robot-server/robot_server/health/router.py
@@ -122,6 +122,10 @@ def _system_version_or_fallback() -> str:
             "description": "Robot motor controller is not ready",
         }
     },
+    # response_model_exclude_none=True preserves behavior from older FastAPI and/or
+    # Pydantic versions. It's unclear exactly what changed and why this is only
+    # necessary for this endpoint in particular.
+    response_model_exclude_none=True,
 )
 async def get_health(
     hardware: Annotated[HardwareControlAPI, Depends(get_hardware)],
diff --git a/robot-server/robot_server/instruments/instrument_models.py b/robot-server/robot_server/instruments/instrument_models.py
index f6a8ed0f82f..544ff774e54 100644
--- a/robot-server/robot_server/instruments/instrument_models.py
+++ b/robot-server/robot_server/instruments/instrument_models.py
@@ -5,7 +5,6 @@
 from typing import Optional, TypeVar, Union, Generic, Dict, List
 from datetime import datetime
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
 
 
 from opentrons.calibration_storage.types import SourceType
@@ -41,7 +40,7 @@ class InconsistentCalibrationFailure(BaseModel):
     limit: float
 
 
-class _GenericInstrument(GenericModel, Generic[InstrumentModelT, InstrumentDataT]):
+class _GenericInstrument(BaseModel, Generic[InstrumentModelT, InstrumentDataT]):
     """Base instrument response."""
 
     mount: str = Field(..., description="The mount this instrument is attached to.")
@@ -51,14 +50,15 @@ class _GenericInstrument(GenericModel, Generic[InstrumentModelT, InstrumentDataT
     instrumentModel: InstrumentModelT = Field(..., description="Instrument model.")
     serialNumber: str = Field(..., description="Instrument hardware serial number.")
     subsystem: Optional[SubSystem] = Field(
-        None,
+        default=None,
         description="The subsystem corresponding to this instrument.",
     )
     ok: Literal[True] = Field(
         ..., description="Whether this instrument is OK and ready to go"
     )
     firmwareVersion: Optional[str] = Field(
-        None, description="The firmware version of this instrument (if applicable)"
+        default=None,
+        description="The firmware version of this instrument (if applicable)",
     )
     data: InstrumentDataT
 
@@ -77,7 +77,7 @@ class GripperData(BaseModel):
 
     jawState: str = Field(..., description="Gripper Jaw state.")
     calibratedOffset: Optional[InstrumentCalibrationData] = Field(
-        None, description="Calibrated gripper offset."
+        default=None, description="Calibrated gripper offset."
     )
 
 
@@ -88,7 +88,7 @@ class PipetteData(BaseModel):
     min_volume: float = Field(..., description="Minimum pipette volume.")
     max_volume: float = Field(..., description="Maximum pipette volume.")
     calibratedOffset: Optional[InstrumentCalibrationData] = Field(
-        None, description="Calibrated pipette offset."
+        default=None, description="Calibrated pipette offset."
     )
 
 
@@ -109,7 +109,7 @@ class Pipette(_GenericInstrument[PipetteModel, PipetteData]):
     instrumentName: PipetteName
     instrumentModel: PipetteModel
     data: PipetteData
-    state: Optional[PipetteState]
+    state: Optional[PipetteState] = None
 
 
 class Gripper(_GenericInstrument[GripperModelStr, GripperData]):
diff --git a/robot-server/robot_server/modules/module_models.py b/robot-server/robot_server/modules/module_models.py
index f9acaf59a8b..7b6da4925ac 100644
--- a/robot-server/robot_server/modules/module_models.py
+++ b/robot-server/robot_server/modules/module_models.py
@@ -1,7 +1,6 @@
 """Request and response models for /modules endpoints."""
 from datetime import datetime
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
 from typing import Generic, List, Optional, TypeVar, Union
 from typing_extensions import Literal
 
@@ -72,7 +71,7 @@ class UsbPort(BaseModel):
     )
 
 
-class _GenericModule(GenericModel, Generic[ModuleT, ModuleModelT, ModuleDataT]):
+class _GenericModule(BaseModel, Generic[ModuleT, ModuleModelT, ModuleDataT]):
     """Base module response."""
 
     id: str = Field(
diff --git a/robot-server/robot_server/persistence/_migrations/_up_to_3_worker.py b/robot-server/robot_server/persistence/_migrations/_up_to_3_worker.py
index 7e94476d87a..eb916a0a6f7 100644
--- a/robot-server/robot_server/persistence/_migrations/_up_to_3_worker.py
+++ b/robot-server/robot_server/persistence/_migrations/_up_to_3_worker.py
@@ -86,11 +86,7 @@ def migrate_commands_for_run(
         )
 
         parsed_commands: typing.Iterable[commands.Command] = (
-            pydantic.parse_obj_as(
-                commands.Command,  # type: ignore[arg-type]
-                c,
-            )
-            for c in old_commands
+            commands.CommandAdapter.validate_python(c) for c in old_commands
         )
 
         new_command_rows = [
diff --git a/robot-server/robot_server/persistence/pydantic.py b/robot-server/robot_server/persistence/pydantic.py
index c56312ec166..8c6383f0ae1 100644
--- a/robot-server/robot_server/persistence/pydantic.py
+++ b/robot-server/robot_server/persistence/pydantic.py
@@ -1,11 +1,12 @@
 """Store Pydantic objects in the SQL database."""
 
 import json
-from typing import Type, TypeVar, List, Sequence
-from pydantic import BaseModel, parse_raw_as, parse_obj_as
+from typing import Type, TypeVar, Sequence, overload
+from pydantic import BaseModel, TypeAdapter
 
 
 _BaseModelT = TypeVar("_BaseModelT", bound=BaseModel)
+_TypeAdapterArgT = TypeVar("_TypeAdapterArgT")
 
 
 def pydantic_to_json(obj: BaseModel) -> str:
@@ -23,11 +24,23 @@ def pydantic_list_to_json(obj_list: Sequence[BaseModel]) -> str:
     return json.dumps([obj.dict(by_alias=True, exclude_none=True) for obj in obj_list])
 
 
+@overload
 def json_to_pydantic(model: Type[_BaseModelT], json_str: str) -> _BaseModelT:
-    """Parse a Pydantic object stored in the SQL database."""
-    return parse_raw_as(model, json_str)
+    ...
+
 
+@overload
+def json_to_pydantic(
+    model: TypeAdapter[_TypeAdapterArgT], json_str: str
+) -> _TypeAdapterArgT:
+    ...
 
-def json_to_pydantic_list(model: Type[_BaseModelT], json_str: str) -> List[_BaseModelT]:
-    """Parse a list of Pydantic objects stored in the SQL database."""
-    return [parse_obj_as(model, obj_dict) for obj_dict in json.loads(json_str)]
+
+def json_to_pydantic(
+    model: Type[_BaseModelT] | TypeAdapter[_TypeAdapterArgT], json_str: str
+) -> _BaseModelT | _TypeAdapterArgT:
+    """Parse a Pydantic object stored in the SQL database."""
+    if isinstance(model, TypeAdapter):
+        return model.validate_json(json_str)
+    else:
+        return model.model_validate_json(json_str)
diff --git a/robot-server/robot_server/protocols/protocol_models.py b/robot-server/robot_server/protocols/protocol_models.py
index c7841f25776..c20bd1ae5ed 100644
--- a/robot-server/robot_server/protocols/protocol_models.py
+++ b/robot-server/robot_server/protocols/protocol_models.py
@@ -1,7 +1,7 @@
 """Protocol file models."""
 
 from datetime import datetime
-from pydantic import BaseModel, Extra, Field
+from pydantic import ConfigDict, BaseModel, Field
 from typing import Any, List, Optional
 from enum import Enum
 
@@ -49,13 +49,7 @@ class Metadata(BaseModel):
     this should be considered an exception to the rule.
     """
 
-    # todo(mm, 2021-09-17): Revise these docs after specifying
-    # metadata more. github.com/Opentrons/opentrons/issues/8334
-
-    class Config:
-        """Tell Pydantic that metadata objects can have arbitrary fields."""
-
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
 
 class Protocol(ResourceModel):
diff --git a/robot-server/robot_server/robot/calibration/check/models.py b/robot-server/robot_server/robot/calibration/check/models.py
index 0574a51aced..4b7fbf783a8 100644
--- a/robot-server/robot_server/robot/calibration/check/models.py
+++ b/robot-server/robot_server/robot/calibration/check/models.py
@@ -1,7 +1,7 @@
 from typing import Any, Dict, Optional, List
 from typing_extensions import Literal
 from functools import partial
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 from ..helper_classes import RequiredLabware, AttachedPipette
 
@@ -14,8 +14,8 @@
     Field,
     ...,
     description="An offset vector in deck coordinates (x, y, z)",
-    min_items=3,
-    max_items=3,
+    min_length=3,
+    max_length=3,
 )
 
 
@@ -75,9 +75,9 @@ class TipComparisonMap(BaseModel):
 
 
 class ComparisonStatePerCalibration(BaseModel):
-    tipLength: Optional[TipComparisonMap]
-    pipetteOffset: Optional[PipetteOffsetComparisonMap]
-    deck: Optional[DeckComparisonMap]
+    tipLength: Optional[TipComparisonMap] = None
+    pipetteOffset: Optional[PipetteOffsetComparisonMap] = None
+    deck: Optional[DeckComparisonMap] = None
 
 
 class ComparisonStatePerPipette(BaseModel):
@@ -123,10 +123,9 @@ class CalibrationCheckSessionStatus(BaseModel):
     supportedCommands: List[str] = Field(
         ..., description="A list of supported commands for this user flow"
     )
-
-    class Config:
-        arbitrary_types_allowed = True
-        schema_extra = {
+    model_config = ConfigDict(
+        arbitrary_types_allowed=True,
+        json_schema_extra={
             "examples": [
                 {
                     "instruments": [
@@ -154,4 +153,5 @@ class Config:
                     },
                 }
             ]
-        }
+        },
+    )
diff --git a/robot-server/robot_server/robot/calibration/deck/models.py b/robot-server/robot_server/robot/calibration/deck/models.py
index 6a444e31682..7e1f1fa5fee 100644
--- a/robot-server/robot_server/robot/calibration/deck/models.py
+++ b/robot-server/robot_server/robot/calibration/deck/models.py
@@ -1,4 +1,4 @@
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 from typing import List
 
 from ..helper_classes import AttachedPipette, RequiredLabware
@@ -15,9 +15,8 @@ class DeckCalibrationSessionStatus(BaseModel):
     supportedCommands: List[str] = Field(
         ..., description="A list of supported commands for this user flow"
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": [
                 {
                     "instrument": {
@@ -41,3 +40,4 @@ class Config:
                 }
             ]
         }
+    )
diff --git a/robot-server/robot_server/robot/calibration/pipette_offset/models.py b/robot-server/robot_server/robot/calibration/pipette_offset/models.py
index d6aa245943f..26d70046d1f 100644
--- a/robot-server/robot_server/robot/calibration/pipette_offset/models.py
+++ b/robot-server/robot_server/robot/calibration/pipette_offset/models.py
@@ -1,5 +1,5 @@
 from typing import Optional, List
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 from ..helper_classes import AttachedPipette, RequiredLabware, NextSteps
 
@@ -23,9 +23,8 @@ class PipetteOffsetCalibrationSessionStatus(BaseModel):
     nextSteps: Optional[NextSteps] = Field(
         None, description="Next Available Steps in Session"
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {
                     "instrument": {
@@ -51,3 +50,4 @@ class Config:
                 }
             ]
         }
+    )
diff --git a/robot-server/robot_server/robot/calibration/tip_length/models.py b/robot-server/robot_server/robot/calibration/tip_length/models.py
index 0149b0a65ee..30d698abb5d 100644
--- a/robot-server/robot_server/robot/calibration/tip_length/models.py
+++ b/robot-server/robot_server/robot/calibration/tip_length/models.py
@@ -1,5 +1,5 @@
 from typing import Optional, List
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 from ..helper_classes import AttachedPipette, RequiredLabware, NextSteps
 
@@ -18,9 +18,8 @@ class TipCalibrationSessionStatus(BaseModel):
     supportedCommands: List[str] = Field(
         ..., description="A list of supported commands for this user flow"
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {
                     "instrument": {
@@ -53,3 +52,4 @@ class Config:
                 }
             ]
         }
+    )
diff --git a/robot-server/robot_server/robot/calibration/util.py b/robot-server/robot_server/robot/calibration/util.py
index 60192aaa74b..dbb2ea5236b 100644
--- a/robot-server/robot_server/robot/calibration/util.py
+++ b/robot-server/robot_server/robot/calibration/util.py
@@ -13,7 +13,7 @@
 from opentrons.types import Point, Location
 
 from robot_server.service.errors import RobotServerError
-from ...service.session.models.command_definitions import CommandDefinition
+from robot_server.service.session.models.command_definitions import CommandDefinition
 from .constants import (
     STATE_WILDCARD,
     MOVE_TO_REF_POINT_SAFETY_BUFFER,
diff --git a/robot-server/robot_server/runs/router/labware_router.py b/robot-server/robot_server/runs/router/labware_router.py
index 16924fd4ae8..5d244e5438b 100644
--- a/robot-server/robot_server/runs/router/labware_router.py
+++ b/robot-server/robot_server/runs/router/labware_router.py
@@ -1,4 +1,5 @@
 """Router for /runs endpoints dealing with labware offsets and definitions."""
+
 import logging
 from typing import Annotated, Union
 
diff --git a/robot-server/robot_server/runs/run_store.py b/robot-server/robot_server/runs/run_store.py
index 0148f20058b..446a7a96482 100644
--- a/robot-server/robot_server/runs/run_store.py
+++ b/robot-server/robot_server/runs/run_store.py
@@ -1,4 +1,5 @@
 """Runs' on-db store."""
+
 import logging
 from collections import defaultdict
 from dataclasses import dataclass
@@ -7,8 +8,8 @@
 from typing import Dict, List, Optional, Literal, Union
 
 import sqlalchemy
+from pydantic import TypeAdapter, ValidationError
 from sqlalchemy import and_
-from pydantic import ValidationError
 
 from opentrons.util.helpers import utc_now
 from opentrons.protocol_engine import (
@@ -38,7 +39,6 @@
 from robot_server.persistence.pydantic import (
     json_to_pydantic,
     pydantic_to_json,
-    json_to_pydantic_list,
     pydantic_list_to_json,
 )
 from robot_server.protocols.protocol_store import ProtocolNotFoundError
@@ -433,7 +433,7 @@ def get_run_time_parameters(self, run_id: str) -> List[RunTimeParameter]:
 
         try:
             return (
-                json_to_pydantic_list(RunTimeParameter, row.run_time_parameters)  # type: ignore[arg-type]
+                json_to_pydantic(_rtp_list_adapter, row.run_time_parameters)
                 if row.run_time_parameters is not None
                 else []
             )
@@ -515,8 +515,7 @@ def get_commands_slice(
             slice_result = transaction.execute(select_slice).all()
 
         sliced_commands: List[Command] = [
-            json_to_pydantic(Command, row.command)  # type: ignore[arg-type]
-            for row in slice_result
+            _parse_command(row.command) for row in slice_result
         ]
 
         return CommandSlice(
@@ -680,7 +679,7 @@ def get_command(self, run_id: str, command_id: str) -> Command:
             if command is None:
                 raise CommandNotFoundError(command_id=command_id)
 
-        return json_to_pydantic(Command, command)  # type: ignore[arg-type]
+        return _parse_command(command)
 
     def remove(self, run_id: str) -> None:
         """Remove a run by its unique identifier.
@@ -829,6 +828,15 @@ def _convert_state_to_sql_values(
     }
 
 
+_command_type_adapter: TypeAdapter[Command] = TypeAdapter(Command)
+_rtp_list_adapter = TypeAdapter(list[RunTimeParameter])
+
+
+def _parse_command(json_str: str) -> Command:
+    """Parse a JSON string from the database into a `Command`."""
+    return json_to_pydantic(_command_type_adapter, json_str)
+
+
 def _convert_commands_status_to_sql_command_status(
     status: CommandStatus,
 ) -> CommandStatusSQLEnum:
diff --git a/robot-server/robot_server/service/json_api/request.py b/robot-server/robot_server/service/json_api/request.py
index 9f716cb66e3..26ad5c882f6 100644
--- a/robot-server/robot_server/service/json_api/request.py
+++ b/robot-server/robot_server/service/json_api/request.py
@@ -1,12 +1,11 @@
 from typing import Generic, TypeVar
-from pydantic import Field
-from pydantic.generics import GenericModel
+from pydantic import BaseModel, Field
 
 
 RequestDataT = TypeVar("RequestDataT")
 
 
-class RequestModel(GenericModel, Generic[RequestDataT]):
+class RequestModel(BaseModel, Generic[RequestDataT]):
     """ """
 
     data: RequestDataT = Field(..., description="the document’s 'primary data'")
diff --git a/robot-server/robot_server/service/json_api/response.py b/robot-server/robot_server/service/json_api/response.py
index 8764d8edd53..0d2500b5297 100644
--- a/robot-server/robot_server/service/json_api/response.py
+++ b/robot-server/robot_server/service/json_api/response.py
@@ -11,9 +11,8 @@
     ParamSpec,
     Callable,
 )
+from typing_extensions import get_args, override
 from pydantic import Field, BaseModel
-from pydantic.generics import GenericModel
-from pydantic.typing import get_args
 from fastapi.responses import JSONResponse
 from fastapi.dependencies.utils import get_typed_return_annotation
 from .resource_links import ResourceLinks as DeprecatedResourceLinks
@@ -41,29 +40,38 @@ class BaseResponseBody(BaseModel):
     JSON responses adhere to the server's generated OpenAPI Spec.
     """
 
+    @override
     def dict(self, *args: Any, **kwargs: Any) -> Dict[str, Any]:
         """Always exclude `None` when serializing to an object.
 
-        The OpenAPI spec marks `Optional` BaseModel fields as omittable, but
-        not nullable. This `dict` method override ensures that `null` is never
-        returned in a response, which would violate the spec.
+        With Pydantic v1, the OpenAPI spec described `Optional`(i.e., possibly
+        `None`-valued) fields as omittable, but not nullable. This did not match
+        Pydantic's actual serialization behavior, which serialized Python `None` to
+        JSON `null` by default. This method override fixed the mismatch by making
+        Pydantic omit the field from serialization instead.
+
+        With Pydantic v2, the OpenAPI spec does describe `Optional` fields as nullable,
+        matching Pydantic's serialization behavior. We therefore no longer need this
+        override to make them match. However, removing this override and changing
+        serialization behavior at this point would risk breaking things on the client.
         """
         kwargs["exclude_none"] = True
         return super().dict(*args, **kwargs)
 
+    @override
     def json(self, *args: Any, **kwargs: Any) -> str:
         """See notes in `.dict()`."""
         kwargs["exclude_none"] = True
         return super().json(*args, **kwargs)
 
 
-class SimpleBody(BaseResponseBody, GenericModel, Generic[ResponseDataT]):
+class SimpleBody(BaseResponseBody, Generic[ResponseDataT]):
     """A response that returns a single resource."""
 
     data: ResponseDataT = Field(..., description=DESCRIPTION_DATA)
 
 
-class Body(BaseResponseBody, GenericModel, Generic[ResponseDataT, ResponseLinksT]):
+class Body(BaseResponseBody, Generic[ResponseDataT, ResponseLinksT]):
     """A response that returns a single resource and stateful links."""
 
     data: ResponseDataT = Field(..., description=DESCRIPTION_DATA)
@@ -74,7 +82,7 @@ class SimpleEmptyBody(BaseResponseBody):
     """A response that returns no data and no links."""
 
 
-class EmptyBody(BaseResponseBody, GenericModel, Generic[ResponseLinksT]):
+class EmptyBody(BaseResponseBody, Generic[ResponseLinksT]):
     """A response that returns no data except stateful links."""
 
     links: ResponseLinksT = Field(..., description=DESCRIPTION_LINKS)
@@ -94,7 +102,7 @@ class MultiBodyMeta(BaseModel):
     )
 
 
-class SimpleMultiBody(BaseResponseBody, GenericModel, Generic[ResponseDataT]):
+class SimpleMultiBody(BaseResponseBody, Generic[ResponseDataT]):
     """A response that returns multiple resources."""
 
     data: Sequence[ResponseDataT] = Field(..., description=DESCRIPTION_DATA)
@@ -114,11 +122,7 @@ class SimpleMultiBody(BaseResponseBody, GenericModel, Generic[ResponseDataT]):
     )
 
 
-class MultiBody(
-    BaseResponseBody,
-    GenericModel,
-    Generic[ResponseDataT, ResponseLinksT],
-):
+class MultiBody(BaseResponseBody, Generic[ResponseDataT, ResponseLinksT]):
     """A response that returns multiple resources and stateful links."""
 
     data: List[ResponseDataT] = Field(..., description=DESCRIPTION_DATA)
@@ -240,7 +244,7 @@ class DeprecatedResponseDataModel(BaseModel):
 
 
 # TODO(mc, 2021-12-09): remove this model
-class DeprecatedResponseModel(GenericModel, Generic[ResponseDataT]):
+class DeprecatedResponseModel(BaseModel, Generic[ResponseDataT]):
     """A response that returns a single resource and stateful links.
 
     This deprecated response model may serialize `Optional` fields to `null`,
@@ -259,7 +263,7 @@ class DeprecatedResponseModel(GenericModel, Generic[ResponseDataT]):
 
 # TODO(mc, 2021-12-09): remove this model
 class DeprecatedMultiResponseModel(
-    GenericModel,
+    BaseModel,
     Generic[ResponseDataT],
 ):
     """A response that returns multiple resources and stateful links.
diff --git a/robot-server/robot_server/service/labware/models.py b/robot-server/robot_server/service/labware/models.py
index 97222e635cf..89d140ced61 100644
--- a/robot-server/robot_server/service/labware/models.py
+++ b/robot-server/robot_server/service/labware/models.py
@@ -2,7 +2,7 @@
 from datetime import datetime
 
 from functools import partial
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 from robot_server.service.json_api import (
     DeprecatedResponseDataModel,
@@ -73,9 +73,8 @@ class LabwareCalibration(DeprecatedResponseDataModel):
     definitionHash: str = Field(
         ..., description="The sha256 hash of key labware definition details"
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {
                     "calibrationData": {
@@ -111,6 +110,7 @@ class Config:
                 },
             ]
         }
+    )
 
 
 MultipleCalibrationsResponse = DeprecatedMultiResponseModel[LabwareCalibration]
diff --git a/robot-server/robot_server/service/legacy/models/control.py b/robot-server/robot_server/service/legacy/models/control.py
index 923ba29eb30..c375ed9d949 100644
--- a/robot-server/robot_server/service/legacy/models/control.py
+++ b/robot-server/robot_server/service/legacy/models/control.py
@@ -3,7 +3,7 @@
 from enum import Enum
 
 from opentrons import types
-from pydantic import BaseModel, Field, root_validator
+from pydantic import model_validator, ConfigDict, BaseModel, Field
 
 
 class MotionTarget(str, Enum):
@@ -28,8 +28,8 @@ class HomeTarget(str, Enum):
     Field,
     ...,
     description="A point in deck coordinates (x, y, z)",
-    min_items=3,
-    max_items=3,
+    min_length=3,
+    max_length=3,
 )
 
 
@@ -51,9 +51,8 @@ class RobotPositions(BaseModel):
 
 class RobotPositionsResponse(BaseModel):
     positions: RobotPositions
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "positions": {
                     "change_pipette": {
@@ -65,6 +64,7 @@ class Config:
                 }
             }
         }
+    )
 
 
 class Mount(str, Enum):
@@ -95,7 +95,8 @@ class RobotMoveTarget(BaseModel):
         "if target is pipette",
     )
 
-    @root_validator(pre=True)
+    @model_validator(mode="before")
+    @classmethod
     def root_validator(cls, values):
         points = values.get("point", [])
         target = values.get("target")
@@ -108,8 +109,8 @@ def root_validator(cls, values):
             )
         return values
 
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {
                     "target": "mount",
@@ -124,6 +125,7 @@ class Config:
                 },
             ]
         }
+    )
 
 
 class RobotHomeTarget(BaseModel):
@@ -141,17 +143,19 @@ class RobotHomeTarget(BaseModel):
         " in that case)",
     )
 
-    @root_validator(pre=True)
+    @model_validator(mode="before")
+    @classmethod
     def root_validate(cls, values):
         # Make sure that mount is present if target is pipette
         if values.get("target") == HomeTarget.pipette.value and not values.get("mount"):
             raise ValueError("mount must be specified if target is pipette")
         return values
 
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [{"target": "robot"}, {"target": "pipette", "mount": "right"}]
         }
+    )
 
 
 class RobotLightState(BaseModel):
diff --git a/robot-server/robot_server/service/legacy/models/deck_calibration.py b/robot-server/robot_server/service/legacy/models/deck_calibration.py
index a1db8eef866..f424ee4fb07 100644
--- a/robot-server/robot_server/service/legacy/models/deck_calibration.py
+++ b/robot-server/robot_server/service/legacy/models/deck_calibration.py
@@ -31,19 +31,19 @@
 class InstrumentOffset(BaseModel):
     single: Offset = Field(
         ...,
-        deprecated=True,
         description=(
             "This will always be `[0, 0, 0]`."
             " Use the `GET /calibration/pipette_offset` endpoint instead."
         ),
+        json_schema_extra={"deprecated": True},
     )
     multi: Offset = Field(
         ...,
-        deprecated=True,
         description=(
             "This will always be `[0, 0, 0]`."
             " Use the `GET /calibration/pipette_offset` endpoint instead."
         ),
+        json_schema_extra={"deprecated": True},
     )
 
 
@@ -78,7 +78,7 @@ class DeckCalibrationData(BaseModel):
         " was used in this calibration."
         " This is deprecated because it was prone to bugs where semantically identical"
         " definitions had different hashes.",
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     source: typing.Optional[SourceType] = Field(
         None, description="The calibration source"
diff --git a/robot-server/robot_server/service/legacy/models/modules.py b/robot-server/robot_server/service/legacy/models/modules.py
index 992c109591a..e15419b7397 100644
--- a/robot-server/robot_server/service/legacy/models/modules.py
+++ b/robot-server/robot_server/service/legacy/models/modules.py
@@ -1,5 +1,5 @@
 import typing
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 
 class TemperatureModuleLiveData(BaseModel):
@@ -168,9 +168,8 @@ class Modules(BaseModel):
     """A list of all attached modules and the status of each one"""
 
     modules: typing.List[Module]
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {"modules": []},
                 {
@@ -270,6 +269,7 @@ class Config:
                 },
             ]
         }
+    )
 
 
 class ModuleSerial(BaseModel):
@@ -288,9 +288,11 @@ class SerialCommand(BaseModel):
     args: typing.Optional[typing.List[typing.Any]] = Field(
         None, description="The ordered args list for the call"
     )
-
-    class Config:
-        schema_extra = {"examples": [{"command_type": "set_Temperature", "args": [60]}]}
+    model_config = ConfigDict(
+        json_schema_extra={
+            "examples": [{"command_type": "set_Temperature", "args": [60]}]
+        }
+    )
 
 
 class SerialCommandResponse(BaseModel):
@@ -300,6 +302,6 @@ class SerialCommandResponse(BaseModel):
     returnValue: typing.Optional[str] = Field(
         None, description="The return value from the call"
     )
-
-    class Config:
-        schema_extra = {"examples": [{"message": "Success", "returnValue": None}]}
+    model_config = ConfigDict(
+        json_schema_extra={"examples": [{"message": "Success", "returnValue": None}]}
+    )
diff --git a/robot-server/robot_server/service/legacy/models/motors.py b/robot-server/robot_server/service/legacy/models/motors.py
index b27b4260131..2242185d6cc 100644
--- a/robot-server/robot_server/service/legacy/models/motors.py
+++ b/robot-server/robot_server/service/legacy/models/motors.py
@@ -1,7 +1,7 @@
 from enum import Enum
 
 import typing
-from pydantic import BaseModel, Field, validator
+from pydantic import field_validator, BaseModel, Field
 
 from opentrons.hardware_control import types
 
@@ -38,8 +38,10 @@ class EngagedMotors(BaseModel):
     z_r: EngagedMotor
     p_l: EngagedMotor
     p_r: EngagedMotor
-    q: typing.Optional[EngagedMotor]  # Optional since OT2 doesn't have these axes
-    g: typing.Optional[EngagedMotor]
+    q: typing.Optional[
+        EngagedMotor
+    ] = None  # Optional since OT2 doesn't have these axes
+    g: typing.Optional[EngagedMotor] = None
 
 
 class Axes(BaseModel):
@@ -47,6 +49,7 @@ class Axes(BaseModel):
 
     axes: typing.List[MotorName]
 
-    @validator("axes", pre=True)
+    @field_validator("axes", mode="before")
+    @classmethod
     def lower_case_motor_name(cls, v):
         return [m.lower() for m in v]
diff --git a/robot-server/robot_server/service/legacy/models/networking.py b/robot-server/robot_server/service/legacy/models/networking.py
index 5b3351fdb3f..53a666719f7 100644
--- a/robot-server/robot_server/service/legacy/models/networking.py
+++ b/robot-server/robot_server/service/legacy/models/networking.py
@@ -1,7 +1,14 @@
 import typing
 from enum import Enum
 
-from pydantic import BaseModel, Field, SecretStr, validator, root_validator
+from pydantic import (
+    field_validator,
+    model_validator,
+    ConfigDict,
+    BaseModel,
+    Field,
+    SecretStr,
+)
 from opentrons.system import wifi
 
 
@@ -53,9 +60,8 @@ class NetworkingStatus(BaseModel):
         description="Per-interface networking status. Properties are "
         "named for network interfaces",
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "status": "full",
                 "interfaces": {
@@ -76,6 +82,7 @@ class Config:
                 },
             }
         }
+    )
 
 
 class NetworkingSecurityType(str, Enum):
@@ -111,9 +118,8 @@ class WifiNetworks(BaseModel):
     """The list of networks"""
 
     list: typing.List[WifiNetworkFull]
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "list": [
                     {
@@ -126,6 +132,7 @@ class Config:
                 ]
             }
         }
+    )
 
 
 class WifiConfiguration(BaseModel):
@@ -141,7 +148,7 @@ class WifiConfiguration(BaseModel):
         "`false` (default if key is not "
         "present) otherwise.",
     )
-    securityType: typing.Optional[NetworkingSecurityType]
+    securityType: typing.Optional[NetworkingSecurityType] = None
 
     psk: typing.Optional[SecretStr] = Field(
         None,
@@ -160,10 +167,11 @@ class WifiConfiguration(BaseModel):
         'and it may also have `"anonymousIdentity"` and '
         '`"caCert"` properties, both of which are identified'
         " as present but not required.",
-        required=["eapType"],
+        json_schema_extra={"required": ["eapType"]},
     )
 
-    @validator("eapConfig")
+    @field_validator("eapConfig")
+    @classmethod
     def eap_config_validate(cls, v):
         """Custom validator for the eapConfig field"""
         if v is not None:
@@ -176,7 +184,8 @@ def eap_config_validate(cls, v):
 
         return v
 
-    @root_validator(pre=True)
+    @model_validator(mode="before")
+    @classmethod
     def validate_configuration(cls, values):
         """Validate the configuration"""
         security_type = values.get("securityType")
@@ -199,8 +208,8 @@ def validate_configuration(cls, values):
             raise ValueError("If securityType is wpa-eap, eapConfig must be specified")
         return values
 
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "examples": [
                 {"ssid": "linksys"},
                 {
@@ -225,6 +234,7 @@ class Config:
                 },
             ]
         }
+    )
 
 
 class WifiConfigurationResponse(BaseModel):
@@ -257,7 +267,7 @@ class WifiKeyFile(BaseModel):
 class AddWifiKeyFileResponse(WifiKeyFile):
     """Response to add wifi key file"""
 
-    message: typing.Optional[str]
+    message: typing.Optional[str] = None
 
 
 class WifiKeyFiles(BaseModel):
@@ -266,9 +276,8 @@ class WifiKeyFiles(BaseModel):
     wifi_keys: typing.List[WifiKeyFile] = Field(
         [], alias="keys", description="A list of keys in the system"
     )
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "keys": [
                     {
@@ -279,6 +288,7 @@ class Config:
                 ]
             }
         }
+    )
 
 
 class EapConfigOptionType(str, Enum):
@@ -327,9 +337,8 @@ class EapOptions(BaseModel):
     """An object describing all supported EAP variants and their parameters"""
 
     options: typing.List[EapVariant]
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "options": [
                     {
@@ -365,3 +374,4 @@ class Config:
                 ]
             }
         }
+    )
diff --git a/robot-server/robot_server/service/legacy/models/pipettes.py b/robot-server/robot_server/service/legacy/models/pipettes.py
index 3c43ac3fec4..cff8c01307f 100644
--- a/robot-server/robot_server/service/legacy/models/pipettes.py
+++ b/robot-server/robot_server/service/legacy/models/pipettes.py
@@ -1,6 +1,6 @@
 import typing
 
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 
 
 class AttachedPipette(BaseModel):
@@ -36,9 +36,8 @@ class PipettesByMount(BaseModel):
 
     left: AttachedPipette
     right: AttachedPipette
-
-    class Config:
-        schema_extra = {
+    model_config = ConfigDict(
+        json_schema_extra={
             "example": {
                 "left": {
                     "model": "p300_single_v1.5",
@@ -58,3 +57,4 @@ class Config:
                 },
             }
         }
+    )
diff --git a/robot-server/robot_server/service/legacy/models/settings.py b/robot-server/robot_server/service/legacy/models/settings.py
index f77977dbe3a..980610f8ef5 100644
--- a/robot-server/robot_server/service/legacy/models/settings.py
+++ b/robot-server/robot_server/service/legacy/models/settings.py
@@ -3,7 +3,7 @@
 
 from typing import Optional, List, Dict, Any, Union
 
-from pydantic import BaseModel, Field, create_model, validator
+from pydantic import field_validator, BaseModel, Field, create_model
 
 from opentrons_shared_data.pipette import model_constants
 from opentrons.config.reset import ResetOptionId
@@ -17,7 +17,7 @@ class AdvancedSetting(BaseModel):
         ...,
         description="The ID by which the property used to be known; not"
         " useful now and may contain spaces or hyphens",
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     title: str = Field(
         ...,
@@ -99,7 +99,8 @@ class LogLevel(BaseModel):
         None, description="The value to set (conforming to Python log levels)"
     )
 
-    @validator("log_level", pre=True)
+    @field_validator("log_level", mode="before")
+    @classmethod
     def lower_case_log_keys(cls, value):
         return value if value is None else LogLevels(value.lower(), None)
 
@@ -136,7 +137,7 @@ class PipetteSettingsField(BaseModel):
     units: Optional[str] = Field(
         None, description="The physical units this value is in (e.g. mm, uL)"
     )
-    type: Optional[PipetteSettingsFieldType]
+    type: Optional[PipetteSettingsFieldType] = None
     min: float = Field(..., description="The minimum acceptable value of the property")
     max: float = Field(..., description="The maximum acceptable value of the property")
     default: float = Field(..., description="The default value of the property")
@@ -184,11 +185,9 @@ class BasePipetteSettingFields(BaseModel):
 
 
 class PipetteSettings(BaseModel):
-    info: PipetteSettingsInfo
-    setting_fields: PipetteSettingsFields  # type: ignore
 
-    class Config:
-        fields = {"setting_fields": "fields"}
+    info: PipetteSettingsInfo
+    setting_fields: PipetteSettingsFields = Field(..., alias="fields")  # type: ignore
 
 
 MultiPipetteSettings = Dict[str, PipetteSettings]
@@ -208,7 +207,8 @@ class PipetteSettingsUpdate(BaseModel):
         None, alias="fields"
     )
 
-    @validator("setting_fields")
+    @field_validator("setting_fields")
+    @classmethod
     def validate_fields(cls, v):
         """A validator to ensure that values for mutable configs are
         floats and booleans for quirks."""
diff --git a/robot-server/robot_server/service/legacy/routers/networking.py b/robot-server/robot_server/service/legacy/routers/networking.py
index b47cf283ddf..3c9ea08be2c 100644
--- a/robot-server/robot_server/service/legacy/routers/networking.py
+++ b/robot-server/robot_server/service/legacy/routers/networking.py
@@ -90,7 +90,7 @@ async def get_wifi_networks(
                 "letting the system decide when to do a rescan."
             ),
         ),
-    ] = False
+    ] = False,
 ) -> WifiNetworks:
     networks = await nmcli.available_ssids(rescan)
     return WifiNetworks(list=[WifiNetworkFull(**n) for n in networks])
@@ -210,7 +210,7 @@ async def delete_wifi_key(
             description="The ID of key to delete, as determined by a previous"
             " call to GET /wifi/keys",
         ),
-    ]
+    ],
 ) -> V1BasicResponse:
     """Delete wifi key handler"""
     deleted_file = wifi.remove_key(key_uuid)
diff --git a/robot-server/robot_server/service/legacy/routers/settings.py b/robot-server/robot_server/service/legacy/routers/settings.py
index f1c7c77dc72..12589748283 100644
--- a/robot-server/robot_server/service/legacy/routers/settings.py
+++ b/robot-server/robot_server/service/legacy/routers/settings.py
@@ -424,7 +424,7 @@ def _pipette_settings_from_mutable_configs(
 
     # TODO(mc, 2020-09-17): s/fields/setting_fields (?)
     # need model and name?
-    return PipetteSettings(  # type: ignore[call-arg]
+    return PipetteSettings(
         info=PipetteSettingsInfo(
             name=cast(str, mutable_configs.get("name", "")),
             model=cast(str, mutable_configs.get("model", "")),
diff --git a/robot-server/robot_server/service/pipette_offset/models.py b/robot-server/robot_server/service/pipette_offset/models.py
index 401afc29273..f5b7af12452 100644
--- a/robot-server/robot_server/service/pipette_offset/models.py
+++ b/robot-server/robot_server/service/pipette_offset/models.py
@@ -31,7 +31,7 @@ class PipetteOffsetCalibration(DeprecatedResponseDataModel):
     pipette: str = Field(..., description="The pipette ID")
     mount: str = Field(..., description="The pipette mount")
     offset: typing.List[float] = Field(
-        ..., description="The pipette offset vector", max_items=3, min_items=3
+        ..., description="The pipette offset vector", max_length=3, min_length=3
     )
     tiprack: str = Field(
         ...,
diff --git a/robot-server/robot_server/service/session/models/command.py b/robot-server/robot_server/service/session/models/command.py
index 6c33f219e05..0f68eb996e0 100644
--- a/robot-server/robot_server/service/session/models/command.py
+++ b/robot-server/robot_server/service/session/models/command.py
@@ -22,7 +22,6 @@
 
 from typing_extensions import Literal
 from pydantic import BaseModel, Field
-from pydantic.generics import GenericModel
 
 from opentrons.util.helpers import utc_now
 from opentrons.protocol_engine import commands
@@ -70,7 +69,7 @@ class CommandStatus(str, Enum):
 
 
 class SessionCommandRequest(
-    GenericModel, typing.Generic[CommandT, RequestDataT, ResponseDataT]
+    BaseModel, typing.Generic[CommandT, RequestDataT, ResponseDataT]
 ):
     """A session command request."""
 
@@ -101,7 +100,6 @@ def make_response(
 
 class SessionCommandResponse(
     DeprecatedResponseDataModel,
-    GenericModel,
     typing.Generic[CommandT, RequestDataT, ResponseDataT],
 ):
     """A session command response."""
@@ -110,8 +108,8 @@ class SessionCommandResponse(
     data: RequestDataT
     status: CommandStatus
     createdAt: datetime = Field(default_factory=utc_now)
-    startedAt: typing.Optional[datetime]
-    completedAt: typing.Optional[datetime]
+    startedAt: typing.Optional[datetime] = None
+    completedAt: typing.Optional[datetime] = None
     result: typing.Optional[ResponseDataT] = None
 
 
diff --git a/robot-server/robot_server/service/session/models/common.py b/robot-server/robot_server/service/session/models/common.py
index add30e47d3e..f61f7d0a5bd 100644
--- a/robot-server/robot_server/service/session/models/common.py
+++ b/robot-server/robot_server/service/session/models/common.py
@@ -22,4 +22,4 @@ class EmptyModel(BaseModel):
 
 
 class JogPosition(BaseModel):
-    vector: OffsetVector = Field(..., min_items=3, max_items=3)
+    vector: OffsetVector = Field(..., min_length=3, max_length=3)
diff --git a/robot-server/robot_server/service/session/models/session.py b/robot-server/robot_server/service/session/models/session.py
index 4587c99f046..7724865e9e4 100644
--- a/robot-server/robot_server/service/session/models/session.py
+++ b/robot-server/robot_server/service/session/models/session.py
@@ -52,7 +52,7 @@ class SessionCreateAttributes(BaseModel):
 class SessionCreateAttributesNoParams(SessionCreateAttributes):
     """The base model of request that has no createParams."""
 
-    createParams: typing.Optional[BaseModel]
+    createParams: typing.Optional[BaseModel] = None
 
 
 class CalibrationCheckCreateAttributes(SessionCreateAttributesNoParams):
diff --git a/robot-server/robot_server/service/session/router.py b/robot-server/robot_server/service/session/router.py
index 3b9da7ba88a..d950572ce8a 100644
--- a/robot-server/robot_server/service/session/router.py
+++ b/robot-server/robot_server/service/session/router.py
@@ -169,7 +169,7 @@ async def session_command_execute_handler(
 
     log.debug(f"Command result: {command_result}")
 
-    return CommandResponse(
+    return CommandResponse.construct(
         data=command_result, links=get_valid_session_links(sessionId, router)
     )
 
diff --git a/robot-server/robot_server/service/tip_length/models.py b/robot-server/robot_server/service/tip_length/models.py
index 2ff8f81b5ef..eca3757be5c 100644
--- a/robot-server/robot_server/service/tip_length/models.py
+++ b/robot-server/robot_server/service/tip_length/models.py
@@ -24,7 +24,7 @@ class TipLengthCalibration(DeprecatedResponseDataModel):
         " This is deprecated because it was prone to bugs where semantically identical"
         " definitions had different hashes."
         " Use `uri` instead.",
-        deprecated=True,
+        json_schema_extra={"deprecated": True},
     )
     pipette: str = Field(..., description="The pipette ID")
     lastModified: datetime = Field(
diff --git a/robot-server/robot_server/settings.py b/robot-server/robot_server/settings.py
index 40b0ed663bb..d67e1040fef 100644
--- a/robot-server/robot_server/settings.py
+++ b/robot-server/robot_server/settings.py
@@ -4,10 +4,11 @@
 from functools import lru_cache
 from pathlib import Path
 
-from pydantic import BaseSettings, Field
+from pydantic import Field
 from dotenv import load_dotenv
 
 from opentrons.config import infer_config_base_dir
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 log = logging.getLogger(__name__)
 
@@ -28,9 +29,7 @@ class Environment(BaseSettings):
     """Environment related settings"""
 
     dot_env_path: Path = infer_config_base_dir() / "robot.env"
-
-    class Config:
-        env_prefix = "OT_ROBOT_SERVER_"
+    model_config = SettingsConfigDict(env_prefix="OT_ROBOT_SERVER_")
 
 
 # If you update this, also update the generated settings_schema.json.
@@ -94,6 +93,8 @@ class RobotServerSettings(BaseSettings):
         ),
     )
 
+    model_config = SettingsConfigDict(env_prefix="OT_ROBOT_SERVER_")
+
     maximum_quick_transfer_protocols: int = Field(
         default=20,
         gt=0,
@@ -110,6 +111,3 @@ class RobotServerSettings(BaseSettings):
             "The maximum number of uploaded data files to allow before auto-deleting old ones."
         ),
     )
-
-    class Config:
-        env_prefix = "OT_ROBOT_SERVER_"
diff --git a/robot-server/scripts/spec_generator.py b/robot-server/scripts/spec_generator.py
index 8f2a807c771..f3253f2471b 100755
--- a/robot-server/scripts/spec_generator.py
+++ b/robot-server/scripts/spec_generator.py
@@ -21,7 +21,7 @@
 def write_api_spec(output: TextIOBase) -> None:
     spec_dict = get_openapi(
         title="Opentrons HTTP API Spec",
-        version=API_VERSION,
+        version=str(API_VERSION),
         description=(
             "This OpenAPI spec describes the HTTP API for Opentrons "
             "robots. It may be retrieved from a robot on port 31950 at "
@@ -34,7 +34,7 @@ def write_api_spec(output: TextIOBase) -> None:
     json.dump(spec_dict, output)
 
 
-def _run_cmdline() -> None:
+def _run_cmdline() -> int:
     parser = ArgumentParser(
         description="Generate a static openapi spec. Note: robot-server must be importable when you run this."
     )
@@ -45,12 +45,8 @@ def _run_cmdline() -> None:
         help="Where to write the file (will be json)",
     )
     args = parser.parse_args()
-    try:
-        write_api_spec(args.output)
-        return 0
-    except Exception as e:
-        sys.stderr.write(str(e) + "\n")
-        return -1
+    write_api_spec(args.output)
+    return 0
 
 
 if __name__ == "__main__":
diff --git a/robot-server/setup.py b/robot-server/setup.py
index 7fcdabade82..1866f478dbc 100755
--- a/robot-server/setup.py
+++ b/robot-server/setup.py
@@ -56,10 +56,11 @@ def get_version():
     f"opentrons-shared-data=={VERSION}",
     f"server-utils=={VERSION}",
     "anyio==3.7.1",
-    "fastapi==0.99.1",
+    "fastapi==0.100.0",
     "python-dotenv==1.0.1",
     "python-multipart==0.0.6",
-    "pydantic==1.10.12",
+    "pydantic==2.9.0",
+    "pydantic-settings==2.4.0",
     "typing-extensions>=4.0.0,<5",
     "uvicorn==0.27.0.post1",
     "wsproto==1.2.0",
diff --git a/robot-server/tests/conftest.py b/robot-server/tests/conftest.py
index aed43626a2b..125e695a134 100644
--- a/robot-server/tests/conftest.py
+++ b/robot-server/tests/conftest.py
@@ -398,3 +398,24 @@ def sql_engine(tmp_path: Path) -> Generator[SQLEngine, None, None]:
     with sql_engine_ctx(db_file_path) as engine:
         metadata.create_all(engine)
         yield engine
+
+
+def datetime_to_zulu_iso8601(dt: datetime) -> str:
+    """Serialize a datetime to an ISO8601 string.
+
+    If the timezone is UTC, represent that with "Z", which matches what Pydantic does,
+    instead instead of with "+00:00", which is Python's default.
+
+    e.g. "2024-12-10T19:40:55.984327Z" vs. "2024-12-10T19:40:55.984327+00:00".
+    """
+    return dt.isoformat().replace("+00:00", "Z")
+
+
+# todo(mm, 2024-12-10):
+# In Python 3.11+, we can replace this with just datetime.fromisoformat().
+def zulu_iso8601_to_datetime(iso8601_str: str) -> datetime:
+    """Parse an ISO8601 datetime string with a "Z" timezone.
+
+    See `datetime_to_zulu_iso8601()`.
+    """
+    return datetime.fromisoformat(iso8601_str.replace("Z", "+00:00"))
diff --git a/robot-server/tests/errors/test_exception_handlers.py b/robot-server/tests/errors/test_exception_handlers.py
index eff6b5e041c..45cbf27321e 100644
--- a/robot-server/tests/errors/test_exception_handlers.py
+++ b/robot-server/tests/errors/test_exception_handlers.py
@@ -22,13 +22,7 @@ class Item(BaseModel):
 @pytest.fixture
 def app() -> FastAPI:
     """Get a FastAPI app with our exception handlers."""
-    app = FastAPI()
-
-    # TODO(mc, 2021-05-10): upgrade to FastAPI > 0.61.2 to use `exception_handlers` arg
-    # see https://github.com/tiangolo/fastapi/pull/1924
-    for exc_cls, handler in exception_handlers.items():
-        app.add_exception_handler(exc_cls, handler)
-
+    app = FastAPI(exception_handlers=exception_handlers)
     return app
 
 
@@ -159,21 +153,23 @@ def create_item(item: Item) -> Item:
                 "errorCode": "4000",
                 "id": "InvalidRequest",
                 "title": "Invalid Request",
-                "detail": "field required",
+                "detail": "Field required",
                 "source": {"pointer": "/string_field"},
             },
             {
                 "errorCode": "4000",
                 "id": "InvalidRequest",
                 "title": "Invalid Request",
-                "detail": "value is not a valid integer",
+                "detail": "Input should be a valid integer, unable to parse "
+                "string as an integer",
                 "source": {"pointer": "/int_field"},
             },
             {
                 "errorCode": "4000",
                 "id": "InvalidRequest",
                 "title": "Invalid Request",
-                "detail": "value could not be parsed to a boolean",
+                "detail": "Input should be a valid boolean, unable to interpret "
+                "input",
                 "source": {"pointer": "/array_field/0"},
             },
         ]
@@ -196,7 +192,8 @@ def get_item(count: int) -> Item:
                 "errorCode": "4000",
                 "id": "InvalidRequest",
                 "title": "Invalid Request",
-                "detail": "value is not a valid integer",
+                "detail": "Input should be a valid integer, unable to parse "
+                "string as an integer",
                 "source": {"parameter": "count"},
             },
         ]
@@ -219,7 +216,7 @@ def get_item(header_name: str = Header(...)) -> Item:
                 "errorCode": "4000",
                 "id": "InvalidRequest",
                 "title": "Invalid Request",
-                "detail": "field required",
+                "detail": "Field required",
                 "source": {"header": "header-name"},
             },
         ]
@@ -242,8 +239,9 @@ def create_item_legacy(item: Item) -> Item:
     assert response.json() == {
         "errorCode": "4000",
         "message": (
-            "body.string_field: none is not an allowed value; "
-            "body.int_field: value is not a valid integer; "
-            "body.array_field.0: value could not be parsed to a boolean"
+            "body.string_field: Input should be a valid string; "
+            "body.int_field: Input should be a valid integer, unable to parse "
+            "string as an integer; body.array_field.0: Input should be a valid "
+            "boolean, unable to interpret input"
         ),
     }
diff --git a/robot-server/tests/integration/http_api/runs/test_persistence.py b/robot-server/tests/integration/http_api/runs/test_persistence.py
index 943f644e8d3..84b5f28aeb6 100644
--- a/robot-server/tests/integration/http_api/runs/test_persistence.py
+++ b/robot-server/tests/integration/http_api/runs/test_persistence.py
@@ -6,6 +6,7 @@
 import anyio
 import pytest
 
+from tests.conftest import zulu_iso8601_to_datetime
 from tests.integration.dev_server import DevServer
 from tests.integration.robot_client import RobotClient
 
@@ -298,13 +299,13 @@ async def test_runs_completed_started_at_persist_via_actions_router(
     get_run_response = await client.get_run(run_id=run_id)
     run_data = get_run_response.json()["data"]
 
-    assert datetime.fromisoformat(run_data["startedAt"]).timestamp() == pytest.approx(
+    assert zulu_iso8601_to_datetime(run_data["startedAt"]).timestamp() == pytest.approx(
         expected_started_at.timestamp(), abs=2
     )
 
-    assert datetime.fromisoformat(run_data["completedAt"]).timestamp() == pytest.approx(
-        expected_completed_at.timestamp(), abs=2
-    )
+    assert zulu_iso8601_to_datetime(
+        run_data["completedAt"]
+    ).timestamp() == pytest.approx(expected_completed_at.timestamp(), abs=2)
 
     # make sure the times are in order
     assert run_data["startedAt"] < run_data["completedAt"]
@@ -332,6 +333,6 @@ async def test_runs_completed_filled_started_at_none_persist(
     run_data = get_run_response.json()["data"]
 
     assert "startedAt" not in run_data
-    assert datetime.fromisoformat(run_data["completedAt"]).timestamp() == pytest.approx(
-        expected_completed_at.timestamp(), abs=2
-    )
+    assert zulu_iso8601_to_datetime(
+        run_data["completedAt"]
+    ).timestamp() == pytest.approx(expected_completed_at.timestamp(), abs=2)
diff --git a/robot-server/tests/integration/robot_client.py b/robot-server/tests/integration/robot_client.py
index 7e6b70c09f6..bda888507bb 100644
--- a/robot-server/tests/integration/robot_client.py
+++ b/robot-server/tests/integration/robot_client.py
@@ -10,7 +10,7 @@
 from httpx import Response
 
 
-_STARTUP_WAIT = 20
+_STARTUP_WAIT = 40
 _SHUTDOWN_WAIT = 20
 
 _RUN_POLL_INTERVAL = 0.1
diff --git a/robot-server/tests/integration/system/test_system_time.tavern.yaml b/robot-server/tests/integration/system/test_system_time.tavern.yaml
index 1b78ea1d1f5..bffb3760cc8 100644
--- a/robot-server/tests/integration/system/test_system_time.tavern.yaml
+++ b/robot-server/tests/integration/system/test_system_time.tavern.yaml
@@ -34,14 +34,6 @@ stages:
           id: 'time'
     response:
       status_code: 422
-      json:
-        errors:
-          - id: 'InvalidRequest'
-            title: 'Invalid Request'
-            detail: 'field required'
-            errorCode: '4000'
-            source:
-              pointer: '/data/systemTime'
   - name: System Time PUT request on a dev server raises error
     request:
       url: '{ot2_server_base_url}/system/time'
diff --git a/robot-server/tests/integration/test_identify.tavern.yaml b/robot-server/tests/integration/test_identify.tavern.yaml
index b753ef84db7..1ad773c420e 100644
--- a/robot-server/tests/integration/test_identify.tavern.yaml
+++ b/robot-server/tests/integration/test_identify.tavern.yaml
@@ -7,7 +7,7 @@ stages:
   - name: Identify a robot by flashing the lights
     request:
       method: POST
-      url: "{ot2_server_base_url}/identify"
+      url: '{ot2_server_base_url}/identify'
       params:
         seconds: 5
     response:
@@ -23,9 +23,6 @@ stages:
   - name: Attempt to send identify request without parameters
     request:
       method: POST
-      url: "{ot2_server_base_url}/identify"
+      url: '{ot2_server_base_url}/identify'
     response:
       status_code: 422
-      json:
-        message: "query.seconds: field required"
-        errorCode: "4000"
diff --git a/robot-server/tests/integration/test_settings_log_level.tavern.yaml b/robot-server/tests/integration/test_settings_log_level.tavern.yaml
index 0a7c4e6bcf4..9604a821d87 100644
--- a/robot-server/tests/integration/test_settings_log_level.tavern.yaml
+++ b/robot-server/tests/integration/test_settings_log_level.tavern.yaml
@@ -11,16 +11,16 @@ marks:
         - warning
         - error
 stages:
-  - name: Set log_level to acceptable values 
+  - name: Set log_level to acceptable values
     request:
       method: POST
-      url: "{ot2_server_base_url}/settings/log_level/local"
-      json: 
-        log_level: "{log_level}"
+      url: '{ot2_server_base_url}/settings/log_level/local'
+      json:
+        log_level: '{log_level}'
     response:
       status_code: 200
       json:
-        message: "log_level set to {log_level}"
+        message: 'log_level set to {log_level}'
 ---
 # Incorect Log Level Requests
 test_name: POST Set log level to invalid value
@@ -28,31 +28,25 @@ marks:
   - usefixtures:
       - ot2_server_base_url
 stages:
-  - name: Set log_level to error 
+  - name: Set log_level to error
     request:
       method: POST
-      url: "{ot2_server_base_url}/settings/log_level/local"
-      json: 
+      url: '{ot2_server_base_url}/settings/log_level/local'
+      json:
         log_level: bad_level
     response:
       status_code: 422
-      json:
-        message: "body.log_level: '{tavern.request_vars.json.log_level}' is not a valid LogLevels"
-        errorCode: '4000'
 ---
 test_name: POST Set log level to nothing
 marks:
   - usefixtures:
       - ot2_server_base_url
 stages:
-  - name: Set log_level to nothing 
+  - name: Set log_level to nothing
     request:
       method: POST
-      url: "{ot2_server_base_url}/settings/log_level/local"
-      json: 
+      url: '{ot2_server_base_url}/settings/log_level/local'
+      json:
         log_level: Null
     response:
       status_code: 422
-      json:
-        message: "log_level must be set"
-        errorCode: '4000'
diff --git a/robot-server/tests/integration/test_settings_reset_options.tavern.yaml b/robot-server/tests/integration/test_settings_reset_options.tavern.yaml
index e6436d2a352..2f6ce05f120 100644
--- a/robot-server/tests/integration/test_settings_reset_options.tavern.yaml
+++ b/robot-server/tests/integration/test_settings_reset_options.tavern.yaml
@@ -195,6 +195,3 @@ stages:
         doesNotExist: true
     response:
       status_code: 422
-      json:
-        message: !re_search 'value is not a valid enumeration member'
-        errorCode: '4000'
diff --git a/robot-server/tests/maintenance_runs/test_run_data_manager.py b/robot-server/tests/maintenance_runs/test_run_data_manager.py
index 07bc9c2e476..634eaab6ce5 100644
--- a/robot-server/tests/maintenance_runs/test_run_data_manager.py
+++ b/robot-server/tests/maintenance_runs/test_run_data_manager.py
@@ -1,4 +1,5 @@
 """Tests for RunDataManager."""
+
 import pytest
 from datetime import datetime
 from decoy import Decoy
@@ -62,13 +63,17 @@ def engine_state_summary() -> StateSummary:
     """Get a StateSummary value object."""
     return StateSummary(
         status=EngineStatus.IDLE,
-        errors=[ErrorOccurrence.construct(id="some-error-id")],  # type: ignore[call-arg]
+        errors=[ErrorOccurrence.model_construct(id="some-error-id")],  # type: ignore[call-arg]
         hasEverEnteredErrorRecovery=False,
-        labware=[LoadedLabware.construct(id="some-labware-id")],  # type: ignore[call-arg]
-        labwareOffsets=[LabwareOffset.construct(id="some-labware-offset-id")],  # type: ignore[call-arg]
-        pipettes=[LoadedPipette.construct(id="some-pipette-id")],  # type: ignore[call-arg]
-        modules=[LoadedModule.construct(id="some-module-id")],  # type: ignore[call-arg]
-        liquids=[Liquid(id="some-liquid-id", displayName="liquid", description="desc")],
+        labware=[LoadedLabware.model_construct(id="some-labware-id")],  # type: ignore[call-arg]
+        labwareOffsets=[LabwareOffset.model_construct(id="some-labware-offset-id")],  # type: ignore[call-arg]
+        pipettes=[LoadedPipette.model_construct(id="some-pipette-id")],  # type: ignore[call-arg]
+        modules=[LoadedModule.model_construct(id="some-module-id")],  # type: ignore[call-arg]
+        liquids=[
+            Liquid.model_construct(
+                id="some-liquid-id", displayName="liquid", description="desc"
+            )
+        ],
         liquidClasses=[],
         wells=[],
     )
diff --git a/robot-server/tests/persistence/test_pydantic.py b/robot-server/tests/persistence/test_pydantic.py
new file mode 100644
index 00000000000..4e25b8c0fca
--- /dev/null
+++ b/robot-server/tests/persistence/test_pydantic.py
@@ -0,0 +1,35 @@
+"""Unit tests for `robot_server.persistence.pydantic`."""
+
+
+from pydantic import BaseModel, Field, TypeAdapter
+
+from robot_server.persistence import pydantic as subject
+
+
+class _DummyModel(BaseModel):
+    field: str
+    aliasedField: str = Field(alias="aliasedFieldAlias")
+
+
+def test_round_trip() -> None:
+    """Test Python->JSON->Python round trips."""
+    original = _DummyModel.construct(field="hello", aliasedField="world")
+    after_round_trip = subject.json_to_pydantic(
+        _DummyModel, subject.pydantic_to_json(original)
+    )
+    assert after_round_trip == original
+
+    original_list = [original] * 10
+    after_round_trip_list = subject.json_to_pydantic(
+        TypeAdapter(list[_DummyModel]), subject.pydantic_list_to_json(original_list)
+    )
+    assert after_round_trip_list == original_list
+
+
+def test_field_aliases() -> None:
+    """The JSON should contain field aliases, not the Python attribute names."""
+    original = _DummyModel.construct(field="hello", aliasedField="world")
+    json = subject.pydantic_to_json(original)
+    json_list = subject.pydantic_list_to_json([original])
+    assert '"aliasedFieldAlias"' in json
+    assert '"aliasedFieldAlias"' in json_list
diff --git a/robot-server/tests/runs/router/test_base_router.py b/robot-server/tests/runs/router/test_base_router.py
index ee9b291cc4a..9cf42061faa 100644
--- a/robot-server/tests/runs/router/test_base_router.py
+++ b/robot-server/tests/runs/router/test_base_router.py
@@ -1,4 +1,5 @@
 """Tests for base /runs routes."""
+
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons_shared_data.robot.types import RobotTypeEnum
 import pytest
@@ -874,6 +875,7 @@ async def test_get_current_state_success(
             )
         },
         tipStates={"mock-pipette-id": TipState(hasTip=True)},
+        placeLabwareState=None,
     )
     assert result.content.links == CurrentStateLinks(
         lastCompleted=CommandLinkNoMeta(
diff --git a/robot-server/tests/runs/router/test_labware_router.py b/robot-server/tests/runs/router/test_labware_router.py
index 1252d983efb..a81c6726e6d 100644
--- a/robot-server/tests/runs/router/test_labware_router.py
+++ b/robot-server/tests/runs/router/test_labware_router.py
@@ -1,4 +1,5 @@
 """Tests for /runs routes dealing with labware offsets and definitions."""
+
 import pytest
 from datetime import datetime
 from decoy import Decoy
@@ -49,7 +50,7 @@ def run() -> Run:
 @pytest.fixture()
 def labware_definition(minimal_labware_def: LabwareDefDict) -> LabwareDefinition:
     """Create a labware definition fixture."""
-    return LabwareDefinition.parse_obj(minimal_labware_def)
+    return LabwareDefinition.model_validate(minimal_labware_def)
 
 
 async def test_add_labware_offset(
@@ -162,8 +163,8 @@ async def test_get_run_labware_definition(
         mock_run_data_manager.get_run_loaded_labware_definitions(run_id="run-id")
     ).then_return(
         [
-            SD_LabwareDefinition.construct(namespace="test_1"),  # type: ignore[call-arg]
-            SD_LabwareDefinition.construct(namespace="test_2"),  # type: ignore[call-arg]
+            SD_LabwareDefinition.model_construct(namespace="test_1"),  # type: ignore[call-arg]
+            SD_LabwareDefinition.model_construct(namespace="test_2"),  # type: ignore[call-arg]
         ]
     )
 
@@ -172,7 +173,7 @@ async def test_get_run_labware_definition(
     )
 
     assert result.content.data == [
-        SD_LabwareDefinition.construct(namespace="test_1"),  # type: ignore[call-arg]
-        SD_LabwareDefinition.construct(namespace="test_2"),  # type: ignore[call-arg]
+        SD_LabwareDefinition.model_construct(namespace="test_1"),  # type: ignore[call-arg]
+        SD_LabwareDefinition.model_construct(namespace="test_2"),  # type: ignore[call-arg]
     ]
     assert result.status_code == 200
diff --git a/robot-server/tests/runs/test_error_recovery_mapping.py b/robot-server/tests/runs/test_error_recovery_mapping.py
index 8b75ff99aad..0212fd0b6ed 100644
--- a/robot-server/tests/runs/test_error_recovery_mapping.py
+++ b/robot-server/tests/runs/test_error_recovery_mapping.py
@@ -116,9 +116,9 @@ def test_create_error_recovery_policy_defined_error(
 @pytest.mark.parametrize("enabled", [True, False])
 def test_enabled_boolean(enabled: bool) -> None:
     """enabled=False should override any rules and always fail the run."""
-    command = LiquidProbe.construct()  # type: ignore[call-arg]
+    command = LiquidProbe.construct()
     error_data = DefinedErrorData[LiquidNotFoundError](
-        public=LiquidNotFoundError.construct()  # type: ignore[call-arg]
+        public=LiquidNotFoundError.construct()
     )
 
     rules = [
@@ -160,9 +160,9 @@ def test_enabled_on_flex_disabled_on_ot2(
     robot_type: RobotType, expect_error_recovery_to_be_enabled: bool
 ) -> None:
     """On OT-2s, the run should always fail regardless of any input rules."""
-    command = LiquidProbe.construct()  # type: ignore[call-arg]
+    command = LiquidProbe.construct()
     error_data = DefinedErrorData[LiquidNotFoundError](
-        public=LiquidNotFoundError.construct()  # type: ignore[call-arg]
+        public=LiquidNotFoundError.construct()
     )
 
     rules = [
diff --git a/robot-server/tests/runs/test_run_controller.py b/robot-server/tests/runs/test_run_controller.py
index 1aa17ba9932..8b417aff1b2 100644
--- a/robot-server/tests/runs/test_run_controller.py
+++ b/robot-server/tests/runs/test_run_controller.py
@@ -111,7 +111,7 @@ def command_annotations() -> List[CommandAnnotation]:
 def protocol_commands() -> List[pe_commands.Command]:
     """Get a StateSummary value object."""
     return [
-        pe_commands.WaitForResume.construct(  # type: ignore[call-arg]
+        pe_commands.WaitForResume.model_construct(  # type: ignore[call-arg]
             params=pe_commands.WaitForResumeParams(message="hello world")
         )
     ]
diff --git a/robot-server/tests/runs/test_run_data_manager.py b/robot-server/tests/runs/test_run_data_manager.py
index a56c8dbc705..31b58f9950a 100644
--- a/robot-server/tests/runs/test_run_data_manager.py
+++ b/robot-server/tests/runs/test_run_data_manager.py
@@ -1,4 +1,5 @@
 """Tests for RunDataManager."""
+
 from datetime import datetime
 from typing import Optional, List, Dict
 from unittest.mock import sentinel
@@ -98,13 +99,17 @@ def engine_state_summary() -> StateSummary:
     """Get a StateSummary value object."""
     return StateSummary(
         status=EngineStatus.IDLE,
-        errors=[ErrorOccurrence.construct(id="some-error-id")],  # type: ignore[call-arg]
+        errors=[ErrorOccurrence.model_construct(id="some-error-id")],  # type: ignore[call-arg]
         hasEverEnteredErrorRecovery=False,
-        labware=[LoadedLabware.construct(id="some-labware-id")],  # type: ignore[call-arg]
-        labwareOffsets=[LabwareOffset.construct(id="some-labware-offset-id")],  # type: ignore[call-arg]
-        pipettes=[LoadedPipette.construct(id="some-pipette-id")],  # type: ignore[call-arg]
-        modules=[LoadedModule.construct(id="some-module-id")],  # type: ignore[call-arg]
-        liquids=[Liquid(id="some-liquid-id", displayName="liquid", description="desc")],
+        labware=[LoadedLabware.model_construct(id="some-labware-id")],  # type: ignore[call-arg]
+        labwareOffsets=[LabwareOffset.model_construct(id="some-labware-offset-id")],  # type: ignore[call-arg]
+        pipettes=[LoadedPipette.model_construct(id="some-pipette-id")],  # type: ignore[call-arg]
+        modules=[LoadedModule.model_construct(id="some-module-id")],  # type: ignore[call-arg]
+        liquids=[
+            Liquid.model_construct(
+                id="some-liquid-id", displayName="liquid", description="desc"
+            )
+        ],
         liquidClasses=[],
         wells=[],
     )
@@ -513,13 +518,17 @@ async def test_get_all_runs(
     """It should get all runs, including current and historical."""
     current_run_data = StateSummary(
         status=EngineStatus.IDLE,
-        errors=[ErrorOccurrence.construct(id="current-error-id")],  # type: ignore[call-arg]
+        errors=[ErrorOccurrence.model_construct(id="current-error-id")],  # type: ignore[call-arg]
         hasEverEnteredErrorRecovery=False,
-        labware=[LoadedLabware.construct(id="current-labware-id")],  # type: ignore[call-arg]
-        labwareOffsets=[LabwareOffset.construct(id="current-labware-offset-id")],  # type: ignore[call-arg]
-        pipettes=[LoadedPipette.construct(id="current-pipette-id")],  # type: ignore[call-arg]
-        modules=[LoadedModule.construct(id="current-module-id")],  # type: ignore[call-arg]
-        liquids=[Liquid(id="some-liquid-id", displayName="liquid", description="desc")],
+        labware=[LoadedLabware.model_construct(id="current-labware-id")],  # type: ignore[call-arg]
+        labwareOffsets=[LabwareOffset.model_construct(id="current-labware-offset-id")],  # type: ignore[call-arg]
+        pipettes=[LoadedPipette.model_construct(id="current-pipette-id")],  # type: ignore[call-arg]
+        modules=[LoadedModule.model_construct(id="current-module-id")],  # type: ignore[call-arg]
+        liquids=[
+            Liquid.model_construct(
+                id="some-liquid-id", displayName="liquid", description="desc"
+            )
+        ],
         liquidClasses=[],
         wells=[],
     )
@@ -534,12 +543,12 @@ async def test_get_all_runs(
 
     historical_run_data = StateSummary(
         status=EngineStatus.STOPPED,
-        errors=[ErrorOccurrence.construct(id="old-error-id")],  # type: ignore[call-arg]
+        errors=[ErrorOccurrence.model_construct(id="old-error-id")],  # type: ignore[call-arg]
         hasEverEnteredErrorRecovery=False,
-        labware=[LoadedLabware.construct(id="old-labware-id")],  # type: ignore[call-arg]
-        labwareOffsets=[LabwareOffset.construct(id="old-labware-offset-id")],  # type: ignore[call-arg]
-        pipettes=[LoadedPipette.construct(id="old-pipette-id")],  # type: ignore[call-arg]
-        modules=[LoadedModule.construct(id="old-module-id")],  # type: ignore[call-arg]
+        labware=[LoadedLabware.model_construct(id="old-labware-id")],  # type: ignore[call-arg]
+        labwareOffsets=[LabwareOffset.model_construct(id="old-labware-offset-id")],  # type: ignore[call-arg]
+        pipettes=[LoadedPipette.model_construct(id="old-pipette-id")],  # type: ignore[call-arg]
+        modules=[LoadedModule.model_construct(id="old-module-id")],  # type: ignore[call-arg]
         liquids=[],
         liquidClasses=[],
         wells=[],
@@ -958,9 +967,7 @@ def test_get_commands_errors_slice_historical_run(
     mock_run_store: RunStore,
 ) -> None:
     """Should get a sliced command error list from engine store."""
-    expected_commands_errors_result = [
-        ErrorOccurrence.construct(id="error-id")  # type: ignore[call-arg]
-    ]
+    expected_commands_errors_result = [ErrorOccurrence.construct(id="error-id")]
 
     command_error_slice = CommandErrorSlice(
         cursor=1, total_length=3, commands_errors=expected_commands_errors_result
@@ -985,7 +992,7 @@ def test_get_commands_errors_slice_current_run(
 ) -> None:
     """Should get a sliced command error list from engine store."""
     expected_commands_errors_result = [
-        ErrorOccurrence.construct(id="error-id")  # type: ignore[call-arg]
+        ErrorOccurrence.model_construct(id="error-id")  # type: ignore[call-arg]
     ]
 
     command_error_slice = CommandErrorSlice(
@@ -1257,16 +1264,16 @@ async def test_get_current_run_labware_definition(
         mock_run_orchestrator_store.get_loaded_labware_definitions()
     ).then_return(
         [
-            LabwareDefinition.construct(namespace="test_1"),  # type: ignore[call-arg]
-            LabwareDefinition.construct(namespace="test_2"),  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(namespace="test_1"),  # type: ignore[call-arg]
+            LabwareDefinition.model_construct(namespace="test_2"),  # type: ignore[call-arg]
         ]
     )
 
     result = subject.get_run_loaded_labware_definitions(run_id="run-id")
 
     assert result == [
-        LabwareDefinition.construct(namespace="test_1"),  # type: ignore[call-arg]
-        LabwareDefinition.construct(namespace="test_2"),  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(namespace="test_1"),  # type: ignore[call-arg]
+        LabwareDefinition.model_construct(namespace="test_2"),  # type: ignore[call-arg]
     ]
 
 
diff --git a/robot-server/tests/runs/test_run_store.py b/robot-server/tests/runs/test_run_store.py
index ab8e5f10fdf..cfbe89a44e4 100644
--- a/robot-server/tests/runs/test_run_store.py
+++ b/robot-server/tests/runs/test_run_store.py
@@ -1,4 +1,5 @@
 """Tests for robot_server.runs.run_store."""
+
 from datetime import datetime, timezone
 from pathlib import Path
 from typing import List, Optional, Type
@@ -241,10 +242,10 @@ def run_time_parameters() -> List[pe_types.RunTimeParameter]:
 @pytest.fixture
 def invalid_state_summary() -> StateSummary:
     """Should fail pydantic validation."""
-    analysis_error = pe_errors.ErrorOccurrence.construct(
+    analysis_error = pe_errors.ErrorOccurrence.model_construct(
         id="error-id",
         # Invalid value here should fail analysis
-        createdAt=MountType.LEFT,  # type: ignore
+        createdAt=MountType.LEFT,  # type: ignore[arg-type]
         errorType="BadError",
         detail="oh no",
     )
@@ -737,7 +738,7 @@ def test_get_run_time_parameters_invalid(
     state_summary: StateSummary,
 ) -> None:
     """It should return an empty list if there invalid parameters."""
-    bad_parameters = [pe_types.BooleanParameter.construct(foo="bar")]  # type: ignore[call-arg]
+    bad_parameters = [pe_types.BooleanParameter.construct(foo="bar")]
     subject.insert(
         run_id="run-id",
         protocol_id=None,
@@ -993,12 +994,12 @@ def test_get_all_commands_as_preserialized_list(
         run_id="run-id", include_fixit_commands=True
     )
     assert result == [
-        '{"id": "pause-1", "createdAt": "2021-01-01T00:00:00", "commandType": "waitForResume",'
-        ' "key": "command-key", "status": "succeeded", "params": {"message": "hello world"}, "result": {}, "intent": "protocol"}',
-        '{"id": "pause-2", "createdAt": "2022-02-02T00:00:00", "commandType": "waitForResume",'
-        ' "key": "command-key", "status": "succeeded", "params": {"message": "hey world"}, "result": {}, "intent": "protocol"}',
-        '{"id": "pause-3", "createdAt": "2023-03-03T00:00:00", "commandType": "waitForResume", "key": "command-key", "status": "succeeded", "params": {"message": "sup world"}, "result": {}}',
-        '{"id": "fixit-pause-1", "createdAt": "2021-01-01T00:00:00", "commandType": "waitForResume", "key": "command-key", "status": "succeeded", "params": {"message": "hello world"}, "result": {}, "intent": "fixit"}',
+        '{"id":"pause-1","createdAt":"2021-01-01T00:00:00","commandType":"waitForResume",'
+        '"key":"command-key","status":"succeeded","params":{"message":"hello world"},"result":{},"intent":"protocol"}',
+        '{"id":"pause-2","createdAt":"2022-02-02T00:00:00","commandType":"waitForResume",'
+        '"key":"command-key","status":"succeeded","params":{"message":"hey world"},"result":{},"intent":"protocol"}',
+        '{"id":"pause-3","createdAt":"2023-03-03T00:00:00","commandType":"waitForResume","key":"command-key","status":"succeeded","params":{"message":"sup world"},"result":{}}',
+        '{"id":"fixit-pause-1","createdAt":"2021-01-01T00:00:00","commandType":"waitForResume","key":"command-key","status":"succeeded","params":{"message":"hello world"},"result":{},"intent":"fixit"}',
     ]
 
 
@@ -1023,9 +1024,9 @@ def test_get_all_commands_as_preserialized_list_no_fixit(
         run_id="run-id", include_fixit_commands=False
     )
     assert result == [
-        '{"id": "pause-1", "createdAt": "2021-01-01T00:00:00", "commandType": "waitForResume",'
-        ' "key": "command-key", "status": "succeeded", "params": {"message": "hello world"}, "result": {}, "intent": "protocol"}',
-        '{"id": "pause-2", "createdAt": "2022-02-02T00:00:00", "commandType": "waitForResume",'
-        ' "key": "command-key", "status": "succeeded", "params": {"message": "hey world"}, "result": {}, "intent": "protocol"}',
-        '{"id": "pause-3", "createdAt": "2023-03-03T00:00:00", "commandType": "waitForResume", "key": "command-key", "status": "succeeded", "params": {"message": "sup world"}, "result": {}}',
+        '{"id":"pause-1","createdAt":"2021-01-01T00:00:00","commandType":"waitForResume",'
+        '"key":"command-key","status":"succeeded","params":{"message":"hello world"},"result":{},"intent":"protocol"}',
+        '{"id":"pause-2","createdAt":"2022-02-02T00:00:00","commandType":"waitForResume",'
+        '"key":"command-key","status":"succeeded","params":{"message":"hey world"},"result":{},"intent":"protocol"}',
+        '{"id":"pause-3","createdAt":"2023-03-03T00:00:00","commandType":"waitForResume","key":"command-key","status":"succeeded","params":{"message":"sup world"},"result":{}}',
     ]
diff --git a/robot-server/tests/service/json_api/test_request.py b/robot-server/tests/service/json_api/test_request.py
index 446c7e32339..71cd3d0cbcc 100644
--- a/robot-server/tests/service/json_api/test_request.py
+++ b/robot-server/tests/service/json_api/test_request.py
@@ -29,18 +29,24 @@ def test_attributes_as_item_model_empty_dict():
     assert e.value.errors() == [
         {
             "loc": ("data", "name"),
-            "msg": "field required",
-            "type": "value_error.missing",
+            "msg": "Field required",
+            "type": "missing",
+            "input": {},
+            "url": "https://errors.pydantic.dev/2.9/v/missing",
         },
         {
             "loc": ("data", "quantity"),
-            "msg": "field required",
-            "type": "value_error.missing",
+            "msg": "Field required",
+            "type": "missing",
+            "input": {},
+            "url": "https://errors.pydantic.dev/2.9/v/missing",
         },
         {
             "loc": ("data", "price"),
-            "msg": "field required",
-            "type": "value_error.missing",
+            "msg": "Field required",
+            "type": "missing",
+            "input": {},
+            "url": "https://errors.pydantic.dev/2.9/v/missing",
         },
     ]
 
@@ -54,8 +60,10 @@ def test_attributes_required():
     assert e.value.errors() == [
         {
             "loc": ("data",),
-            "msg": "none is not an allowed value",
-            "type": "type_error.none.not_allowed",
+            "msg": "Input should be a valid dictionary",
+            "input": None,
+            "url": "https://errors.pydantic.dev/2.9/v/dict_type",
+            "type": "dict_type",
         },
     ]
 
@@ -69,8 +77,10 @@ def test_data_required():
     assert e.value.errors() == [
         {
             "loc": ("data",),
-            "msg": "none is not an allowed value",
-            "type": "type_error.none.not_allowed",
+            "msg": "Input should be a valid dictionary",
+            "input": None,
+            "url": "https://errors.pydantic.dev/2.9/v/dict_type",
+            "type": "dict_type",
         },
     ]
 
diff --git a/robot-server/tests/service/json_api/test_resource_links.py b/robot-server/tests/service/json_api/test_resource_links.py
index 5505dfeac21..804fa77b837 100644
--- a/robot-server/tests/service/json_api/test_resource_links.py
+++ b/robot-server/tests/service/json_api/test_resource_links.py
@@ -27,5 +27,11 @@ def test_must_be_self_key_with_string_value():
     with raises(ValidationError) as e:
         ThingWithLink.parse_obj(invalid_structure_to_validate)
     assert e.value.errors() == [
-        {"loc": ("links",), "msg": "field required", "type": "value_error.missing"}
+        {
+            "loc": ("links",),
+            "msg": "Field required",
+            "type": "missing",
+            "input": {"invalid": {"key": "value"}},
+            "url": "https://errors.pydantic.dev/2.9/v/missing",
+        }
     ]
diff --git a/robot-server/tests/service/legacy/models/test_control.py b/robot-server/tests/service/legacy/models/test_control.py
index 058ae5c80e4..931d7c0811a 100644
--- a/robot-server/tests/service/legacy/models/test_control.py
+++ b/robot-server/tests/service/legacy/models/test_control.py
@@ -11,12 +11,12 @@ def test_robot_home_target():
 
 
 def test_robot_move_target_points_too_few():
-    with pytest.raises(ValueError, match="ensure this value has at least 3 items"):
+    with pytest.raises(ValueError, match="List should have at least 3 items"):
         control.RobotMoveTarget(target=control.MotionTarget.pipette, point=[1, 2])
 
 
 def test_robot_move_target_points_too_many():
-    with pytest.raises(ValueError, match="ensure this value has at most 3 items"):
+    with pytest.raises(ValueError, match="List should have at most 3 items"):
         control.RobotMoveTarget(target=control.MotionTarget.pipette, point=[1, 2, 3, 4])
 
 
diff --git a/robot-server/tests/service/legacy/routers/test_settings.py b/robot-server/tests/service/legacy/routers/test_settings.py
index 6c9ae8adb56..9c52256b82d 100644
--- a/robot-server/tests/service/legacy/routers/test_settings.py
+++ b/robot-server/tests/service/legacy/routers/test_settings.py
@@ -598,7 +598,7 @@ def test_reset_invalid_option(
     assert resp.status_code == 422
     body = resp.json()
     assert "message" in body
-    assert "not a valid enumeration member" in body["message"]
+    assert "Input should be" in body["message"]
 
 
 @pytest.fixture()
diff --git a/robot-server/tests/subsystems/test_router.py b/robot-server/tests/subsystems/test_router.py
index c77e291736c..a5fb9f86ca6 100644
--- a/robot-server/tests/subsystems/test_router.py
+++ b/robot-server/tests/subsystems/test_router.py
@@ -72,7 +72,7 @@ def thread_manager(decoy: Decoy, ot3_hardware_api: "OT3API") -> ThreadManagedHar
         from opentrons.hardware_control.ot3api import OT3API
     except ImportError:
         pytest.skip("Cannot run on OT-2 (for now)")
-    manager = decoy.mock(cls=ThreadManagedHardware)  # type: ignore[misc]
+    manager = decoy.mock(cls=ThreadManagedHardware)
     decoy.when(manager.wrapped()).then_return(ot3_hardware_api)
     decoy.when(manager.wraps_instance(OT3API)).then_return(True)
     return cast(ThreadManagedHardware, manager)
diff --git a/robot-server/tests/system/test_system_router.py b/robot-server/tests/system/test_system_router.py
index 68d2e765460..4b3f32402e3 100644
--- a/robot-server/tests/system/test_system_router.py
+++ b/robot-server/tests/system/test_system_router.py
@@ -1,13 +1,17 @@
 """Tests for the /system router."""
+from typing import Iterator
+
 import pytest
 from mock import MagicMock, patch
 from datetime import datetime, timezone
 from starlette.testclient import TestClient
-from typing import Iterator
+from pydantic import TypeAdapter
 
 from robot_server.service.json_api import ResourceLink, ResourceLinks, ResourceLinkKey
 from robot_server.system import errors, router
 
+from tests.conftest import datetime_to_zulu_iso8601
+
 
 @pytest.fixture
 def mock_system_time() -> datetime:
@@ -22,10 +26,13 @@ def mock_set_system_time(mock_system_time: datetime) -> Iterator[MagicMock]:
         yield p
 
 
+ResourceLinksAdapter: TypeAdapter[ResourceLinks] = TypeAdapter(ResourceLinks)
+
+
 @pytest.fixture
 def response_links() -> ResourceLinks:
     """Get expected /system/time resource links."""
-    return {ResourceLinkKey.self: ResourceLink(href="/system/time")}
+    return {ResourceLinkKey.self.value: ResourceLink(href="/system/time")}
 
 
 def test_raise_system_synchronized_error(
@@ -103,7 +110,10 @@ def test_set_system_time(
         },
     )
     assert response.json() == {
-        "data": {"systemTime": mock_system_time.isoformat(), "id": "time"},
-        "links": response_links,
+        "data": {
+            "systemTime": datetime_to_zulu_iso8601(mock_system_time),
+            "id": "time",
+        },
+        "links": ResourceLinksAdapter.dump_python(response_links),
     }
     assert response.status_code == 200
diff --git a/server-utils/Pipfile b/server-utils/Pipfile
index b54d6962543..537a0a670f7 100755
--- a/server-utils/Pipfile
+++ b/server-utils/Pipfile
@@ -19,7 +19,7 @@ pytest-lazy-fixture = "==0.6.3"
 pytest-xdist = "~=2.5.0"
 requests = "==2.31.0"
 mock = "==5.1.0"
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 flake8 = "==7.0.0"
 flake8-annotations = "==3.0.1"
 flake8-docstrings = "~=1.7.0"
diff --git a/server-utils/Pipfile.lock b/server-utils/Pipfile.lock
index c9060279ba2..768034d5cb4 100644
--- a/server-utils/Pipfile.lock
+++ b/server-utils/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "5c9bee178723885363cdb4a226e6c1b7988731c23ae83fdde921d4ebb510090e"
+            "sha256": "6410a533fa68be2f8ba9ee2d77fd5f5d63653019d1a256ee8026ac52536d022e"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -27,6 +27,14 @@
         }
     },
     "develop": {
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "anyio": {
             "hashes": [
                 "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780",
@@ -45,11 +53,11 @@
         },
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346",
+                "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
         },
         "black": {
             "hashes": [
@@ -83,11 +91,11 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:0569859f95fc761b18b45ef421b1290a0f65f147e92a1e5eb3e635f9a5e4e66f",
-                "sha256:dc383c07b76109f368f6106eee2b593b04a011ea4d55f652c6ca24a754d1cdd1"
+                "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8",
+                "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2024.2.2"
+            "version": "==2024.8.30"
         },
         "charset-normalizer": {
             "hashes": [
@@ -206,61 +214,81 @@
                 "toml"
             ],
             "hashes": [
-                "sha256:0193657651f5399d433c92f8ae264aff31fc1d066deee4b831549526433f3f61",
-                "sha256:02f2edb575d62172aa28fe00efe821ae31f25dc3d589055b3fb64d51e52e4ab1",
-                "sha256:0491275c3b9971cdbd28a4595c2cb5838f08036bca31765bad5e17edf900b2c7",
-                "sha256:077d366e724f24fc02dbfe9d946534357fda71af9764ff99d73c3c596001bbd7",
-                "sha256:10e88e7f41e6197ea0429ae18f21ff521d4f4490aa33048f6c6f94c6045a6a75",
-                "sha256:18e961aa13b6d47f758cc5879383d27b5b3f3dcd9ce8cdbfdc2571fe86feb4dd",
-                "sha256:1a78b656a4d12b0490ca72651fe4d9f5e07e3c6461063a9b6265ee45eb2bdd35",
-                "sha256:1ed4b95480952b1a26d863e546fa5094564aa0065e1e5f0d4d0041f293251d04",
-                "sha256:23b27b8a698e749b61809fb637eb98ebf0e505710ec46a8aa6f1be7dc0dc43a6",
-                "sha256:23f5881362dcb0e1a92b84b3c2809bdc90db892332daab81ad8f642d8ed55042",
-                "sha256:32a8d985462e37cfdab611a6f95b09d7c091d07668fdc26e47a725ee575fe166",
-                "sha256:3468cc8720402af37b6c6e7e2a9cdb9f6c16c728638a2ebc768ba1ef6f26c3a1",
-                "sha256:379d4c7abad5afbe9d88cc31ea8ca262296480a86af945b08214eb1a556a3e4d",
-                "sha256:3cacfaefe6089d477264001f90f55b7881ba615953414999c46cc9713ff93c8c",
-                "sha256:3e3424c554391dc9ef4a92ad28665756566a28fecf47308f91841f6c49288e66",
-                "sha256:46342fed0fff72efcda77040b14728049200cbba1279e0bf1188f1f2078c1d70",
-                "sha256:536d609c6963c50055bab766d9951b6c394759190d03311f3e9fcf194ca909e1",
-                "sha256:5d6850e6e36e332d5511a48a251790ddc545e16e8beaf046c03985c69ccb2676",
-                "sha256:6008adeca04a445ea6ef31b2cbaf1d01d02986047606f7da266629afee982630",
-                "sha256:64e723ca82a84053dd7bfcc986bdb34af8d9da83c521c19d6b472bc6880e191a",
-                "sha256:6b00e21f86598b6330f0019b40fb397e705135040dbedc2ca9a93c7441178e74",
-                "sha256:6d224f0c4c9c98290a6990259073f496fcec1b5cc613eecbd22786d398ded3ad",
-                "sha256:6dceb61d40cbfcf45f51e59933c784a50846dc03211054bd76b421a713dcdf19",
-                "sha256:7ac8f8eb153724f84885a1374999b7e45734bf93a87d8df1e7ce2146860edef6",
-                "sha256:85ccc5fa54c2ed64bd91ed3b4a627b9cce04646a659512a051fa82a92c04a448",
-                "sha256:869b5046d41abfea3e381dd143407b0d29b8282a904a19cb908fa24d090cc018",
-                "sha256:8bdb0285a0202888d19ec6b6d23d5990410decb932b709f2b0dfe216d031d218",
-                "sha256:8dfc5e195bbef80aabd81596ef52a1277ee7143fe419efc3c4d8ba2754671756",
-                "sha256:8e738a492b6221f8dcf281b67129510835461132b03024830ac0e554311a5c54",
-                "sha256:918440dea04521f499721c039863ef95433314b1db00ff826a02580c1f503e45",
-                "sha256:9641e21670c68c7e57d2053ddf6c443e4f0a6e18e547e86af3fad0795414a628",
-                "sha256:9d2f9d4cc2a53b38cabc2d6d80f7f9b7e3da26b2f53d48f05876fef7956b6968",
-                "sha256:a07f61fc452c43cd5328b392e52555f7d1952400a1ad09086c4a8addccbd138d",
-                "sha256:a3277f5fa7483c927fe3a7b017b39351610265308f5267ac6d4c2b64cc1d8d25",
-                "sha256:a4a3907011d39dbc3e37bdc5df0a8c93853c369039b59efa33a7b6669de04c60",
-                "sha256:aeb2c2688ed93b027eb0d26aa188ada34acb22dceea256d76390eea135083950",
-                "sha256:b094116f0b6155e36a304ff912f89bbb5067157aff5f94060ff20bbabdc8da06",
-                "sha256:b8ffb498a83d7e0305968289441914154fb0ef5d8b3157df02a90c6695978295",
-                "sha256:b9bb62fac84d5f2ff523304e59e5c439955fb3b7f44e3d7b2085184db74d733b",
-                "sha256:c61f66d93d712f6e03369b6a7769233bfda880b12f417eefdd4f16d1deb2fc4c",
-                "sha256:ca6e61dc52f601d1d224526360cdeab0d0712ec104a2ce6cc5ccef6ed9a233bc",
-                "sha256:ca7b26a5e456a843b9b6683eada193fc1f65c761b3a473941efe5a291f604c74",
-                "sha256:d12c923757de24e4e2110cf8832d83a886a4cf215c6e61ed506006872b43a6d1",
-                "sha256:d17bbc946f52ca67adf72a5ee783cd7cd3477f8f8796f59b4974a9b59cacc9ee",
-                "sha256:dfd1e1b9f0898817babf840b77ce9fe655ecbe8b1b327983df485b30df8cc011",
-                "sha256:e0860a348bf7004c812c8368d1fc7f77fe8e4c095d661a579196a9533778e156",
-                "sha256:f2f5968608b1fe2a1d00d01ad1017ee27efd99b3437e08b83ded9b7af3f6f766",
-                "sha256:f3771b23bb3675a06f5d885c3630b1d01ea6cac9e84a01aaf5508706dba546c5",
-                "sha256:f68ef3660677e6624c8cace943e4765545f8191313a07288a53d3da188bd8581",
-                "sha256:f86f368e1c7ce897bf2457b9eb61169a44e2ef797099fb5728482b8d69f3f016",
-                "sha256:f90515974b39f4dea2f27c0959688621b46d96d5a626cf9c53dbc653a895c05c",
-                "sha256:fe558371c1bdf3b8fa03e097c523fb9645b8730399c14fe7721ee9c9e2a545d3"
+                "sha256:06a737c882bd26d0d6ee7269b20b12f14a8704807a01056c80bb881a4b2ce6ca",
+                "sha256:07e2ca0ad381b91350c0ed49d52699b625aab2b44b65e1b4e02fa9df0e92ad2d",
+                "sha256:0c0420b573964c760df9e9e86d1a9a622d0d27f417e1a949a8a66dd7bcee7bc6",
+                "sha256:0dbde0f4aa9a16fa4d754356a8f2e36296ff4d83994b2c9d8398aa32f222f989",
+                "sha256:1125ca0e5fd475cbbba3bb67ae20bd2c23a98fac4e32412883f9bcbaa81c314c",
+                "sha256:13b0a73a0896988f053e4fbb7de6d93388e6dd292b0d87ee51d106f2c11b465b",
+                "sha256:166811d20dfea725e2e4baa71fffd6c968a958577848d2131f39b60043400223",
+                "sha256:170d444ab405852903b7d04ea9ae9b98f98ab6d7e63e1115e82620807519797f",
+                "sha256:1f4aa8219db826ce6be7099d559f8ec311549bfc4046f7f9fe9b5cea5c581c56",
+                "sha256:225667980479a17db1048cb2bf8bfb39b8e5be8f164b8f6628b64f78a72cf9d3",
+                "sha256:260933720fdcd75340e7dbe9060655aff3af1f0c5d20f46b57f262ab6c86a5e8",
+                "sha256:2bdb062ea438f22d99cba0d7829c2ef0af1d768d1e4a4f528087224c90b132cb",
+                "sha256:2c09f4ce52cb99dd7505cd0fc8e0e37c77b87f46bc9c1eb03fe3bc9991085388",
+                "sha256:3115a95daa9bdba70aea750db7b96b37259a81a709223c8448fa97727d546fe0",
+                "sha256:3e0cadcf6733c09154b461f1ca72d5416635e5e4ec4e536192180d34ec160f8a",
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@@ -273,27 +301,27 @@
         },
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@@ -392,37 +420,37 @@
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@@ -434,11 +462,11 @@
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+            "markers": "python_version >= '3.8'",
+            "version": "==24.1"
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@@ -450,19 +478,19 @@
         },
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@@ -482,45 +510,106 @@
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         "pydantic": {
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-            "markers": "python_version >= '3.7'",
-            "version": "==1.10.12"
+            "markers": "python_version >= '3.8'",
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+                "sha256:caffda619099cfd4f63d48462f6aadbecee3ad9603b4b88b60cb821c1b258576",
+                "sha256:cc0c316fba3ce72ac3ab7902a888b9dc4979162d320823679da270c2d9ad0cad",
+                "sha256:cdd02a08205dc90238669f082747612cb3c82bd2c717adc60f9b9ecadb540f80",
+                "sha256:d50ac34835c6a4a0d456b5db559b82047403c4317b3bc73b3455fefdbdc54b0a",
+                "sha256:d6b9dd6aa03c812017411734e496c44fef29b43dba1e3dd1fa7361bbacfc1354",
+                "sha256:da3131ef2b940b99106f29dfbc30d9505643f766704e14c5d5e504e6a480c35e",
+                "sha256:da43cbe593e3c87d07108d0ebd73771dc414488f1f91ed2e204b0370b94b37ac",
+                "sha256:dd59638025160056687d598b054b64a79183f8065eae0d3f5ca523cde9943940",
+                "sha256:e1895e949f8849bc2757c0dbac28422a04be031204df46a56ab34bcf98507342",
+                "sha256:e1a79ad49f346aa1a2921f31e8dbbab4d64484823e813a002679eaa46cba39e1",
+                "sha256:e460475719721d59cd54a350c1f71c797c763212c836bf48585478c5514d2854",
+                "sha256:e64ffaf8f6e17ca15eb48344d86a7a741454526f3a3fa56bc493ad9d7ec63936",
+                "sha256:e6e3ccebdbd6e53474b0bb7ab8b88e83c0cfe91484b25e058e581348ee5a01a5",
+                "sha256:e758d271ed0286d146cf7c04c539a5169a888dd0b57026be621547e756af55bc",
+                "sha256:f087879f1ffde024dd2788a30d55acd67959dcf6c431e9d3682d1c491a0eb474",
+                "sha256:f477d26183e94eaafc60b983ab25af2a809a1b48ce4debb57b343f671b7a90b6",
+                "sha256:fc535cb898ef88333cf317777ecdfe0faac1c2a3187ef7eb061b6f7ecf7e6bae"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==2.23.2"
         },
         "pydocstyle": {
             "hashes": [
@@ -549,12 +638,12 @@
         },
         "pytest-asyncio": {
             "hashes": [
-                "sha256:2143d9d9375bf372a73260e4114541485e84fca350b0b6b92674ca56ff5f7ea2",
-                "sha256:b0079dfac14b60cd1ce4691fbfb1748fe939db7d0234b5aba97197d10fbe0fef"
+                "sha256:50265d892689a5faefb84df80819d1ecef566eb3549cf915dfb33569359d1ce2",
+                "sha256:759b10b33a6dc61cce40a8bd5205e302978bbbcc00e279a8b61d9a6a3c82e4d3"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==0.23.4"
+            "version": "==0.23.8"
         },
         "pytest-cov": {
             "hashes": [
@@ -655,11 +744,11 @@
         },
         "sniffio": {
             "hashes": [
-                "sha256:e60305c5e5d314f5389259b7f22aaa33d8f7dee49763119234af3755c55b9101",
-                "sha256:eecefdce1e5bbfb7ad2eeaabf7c1eeb404d7757c379bd1f7e5cce9d8bf425384"
+                "sha256:2f6da418d1f1e0fddd844478f41680e794e6051915791a034ff65e5f100525a2",
+                "sha256:f4324edc670a0f49750a81b895f35c3adb843cca46f0530f79fc1babb23789dc"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==1.3.0"
+            "version": "==1.3.1"
         },
         "snowballstemmer": {
             "hashes": [
@@ -747,37 +836,45 @@
         },
         "types-mock": {
             "hashes": [
-                "sha256:13ca379d5710ccb3f18f69ade5b08881874cb83383d8fb49b1d4dac9d5c5d090",
-                "sha256:3d116955495935b0bcba14954b38d97e507cd43eca3e3700fc1b8e4f5c6bf2c7"
+                "sha256:5281a645d72e827d70043e3cc144fe33b1c003db084f789dc203aa90e812a5a4",
+                "sha256:d586a01d39ad919d3ddcd73de6cde73ca7f3c69707219f722d1b8d7733641ad7"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==5.1.0.20240106"
+            "version": "==5.1.0.20240425"
         },
         "types-requests": {
             "hashes": [
-                "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5",
-                "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"
+                "sha256:4428df33c5503945c74b3f42e82b181e86ec7b724620419a2966e2de604ce1a1",
+                "sha256:6216cdac377c6b9a040ac1c0404f7284bd13199c0e1bb235f4324627e8898cf5"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==2.31.0.20240125"
+            "version": "==2.31.0.20240406"
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
-                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
+                "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
+                "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "version": "==4.12.2"
+        },
+        "tzdata": {
+            "hashes": [
+                "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd",
+                "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"
+            ],
+            "markers": "python_version >= '3.9'",
+            "version": "==2024.1"
         },
         "urllib3": {
             "hashes": [
-                "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20",
-                "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"
+                "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472",
+                "sha256:dd505485549a7a552833da5e6063639d0d177c04f23bc3864e41e5dc5f612168"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==2.2.0"
+            "version": "==2.2.2"
         },
         "uvicorn": {
             "hashes": [
diff --git a/server-utils/setup.py b/server-utils/setup.py
index 41cab81de03..13e87a15c99 100755
--- a/server-utils/setup.py
+++ b/server-utils/setup.py
@@ -52,10 +52,10 @@ def get_version():
 PACKAGES = find_packages(where=".", exclude=["tests.*", "tests"])
 INSTALL_REQUIRES = [
     "anyio==3.7.1",
-    "fastapi==0.99.1",
+    "fastapi==0.100.0",
     "python-dotenv==1.0.1",
     "python-multipart==0.0.6",
-    "pydantic==1.10.12",
+    "pydantic>2.0.0,<3",
     "typing-extensions>=4.0.0,<5",
     "uvicorn==0.27.0.post1",
     "wsproto==1.2.0",
diff --git a/shared-data/command/schemas/11.json b/shared-data/command/schemas/11.json
index 5bfd3569c0c..ac5dd17eeb3 100644
--- a/shared-data/command/schemas/11.json
+++ b/shared-data/command/schemas/11.json
@@ -1,6374 +1,5880 @@
 {
-  "title": "CreateCommandUnion",
-  "description": "Model that validates a union of all CommandCreate models.",
-  "discriminator": {
-    "propertyName": "commandType",
-    "mapping": {
-      "airGapInPlace": "#/definitions/AirGapInPlaceCreate",
-      "aspirate": "#/definitions/AspirateCreate",
-      "aspirateInPlace": "#/definitions/AspirateInPlaceCreate",
-      "comment": "#/definitions/CommentCreate",
-      "configureForVolume": "#/definitions/ConfigureForVolumeCreate",
-      "configureNozzleLayout": "#/definitions/ConfigureNozzleLayoutCreate",
-      "custom": "#/definitions/CustomCreate",
-      "dispense": "#/definitions/DispenseCreate",
-      "dispenseInPlace": "#/definitions/DispenseInPlaceCreate",
-      "blowout": "#/definitions/BlowOutCreate",
-      "blowOutInPlace": "#/definitions/BlowOutInPlaceCreate",
-      "dropTip": "#/definitions/DropTipCreate",
-      "dropTipInPlace": "#/definitions/DropTipInPlaceCreate",
-      "home": "#/definitions/HomeCreate",
-      "retractAxis": "#/definitions/RetractAxisCreate",
-      "loadLabware": "#/definitions/LoadLabwareCreate",
-      "reloadLabware": "#/definitions/ReloadLabwareCreate",
-      "loadLiquid": "#/definitions/LoadLiquidCreate",
-      "loadLiquidClass": "#/definitions/LoadLiquidClassCreate",
-      "loadModule": "#/definitions/LoadModuleCreate",
-      "loadPipette": "#/definitions/LoadPipetteCreate",
-      "moveLabware": "#/definitions/MoveLabwareCreate",
-      "moveRelative": "#/definitions/MoveRelativeCreate",
-      "moveToCoordinates": "#/definitions/MoveToCoordinatesCreate",
-      "moveToWell": "#/definitions/MoveToWellCreate",
-      "moveToAddressableArea": "#/definitions/MoveToAddressableAreaCreate",
-      "moveToAddressableAreaForDropTip": "#/definitions/MoveToAddressableAreaForDropTipCreate",
-      "prepareToAspirate": "#/definitions/PrepareToAspirateCreate",
-      "waitForResume": "#/definitions/WaitForResumeCreate",
-      "pause": "#/definitions/WaitForResumeCreate",
-      "waitForDuration": "#/definitions/WaitForDurationCreate",
-      "pickUpTip": "#/definitions/PickUpTipCreate",
-      "savePosition": "#/definitions/SavePositionCreate",
-      "setRailLights": "#/definitions/SetRailLightsCreate",
-      "touchTip": "#/definitions/TouchTipCreate",
-      "setStatusBar": "#/definitions/SetStatusBarCreate",
-      "verifyTipPresence": "#/definitions/VerifyTipPresenceCreate",
-      "getTipPresence": "#/definitions/GetTipPresenceCreate",
-      "getNextTip": "#/definitions/GetNextTipCreate",
-      "liquidProbe": "#/definitions/LiquidProbeCreate",
-      "tryLiquidProbe": "#/definitions/TryLiquidProbeCreate",
-      "heaterShaker/waitForTemperature": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate",
-      "heaterShaker/setTargetTemperature": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate",
-      "heaterShaker/deactivateHeater": "#/definitions/DeactivateHeaterCreate",
-      "heaterShaker/setAndWaitForShakeSpeed": "#/definitions/SetAndWaitForShakeSpeedCreate",
-      "heaterShaker/deactivateShaker": "#/definitions/DeactivateShakerCreate",
-      "heaterShaker/openLabwareLatch": "#/definitions/OpenLabwareLatchCreate",
-      "heaterShaker/closeLabwareLatch": "#/definitions/CloseLabwareLatchCreate",
-      "magneticModule/disengage": "#/definitions/DisengageCreate",
-      "magneticModule/engage": "#/definitions/EngageCreate",
-      "temperatureModule/setTargetTemperature": "#/definitions/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate",
-      "temperatureModule/waitForTemperature": "#/definitions/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate",
-      "temperatureModule/deactivate": "#/definitions/DeactivateTemperatureCreate",
-      "thermocycler/setTargetBlockTemperature": "#/definitions/SetTargetBlockTemperatureCreate",
-      "thermocycler/waitForBlockTemperature": "#/definitions/WaitForBlockTemperatureCreate",
-      "thermocycler/setTargetLidTemperature": "#/definitions/SetTargetLidTemperatureCreate",
-      "thermocycler/waitForLidTemperature": "#/definitions/WaitForLidTemperatureCreate",
-      "thermocycler/deactivateBlock": "#/definitions/DeactivateBlockCreate",
-      "thermocycler/deactivateLid": "#/definitions/DeactivateLidCreate",
-      "thermocycler/openLid": "#/definitions/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate",
-      "thermocycler/closeLid": "#/definitions/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate",
-      "thermocycler/runProfile": "#/definitions/RunProfileCreate",
-      "thermocycler/runExtendedProfile": "#/definitions/RunExtendedProfileCreate",
-      "absorbanceReader/closeLid": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate",
-      "absorbanceReader/openLid": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate",
-      "absorbanceReader/initialize": "#/definitions/InitializeCreate",
-      "absorbanceReader/read": "#/definitions/ReadAbsorbanceCreate",
-      "calibration/calibrateGripper": "#/definitions/CalibrateGripperCreate",
-      "calibration/calibratePipette": "#/definitions/CalibratePipetteCreate",
-      "calibration/calibrateModule": "#/definitions/CalibrateModuleCreate",
-      "calibration/moveToMaintenancePosition": "#/definitions/MoveToMaintenancePositionCreate",
-      "unsafe/blowOutInPlace": "#/definitions/UnsafeBlowOutInPlaceCreate",
-      "unsafe/dropTipInPlace": "#/definitions/UnsafeDropTipInPlaceCreate",
-      "unsafe/updatePositionEstimators": "#/definitions/UpdatePositionEstimatorsCreate",
-      "unsafe/engageAxes": "#/definitions/UnsafeEngageAxesCreate",
-      "unsafe/ungripLabware": "#/definitions/UnsafeUngripLabwareCreate",
-      "unsafe/placeLabware": "#/definitions/UnsafePlaceLabwareCreate",
-      "robot/moveAxesRelative": "#/definitions/MoveAxesRelativeCreate",
-      "robot/moveAxesTo": "#/definitions/MoveAxesToCreate",
-      "robot/moveTo": "#/definitions/MoveToCreate",
-      "robot/openGripperJaw": "#/definitions/openGripperJawCreate",
-      "robot/closeGripperJaw": "#/definitions/closeGripperJawCreate"
-    }
-  },
-  "oneOf": [
-    {
-      "$ref": "#/definitions/AirGapInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/AspirateCreate"
-    },
-    {
-      "$ref": "#/definitions/AspirateInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/CommentCreate"
-    },
-    {
-      "$ref": "#/definitions/ConfigureForVolumeCreate"
-    },
-    {
-      "$ref": "#/definitions/ConfigureNozzleLayoutCreate"
-    },
-    {
-      "$ref": "#/definitions/CustomCreate"
-    },
-    {
-      "$ref": "#/definitions/DispenseCreate"
-    },
-    {
-      "$ref": "#/definitions/DispenseInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/BlowOutCreate"
-    },
-    {
-      "$ref": "#/definitions/BlowOutInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/DropTipCreate"
-    },
-    {
-      "$ref": "#/definitions/DropTipInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/HomeCreate"
-    },
-    {
-      "$ref": "#/definitions/RetractAxisCreate"
-    },
-    {
-      "$ref": "#/definitions/LoadLabwareCreate"
-    },
-    {
-      "$ref": "#/definitions/ReloadLabwareCreate"
-    },
-    {
-      "$ref": "#/definitions/LoadLiquidCreate"
-    },
-    {
-      "$ref": "#/definitions/LoadLiquidClassCreate"
-    },
-    {
-      "$ref": "#/definitions/LoadModuleCreate"
-    },
-    {
-      "$ref": "#/definitions/LoadPipetteCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveLabwareCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveRelativeCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToCoordinatesCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToWellCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToAddressableAreaCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToAddressableAreaForDropTipCreate"
-    },
-    {
-      "$ref": "#/definitions/PrepareToAspirateCreate"
-    },
-    {
-      "$ref": "#/definitions/WaitForResumeCreate"
-    },
-    {
-      "$ref": "#/definitions/WaitForDurationCreate"
-    },
-    {
-      "$ref": "#/definitions/PickUpTipCreate"
-    },
-    {
-      "$ref": "#/definitions/SavePositionCreate"
-    },
-    {
-      "$ref": "#/definitions/SetRailLightsCreate"
-    },
-    {
-      "$ref": "#/definitions/TouchTipCreate"
-    },
-    {
-      "$ref": "#/definitions/SetStatusBarCreate"
-    },
-    {
-      "$ref": "#/definitions/VerifyTipPresenceCreate"
-    },
-    {
-      "$ref": "#/definitions/GetTipPresenceCreate"
-    },
-    {
-      "$ref": "#/definitions/GetNextTipCreate"
-    },
-    {
-      "$ref": "#/definitions/LiquidProbeCreate"
-    },
-    {
-      "$ref": "#/definitions/TryLiquidProbeCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/DeactivateHeaterCreate"
-    },
-    {
-      "$ref": "#/definitions/SetAndWaitForShakeSpeedCreate"
-    },
-    {
-      "$ref": "#/definitions/DeactivateShakerCreate"
-    },
-    {
-      "$ref": "#/definitions/OpenLabwareLatchCreate"
-    },
-    {
-      "$ref": "#/definitions/CloseLabwareLatchCreate"
-    },
-    {
-      "$ref": "#/definitions/DisengageCreate"
-    },
-    {
-      "$ref": "#/definitions/EngageCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/DeactivateTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/SetTargetBlockTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/WaitForBlockTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/SetTargetLidTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/WaitForLidTemperatureCreate"
-    },
-    {
-      "$ref": "#/definitions/DeactivateBlockCreate"
-    },
-    {
-      "$ref": "#/definitions/DeactivateLidCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate"
-    },
-    {
-      "$ref": "#/definitions/RunProfileCreate"
-    },
-    {
-      "$ref": "#/definitions/RunExtendedProfileCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate"
-    },
-    {
-      "$ref": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate"
-    },
-    {
-      "$ref": "#/definitions/InitializeCreate"
-    },
-    {
-      "$ref": "#/definitions/ReadAbsorbanceCreate"
-    },
-    {
-      "$ref": "#/definitions/CalibrateGripperCreate"
-    },
-    {
-      "$ref": "#/definitions/CalibratePipetteCreate"
-    },
-    {
-      "$ref": "#/definitions/CalibrateModuleCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToMaintenancePositionCreate"
-    },
-    {
-      "$ref": "#/definitions/UnsafeBlowOutInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/UnsafeDropTipInPlaceCreate"
-    },
-    {
-      "$ref": "#/definitions/UpdatePositionEstimatorsCreate"
-    },
-    {
-      "$ref": "#/definitions/UnsafeEngageAxesCreate"
-    },
-    {
-      "$ref": "#/definitions/UnsafeUngripLabwareCreate"
-    },
-    {
-      "$ref": "#/definitions/UnsafePlaceLabwareCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveAxesRelativeCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveAxesToCreate"
-    },
-    {
-      "$ref": "#/definitions/MoveToCreate"
-    },
-    {
-      "$ref": "#/definitions/openGripperJawCreate"
+  "$defs": {
+    "AddressableAreaLocation": {
+      "description": "The location of something place in an addressable area. This is a superset of deck slots.",
+      "properties": {
+        "addressableAreaName": {
+          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+          "title": "Addressableareaname",
+          "type": "string"
+        }
+      },
+      "required": ["addressableAreaName"],
+      "title": "AddressableAreaLocation",
+      "type": "object"
     },
-    {
-      "$ref": "#/definitions/closeGripperJawCreate"
-    }
-  ],
-  "definitions": {
-    "AirGapInPlaceParams": {
-      "title": "AirGapInPlaceParams",
-      "description": "Payload required to air gap in place.",
-      "type": "object",
+    "AddressableOffsetVector": {
+      "description": "Offset, in deck coordinates, from nominal to actual position of an addressable area.",
       "properties": {
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
+        "x": {
+          "title": "X",
           "type": "number"
         },
-        "volume": {
-          "title": "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,
+        "y": {
+          "title": "Y",
           "type": "number"
         },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
+        "z": {
+          "title": "Z",
+          "type": "number"
         }
       },
-      "required": ["flowRate", "volume", "pipetteId"]
-    },
-    "CommandIntent": {
-      "title": "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"],
-      "type": "string"
+      "required": ["x", "y", "z"],
+      "title": "AddressableOffsetVector",
+      "type": "object"
     },
     "AirGapInPlaceCreate": {
-      "title": "AirGapInPlaceCreate",
       "description": "AirGapInPlace command request model.",
-      "type": "object",
       "properties": {
         "commandType": {
-          "title": "Commandtype",
+          "const": "airGapInPlace",
           "default": "airGapInPlace",
           "enum": ["airGapInPlace"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/AirGapInPlaceParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "WellOrigin": {
-      "title": "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"],
-      "type": "string"
+      "required": ["params"],
+      "title": "AirGapInPlaceCreate",
+      "type": "object"
     },
-    "WellOffset": {
-      "title": "WellOffset",
-      "description": "An offset vector in (x, y, z).",
-      "type": "object",
+    "AirGapInPlaceParams": {
+      "description": "Payload required to air gap in place.",
       "properties": {
-        "x": {
-          "title": "X",
-          "default": 0,
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
           "type": "number"
         },
-        "y": {
-          "title": "Y",
-          "default": 0,
-          "type": "number"
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         },
-        "z": {
-          "title": "Z",
-          "default": 0,
+        "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"
     },
-    "LiquidHandlingWellLocation": {
-      "title": "LiquidHandlingWellLocation",
-      "description": "A relative location in reference to a well's location.\n\nTo be used with commands that handle liquids.",
-      "type": "object",
+    "AllNozzleLayoutConfiguration": {
+      "description": "All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.",
       "properties": {
-        "origin": {
-          "default": "top",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellOrigin"
-            }
-          ]
-        },
-        "offset": {
-          "$ref": "#/definitions/WellOffset"
-        },
-        "volumeOffset": {
-          "title": "Volumeoffset",
-          "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.",
-          "default": 0.0,
-          "anyOf": [
-            {
-              "type": "number"
-            },
-            {
-              "enum": ["operationVolume"],
-              "type": "string"
-            }
-          ]
-        }
-      }
-    },
-    "AspirateParams": {
-      "title": "AspirateParams",
-      "description": "Parameters required to aspirate from a specific well.",
-      "type": "object",
-      "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
-        },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "type": "string"
-        },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/LiquidHandlingWellLocation"
-            }
-          ]
-        },
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "volume": {
-          "title": "Volume",
-          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
-          "minimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "style": {
+          "const": "ALL",
+          "default": "ALL",
+          "enum": ["ALL"],
+          "title": "Style",
           "type": "string"
         }
       },
-      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"]
+      "title": "AllNozzleLayoutConfiguration",
+      "type": "object"
     },
     "AspirateCreate": {
-      "title": "AspirateCreate",
       "description": "Create aspirate command request model.",
-      "type": "object",
       "properties": {
         "commandType": {
-          "title": "Commandtype",
+          "const": "aspirate",
           "default": "aspirate",
           "enum": ["aspirate"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/AspirateParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "AspirateInPlaceParams": {
-      "title": "AspirateInPlaceParams",
-      "description": "Payload required to aspirate in place.",
-      "type": "object",
-      "properties": {
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "volume": {
-          "title": "Volume",
-          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
-          "minimum": 0,
-          "type": "number"
         },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
+        "params": {
+          "$ref": "#/$defs/AspirateParams"
         }
       },
-      "required": ["flowRate", "volume", "pipetteId"]
+      "required": ["params"],
+      "title": "AspirateCreate",
+      "type": "object"
     },
     "AspirateInPlaceCreate": {
-      "title": "AspirateInPlaceCreate",
       "description": "AspirateInPlace command request model.",
-      "type": "object",
       "properties": {
         "commandType": {
-          "title": "Commandtype",
+          "const": "aspirateInPlace",
           "default": "aspirateInPlace",
           "enum": ["aspirateInPlace"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/AspirateInPlaceParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
-          "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "CommentParams": {
-      "title": "CommentParams",
-      "description": "Payload required to annotate execution with a comment.",
-      "type": "object",
-      "properties": {
-        "message": {
-          "title": "Message",
-          "description": "A user-facing message",
-          "type": "string"
-        }
-      },
-      "required": ["message"]
-    },
-    "CommentCreate": {
-      "title": "CommentCreate",
-      "description": "Comment command request model.",
-      "type": "object",
-      "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "comment",
-          "enum": ["comment"],
+          "title": "Key",
           "type": "string"
         },
         "params": {
-          "$ref": "#/definitions/CommentParams"
-        },
-        "intent": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
-        },
-        "key": {
-          "title": "Key",
-          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
-          "type": "string"
+          "$ref": "#/$defs/AspirateInPlaceParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "AspirateInPlaceCreate",
+      "type": "object"
     },
-    "ConfigureForVolumeParams": {
-      "title": "ConfigureForVolumeParams",
-      "description": "Parameters required to configure volume for a specific pipette.",
-      "type": "object",
+    "AspirateInPlaceParams": {
+      "description": "Payload required to aspirate in place.",
       "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
         "pipetteId": {
-          "title": "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",
-          "description": "Amount of liquid in uL. Must be at least 0 and no greater than a pipette-specific maximum volume.",
-          "minimum": 0,
           "type": "number"
-        },
-        "tipOverlapNotAfterVersion": {
-          "title": "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.",
-          "type": "string"
         }
       },
-      "required": ["pipetteId", "volume"]
+      "required": ["flowRate", "volume", "pipetteId"],
+      "title": "AspirateInPlaceParams",
+      "type": "object"
     },
-    "ConfigureForVolumeCreate": {
-      "title": "ConfigureForVolumeCreate",
-      "description": "Configure for volume command creation request model.",
-      "type": "object",
+    "AspirateParams": {
+      "description": "Parameters required to aspirate from a specific well.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "configureForVolume",
-          "enum": ["configureForVolume"],
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/ConfigureForVolumeParams"
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         },
-        "intent": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "volume": {
+          "description": "The amount of liquid to aspirate, in \u00b5L. Must not be greater than the remaining available amount, which depends on the pipette (see `loadPipette`), its configuration (see `configureForVolume`), the tip (see `pickUpTip`), and the amount you've aspirated so far. There is some tolerance for floating point rounding errors.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
         },
-        "key": {
-          "title": "Key",
-          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
-          "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "AllNozzleLayoutConfiguration": {
-      "title": "AllNozzleLayoutConfiguration",
-      "description": "All basemodel to represent a reset to the nozzle configuration. Sending no parameters resets to default.",
-      "type": "object",
-      "properties": {
-        "style": {
-          "title": "Style",
-          "default": "ALL",
-          "enum": ["ALL"],
-          "type": "string"
-        }
-      }
-    },
-    "SingleNozzleLayoutConfiguration": {
-      "title": "SingleNozzleLayoutConfiguration",
-      "description": "Minimum information required for a new nozzle configuration.",
-      "type": "object",
-      "properties": {
-        "style": {
-          "title": "Style",
-          "default": "SINGLE",
-          "enum": ["SINGLE"],
-          "type": "string"
+        "wellLocation": {
+          "$ref": "#/$defs/LiquidHandlingWellLocation",
+          "description": "Relative well location at which to perform the operation"
         },
-        "primaryNozzle": {
-          "title": "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"],
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
           "type": "string"
         }
       },
-      "required": ["primaryNozzle"]
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "AspirateParams",
+      "type": "object"
     },
-    "RowNozzleLayoutConfiguration": {
-      "title": "RowNozzleLayoutConfiguration",
-      "description": "Minimum information required for a new nozzle configuration.",
-      "type": "object",
+    "AspirateProperties": {
+      "description": "Properties specific to the aspirate function.",
       "properties": {
-        "style": {
-          "title": "Style",
-          "default": "ROW",
-          "enum": ["ROW"],
-          "type": "string"
+        "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"
         },
-        "primaryNozzle": {
-          "title": "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"],
-          "type": "string"
+        "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": "#/$defs/Submerge",
+          "description": "Submerge settings for aspirate."
         }
       },
-      "required": ["primaryNozzle"]
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "preWet",
+        "mix",
+        "delay"
+      ],
+      "title": "AspirateProperties",
+      "type": "object"
     },
-    "ColumnNozzleLayoutConfiguration": {
-      "title": "ColumnNozzleLayoutConfiguration",
-      "description": "Information required for nozzle configurations of type ROW and COLUMN.",
-      "type": "object",
+    "BlowOutCreate": {
+      "description": "Create blow-out command request model.",
       "properties": {
-        "style": {
-          "title": "Style",
-          "default": "COLUMN",
-          "enum": ["COLUMN"],
+        "commandType": {
+          "const": "blowout",
+          "default": "blowout",
+          "enum": ["blowout"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "primaryNozzle": {
-          "title": "Primarynozzle",
-          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
-          "enum": ["A1", "H1", "A12", "H12"],
+        "intent": {
+          "$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": "#/$defs/BlowOutParams"
         }
       },
-      "required": ["primaryNozzle"]
+      "required": ["params"],
+      "title": "BlowOutCreate",
+      "type": "object"
     },
-    "QuadrantNozzleLayoutConfiguration": {
-      "title": "QuadrantNozzleLayoutConfiguration",
-      "description": "Information required for nozzle configurations of type QUADRANT.",
-      "type": "object",
+    "BlowOutInPlaceCreate": {
+      "description": "BlowOutInPlace command request model.",
       "properties": {
-        "style": {
-          "title": "Style",
-          "default": "QUADRANT",
-          "enum": ["QUADRANT"],
+        "commandType": {
+          "const": "blowOutInPlace",
+          "default": "blowOutInPlace",
+          "enum": ["blowOutInPlace"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "primaryNozzle": {
-          "title": "Primarynozzle",
-          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
-          "enum": ["A1", "H1", "A12", "H12"],
-          "type": "string"
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
         },
-        "frontRightNozzle": {
-          "title": "Frontrightnozzle",
-          "description": "The front right nozzle in your configuration.",
-          "pattern": "[A-Z]\\d{1,2}",
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
         },
-        "backLeftNozzle": {
-          "title": "Backleftnozzle",
-          "description": "The back left nozzle in your configuration.",
-          "pattern": "[A-Z]\\d{1,2}",
-          "type": "string"
+        "params": {
+          "$ref": "#/$defs/BlowOutInPlaceParams"
         }
       },
-      "required": ["primaryNozzle", "frontRightNozzle", "backLeftNozzle"]
+      "required": ["params"],
+      "title": "BlowOutInPlaceCreate",
+      "type": "object"
     },
-    "ConfigureNozzleLayoutParams": {
-      "title": "ConfigureNozzleLayoutParams",
-      "description": "Parameters required to configure the nozzle layout for a specific pipette.",
-      "type": "object",
+    "BlowOutInPlaceParams": {
+      "description": "Payload required to blow-out in place.",
       "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
         "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
           "title": "Pipetteid",
+          "type": "string"
+        }
+      },
+      "required": ["flowRate", "pipetteId"],
+      "title": "BlowOutInPlaceParams",
+      "type": "object"
+    },
+    "BlowOutParams": {
+      "description": "Payload required to blow-out a specific well.",
+      "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
           "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
         },
-        "configurationParams": {
-          "title": "Configurationparams",
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
+        }
+      },
+      "required": ["labwareId", "wellName", "flowRate", "pipetteId"],
+      "title": "BlowOutParams",
+      "type": "object"
+    },
+    "BlowoutLocation": {
+      "description": "Location for blowout during a transfer function.",
+      "enum": ["source", "destination", "trash"],
+      "title": "BlowoutLocation",
+      "type": "string"
+    },
+    "BlowoutParams": {
+      "description": "Parameters for blowout.",
+      "properties": {
+        "flowRate": {
           "anyOf": [
             {
-              "$ref": "#/definitions/AllNozzleLayoutConfiguration"
-            },
-            {
-              "$ref": "#/definitions/SingleNozzleLayoutConfiguration"
-            },
-            {
-              "$ref": "#/definitions/RowNozzleLayoutConfiguration"
-            },
-            {
-              "$ref": "#/definitions/ColumnNozzleLayoutConfiguration"
+              "minimum": 0,
+              "type": "integer"
             },
             {
-              "$ref": "#/definitions/QuadrantNozzleLayoutConfiguration"
+              "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": ["pipetteId", "configurationParams"]
+      "required": ["location", "flowRate"],
+      "title": "BlowoutParams",
+      "type": "object"
     },
-    "ConfigureNozzleLayoutCreate": {
-      "title": "ConfigureNozzleLayoutCreate",
-      "description": "Configure nozzle layout creation request model.",
-      "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",
-          "default": "configureNozzleLayout",
-          "enum": ["configureNozzleLayout"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/ConfigureNozzleLayoutParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "CalibrateGripperCreate",
+      "type": "object"
     },
-    "CustomParams": {
-      "title": "CustomParams",
-      "description": "Payload used by a custom command.",
-      "type": "object",
-      "properties": {}
+    "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"
     },
-    "CustomCreate": {
-      "title": "CustomCreate",
-      "description": "A request to create a custom command.",
-      "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",
-          "default": "custom",
-          "enum": ["custom"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/CustomParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "CalibrateModuleCreate",
+      "type": "object"
     },
-    "DispenseParams": {
-      "title": "DispenseParams",
-      "description": "Payload required to dispense to a specific well.",
-      "type": "object",
+    "CalibrateModuleParams": {
+      "description": "Payload required to calibrate-module.",
       "properties": {
         "labwareId": {
+          "description": "The unique id of module calibration adapter labware.",
           "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
-        },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
           "type": "string"
         },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/LiquidHandlingWellLocation"
-            }
-          ]
-        },
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "volume": {
-          "title": "Volume",
-          "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.",
-          "minimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "moduleId": {
+          "description": "The unique id of module to calibrate.",
+          "title": "Moduleid",
           "type": "string"
         },
-        "pushOut": {
-          "title": "Pushout",
-          "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing",
-          "type": "number"
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "The instrument mount used to calibrate the module."
         }
       },
-      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"]
+      "required": ["moduleId", "labwareId", "mount"],
+      "title": "CalibrateModuleParams",
+      "type": "object"
     },
-    "DispenseCreate": {
-      "title": "DispenseCreate",
-      "description": "Create dispense command request model.",
-      "type": "object",
+    "CalibratePipetteCreate": {
+      "description": "Create calibrate-pipette command request model.",
       "properties": {
         "commandType": {
+          "const": "calibration/calibratePipette",
+          "default": "calibration/calibratePipette",
+          "enum": ["calibration/calibratePipette"],
           "title": "Commandtype",
-          "default": "dispense",
-          "enum": ["dispense"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DispenseParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CalibratePipetteParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "CalibratePipetteCreate",
+      "type": "object"
     },
-    "DispenseInPlaceParams": {
-      "title": "DispenseInPlaceParams",
-      "description": "Payload required to dispense in place.",
-      "type": "object",
+    "CalibratePipetteParams": {
+      "description": "Payload required to calibrate-pipette.",
       "properties": {
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "volume": {
-          "title": "Volume",
-          "description": "The amount of liquid to dispense, in \u00b5L. Must not be greater than the currently aspirated volume. There is some tolerance for floating point rounding errors.",
-          "minimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
-        },
-        "pushOut": {
-          "title": "Pushout",
-          "description": "push the plunger a small amount farther than necessary for accurate low-volume dispensing",
-          "type": "number"
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "Instrument mount to calibrate."
         }
       },
-      "required": ["flowRate", "volume", "pipetteId"]
+      "required": ["mount"],
+      "title": "CalibratePipetteParams",
+      "type": "object"
     },
-    "DispenseInPlaceCreate": {
-      "title": "DispenseInPlaceCreate",
-      "description": "DispenseInPlace command request model.",
-      "type": "object",
+    "CloseLabwareLatchCreate": {
+      "description": "A request to create a Heater-Shaker's close latch command.",
       "properties": {
         "commandType": {
+          "const": "heaterShaker/closeLabwareLatch",
+          "default": "heaterShaker/closeLabwareLatch",
+          "enum": ["heaterShaker/closeLabwareLatch"],
           "title": "Commandtype",
-          "default": "dispenseInPlace",
-          "enum": ["dispenseInPlace"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DispenseInPlaceParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CloseLabwareLatchParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "CloseLabwareLatchCreate",
+      "type": "object"
     },
-    "WellLocation": {
-      "title": "WellLocation",
-      "description": "A relative location in reference to a well's location.",
-      "type": "object",
+    "CloseLabwareLatchParams": {
+      "description": "Input parameters to close a Heater-Shaker Module's labware latch.",
       "properties": {
-        "origin": {
-          "default": "top",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellOrigin"
-            }
-          ]
-        },
-        "offset": {
-          "$ref": "#/definitions/WellOffset"
-        },
-        "volumeOffset": {
-          "title": "Volumeoffset",
-          "description": "A volume of liquid, in \u00b5L, to offset the z-axis offset.",
-          "default": 0.0,
-          "type": "number"
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
         }
-      }
+      },
+      "required": ["moduleId"],
+      "title": "CloseLabwareLatchParams",
+      "type": "object"
     },
-    "BlowOutParams": {
-      "title": "BlowOutParams",
-      "description": "Payload required to blow-out a specific well.",
-      "type": "object",
+    "ColumnNozzleLayoutConfiguration": {
+      "description": "Information required for nozzle configurations of type ROW and COLUMN.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
-        },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
+        "primaryNozzle": {
+          "description": "The primary nozzle to use in the layout configuration. This nozzle will update the critical point of the current pipette. For now, this is also the back left corner of your rectangle.",
+          "enum": ["A1", "H1", "A12", "H12"],
+          "title": "Primarynozzle",
           "type": "string"
         },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellLocation"
-            }
-          ]
-        },
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "style": {
+          "const": "COLUMN",
+          "default": "COLUMN",
+          "enum": ["COLUMN"],
+          "title": "Style",
           "type": "string"
         }
       },
-      "required": ["labwareId", "wellName", "flowRate", "pipetteId"]
+      "required": ["primaryNozzle"],
+      "title": "ColumnNozzleLayoutConfiguration",
+      "type": "object"
     },
-    "BlowOutCreate": {
-      "title": "BlowOutCreate",
-      "description": "Create blow-out command request model.",
-      "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",
-          "default": "blowout",
-          "enum": ["blowout"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/BlowOutParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "CommentCreate",
+      "type": "object"
     },
-    "BlowOutInPlaceParams": {
-      "title": "BlowOutInPlaceParams",
-      "description": "Payload required to blow-out in place.",
-      "type": "object",
+    "CommentParams": {
+      "description": "Payload required to annotate execution with a comment.",
       "properties": {
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "message": {
+          "description": "A user-facing message",
+          "title": "Message",
           "type": "string"
         }
       },
-      "required": ["flowRate", "pipetteId"]
+      "required": ["message"],
+      "title": "CommentParams",
+      "type": "object"
     },
-    "BlowOutInPlaceCreate": {
-      "title": "BlowOutInPlaceCreate",
-      "description": "BlowOutInPlace command request model.",
-      "type": "object",
+    "ConfigureForVolumeCreate": {
+      "description": "Configure for volume command creation request model.",
       "properties": {
         "commandType": {
+          "const": "configureForVolume",
+          "default": "configureForVolume",
+          "enum": ["configureForVolume"],
           "title": "Commandtype",
-          "default": "blowOutInPlace",
-          "enum": ["blowOutInPlace"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/BlowOutInPlaceParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"
-        }
-      },
-      "required": ["params"]
-    },
-    "DropTipWellOrigin": {
-      "title": "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"],
-      "type": "string"
-    },
-    "DropTipWellLocation": {
-      "title": "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.",
-      "type": "object",
-      "properties": {
-        "origin": {
-          "default": "default",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DropTipWellOrigin"
-            }
-          ]
         },
-        "offset": {
-          "$ref": "#/definitions/WellOffset"
+        "params": {
+          "$ref": "#/$defs/ConfigureForVolumeParams"
         }
-      }
+      },
+      "required": ["params"],
+      "title": "ConfigureForVolumeCreate",
+      "type": "object"
     },
-    "DropTipParams": {
-      "title": "DropTipParams",
-      "description": "Payload required to drop a tip in a specific well.",
-      "type": "object",
+    "ConfigureForVolumeParams": {
+      "description": "Parameters required to configure volume for a specific pipette.",
       "properties": {
         "pipetteId": {
-          "title": "Pipetteid",
           "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
         },
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
-        },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
+        "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"
         },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to drop the tip.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DropTipWellLocation"
-            }
-          ]
-        },
-        "homeAfter": {
-          "title": "Homeafter",
-          "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.",
-          "type": "boolean"
-        },
-        "alternateDropLocation": {
-          "title": "Alternatedroplocation",
-          "description": "Whether to alternate location where tip is dropped within the labware. If True, this command will ignore the wellLocation provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the well.",
-          "default": false,
-          "type": "boolean"
+        "volume": {
+          "description": "Amount of liquid in uL. Must be at least 0 and no greater than a pipette-specific maximum volume.",
+          "minimum": 0.0,
+          "title": "Volume",
+          "type": "number"
         }
       },
-      "required": ["pipetteId", "labwareId", "wellName"]
+      "required": ["pipetteId", "volume"],
+      "title": "ConfigureForVolumeParams",
+      "type": "object"
     },
-    "DropTipCreate": {
-      "title": "DropTipCreate",
-      "description": "Drop tip command creation request model.",
-      "type": "object",
+    "ConfigureNozzleLayoutCreate": {
+      "description": "Configure nozzle layout creation request model.",
       "properties": {
         "commandType": {
+          "const": "configureNozzleLayout",
+          "default": "configureNozzleLayout",
+          "enum": ["configureNozzleLayout"],
           "title": "Commandtype",
-          "default": "dropTip",
-          "enum": ["dropTip"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DropTipParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/ConfigureNozzleLayoutParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "ConfigureNozzleLayoutCreate",
+      "type": "object"
     },
-    "DropTipInPlaceParams": {
-      "title": "DropTipInPlaceParams",
-      "description": "Payload required to drop a tip in place.",
-      "type": "object",
+    "ConfigureNozzleLayoutParams": {
+      "description": "Parameters required to configure the nozzle layout for a specific pipette.",
       "properties": {
+        "configurationParams": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/AllNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/SingleNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/RowNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/ColumnNozzleLayoutConfiguration"
+            },
+            {
+              "$ref": "#/$defs/QuadrantNozzleLayoutConfiguration"
+            }
+          ],
+          "title": "Configurationparams"
+        },
         "pipetteId": {
-          "title": "Pipetteid",
           "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
+        }
+      },
+      "required": ["pipetteId", "configurationParams"],
+      "title": "ConfigureNozzleLayoutParams",
+      "type": "object"
+    },
+    "Coordinate": {
+      "description": "Three-dimensional coordinates.",
+      "properties": {
+        "x": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "X"
         },
-        "homeAfter": {
-          "title": "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.",
-          "type": "boolean"
+        "y": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "Y"
+        },
+        "z": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
+            {
+              "type": "number"
+            }
+          ],
+          "title": "Z"
         }
       },
-      "required": ["pipetteId"]
+      "required": ["x", "y", "z"],
+      "title": "Coordinate",
+      "type": "object"
     },
-    "DropTipInPlaceCreate": {
-      "title": "DropTipInPlaceCreate",
-      "description": "Drop tip in place command creation request model.",
-      "type": "object",
+    "CustomCreate": {
+      "description": "A request to create a custom command.",
       "properties": {
         "commandType": {
+          "const": "custom",
+          "default": "custom",
+          "enum": ["custom"],
           "title": "Commandtype",
-          "default": "dropTipInPlace",
-          "enum": ["dropTipInPlace"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DropTipInPlaceParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/CustomParams"
         }
       },
-      "required": ["params"]
-    },
-    "MotorAxis": {
-      "title": "MotorAxis",
-      "description": "Motor axis on which to issue a home command.",
-      "enum": [
-        "x",
-        "y",
-        "leftZ",
-        "rightZ",
-        "leftPlunger",
-        "rightPlunger",
-        "extensionZ",
-        "extensionJaw",
-        "axis96ChannelCam"
-      ],
-      "type": "string"
-    },
-    "MountType": {
-      "title": "MountType",
-      "description": "An enumeration.",
-      "enum": ["left", "right", "extension"],
-      "type": "string"
+      "required": ["params"],
+      "title": "CustomCreate",
+      "type": "object"
     },
-    "HomeParams": {
-      "title": "HomeParams",
-      "description": "Payload required for a Home command.",
-      "type": "object",
-      "properties": {
-        "axes": {
-          "description": "Axes to return to their home positions. If omitted, will home all motors. Extra axes may be implicitly homed to ensure accurate homing of the explicitly specified axes.",
-          "type": "array",
-          "items": {
-            "$ref": "#/definitions/MotorAxis"
-          }
-        },
-        "skipIfMountPositionOk": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
-        }
-      }
+    "CustomParams": {
+      "additionalProperties": true,
+      "description": "Payload used by a custom command.",
+      "properties": {},
+      "title": "CustomParams",
+      "type": "object"
     },
-    "HomeCreate": {
-      "title": "HomeCreate",
-      "description": "Data to create a Home command.",
-      "type": "object",
+    "DeactivateBlockCreate": {
+      "description": "A request to create a Thermocycler's deactivate block command.",
       "properties": {
         "commandType": {
+          "const": "thermocycler/deactivateBlock",
+          "default": "thermocycler/deactivateBlock",
+          "enum": ["thermocycler/deactivateBlock"],
           "title": "Commandtype",
-          "default": "home",
-          "enum": ["home"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/HomeParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateBlockParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "DeactivateBlockCreate",
+      "type": "object"
     },
-    "RetractAxisParams": {
-      "title": "RetractAxisParams",
-      "description": "Payload required for a Retract Axis command.",
-      "type": "object",
+    "DeactivateBlockParams": {
+      "description": "Input parameters to unset a Thermocycler's target block temperature.",
       "properties": {
-        "axis": {
-          "description": "Axis to retract to its home position as quickly as safely possible. The difference between retracting an axis and homing an axis using the home command is that a home will always probe the limit switch and will work as the first motion command a robot will need to execute; On the other hand, retraction will rely on this previously determined  home position to move to it as fast as safely possible. So on the Flex, it will move (fast) the axis to the previously recorded home position and on the OT2, it will move (fast) the axis a safe distance from the previously recorded home position, and then slowly approach the limit switch.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MotorAxis"
-            }
-          ]
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": ["axis"]
+      "required": ["moduleId"],
+      "title": "DeactivateBlockParams",
+      "type": "object"
     },
-    "RetractAxisCreate": {
-      "title": "RetractAxisCreate",
-      "description": "Data to create a Retract Axis command.",
-      "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",
-          "default": "retractAxis",
-          "enum": ["retractAxis"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/RetractAxisParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "DeckSlotName": {
-      "title": "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"
-      ]
-    },
-    "DeckSlotLocation": {
-      "title": "DeckSlotLocation",
-      "description": "The location of something placed in a single deck slot.",
-      "type": "object",
-      "properties": {
-        "slotName": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DeckSlotName"
-            }
-          ]
-        }
-      },
-      "required": ["slotName"]
+      "required": ["params"],
+      "title": "DeactivateHeaterCreate",
+      "type": "object"
     },
-    "ModuleLocation": {
-      "title": "ModuleLocation",
-      "description": "The location of something placed atop a hardware module.",
-      "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",
-          "description": "The ID of a loaded module from a prior `loadModule` command.",
           "type": "string"
         }
       },
-      "required": ["moduleId"]
+      "required": ["moduleId"],
+      "title": "DeactivateHeaterParams",
+      "type": "object"
     },
-    "OnLabwareLocation": {
-      "title": "OnLabwareLocation",
-      "description": "The location of something placed atop another labware.",
-      "type": "object",
+    "DeactivateLidCreate": {
+      "description": "A request to create a Thermocycler's deactivate lid command.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "The ID of a loaded Labware from a prior `loadLabware` command.",
+        "commandType": {
+          "const": "thermocycler/deactivateLid",
+          "default": "thermocycler/deactivateLid",
+          "enum": ["thermocycler/deactivateLid"],
+          "title": "Commandtype",
           "type": "string"
-        }
-      },
-      "required": ["labwareId"]
-    },
-    "AddressableAreaLocation": {
-      "title": "AddressableAreaLocation",
-      "description": "The location of something place in an addressable area. This is a superset of deck slots.",
-      "type": "object",
-      "properties": {
-        "addressableAreaName": {
-          "title": "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).",
-          "type": "string"
-        }
-      },
-      "required": ["addressableAreaName"]
-    },
-    "LoadLabwareParams": {
-      "title": "LoadLabwareParams",
-      "description": "Payload required to load a labware into a slot.",
-      "type": "object",
-      "properties": {
-        "location": {
-          "title": "Location",
-          "description": "Location the labware should be loaded into.",
-          "anyOf": [
-            {
-              "$ref": "#/definitions/DeckSlotLocation"
-            },
-            {
-              "$ref": "#/definitions/ModuleLocation"
-            },
-            {
-              "$ref": "#/definitions/OnLabwareLocation"
-            },
-            {
-              "enum": ["offDeck"],
-              "type": "string"
-            },
-            {
-              "$ref": "#/definitions/AddressableAreaLocation"
-            }
-          ]
-        },
-        "loadName": {
-          "title": "Loadname",
-          "description": "Name used to reference a labware definition.",
-          "type": "string"
-        },
-        "namespace": {
-          "title": "Namespace",
-          "description": "The namespace the labware definition belongs to.",
-          "type": "string"
-        },
-        "version": {
-          "title": "Version",
-          "description": "The labware definition version.",
-          "type": "integer"
-        },
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "An optional ID to assign to this labware. If None, an ID will be generated.",
-          "type": "string"
-        },
-        "displayName": {
-          "title": "Displayname",
-          "description": "An optional user-specified display name or label for this labware.",
-          "type": "string"
-        }
-      },
-      "required": ["location", "loadName", "namespace", "version"]
-    },
-    "LoadLabwareCreate": {
-      "title": "LoadLabwareCreate",
-      "description": "Load labware command creation request.",
-      "type": "object",
-      "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "loadLabware",
-          "enum": ["loadLabware"],
-          "type": "string"
-        },
-        "params": {
-          "$ref": "#/definitions/LoadLabwareParams"
         },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateLidParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "DeactivateLidCreate",
+      "type": "object"
     },
-    "ReloadLabwareParams": {
-      "title": "ReloadLabwareParams",
-      "description": "Payload required to load a labware into a slot.",
-      "type": "object",
+    "DeactivateLidParams": {
+      "description": "Input parameters to unset a Thermocycler's target lid temperature.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "The already-loaded labware instance to update.",
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
           "type": "string"
         }
       },
-      "required": ["labwareId"]
+      "required": ["moduleId"],
+      "title": "DeactivateLidParams",
+      "type": "object"
     },
-    "ReloadLabwareCreate": {
-      "title": "ReloadLabwareCreate",
-      "description": "Reload labware command creation request.",
-      "type": "object",
+    "DeactivateShakerCreate": {
+      "description": "A request to create a Heater-Shaker's deactivate shaker command.",
       "properties": {
         "commandType": {
+          "const": "heaterShaker/deactivateShaker",
+          "default": "heaterShaker/deactivateShaker",
+          "enum": ["heaterShaker/deactivateShaker"],
           "title": "Commandtype",
-          "default": "reloadLabware",
-          "enum": ["reloadLabware"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/ReloadLabwareParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateShakerParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "DeactivateShakerCreate",
+      "type": "object"
     },
-    "LoadLiquidParams": {
-      "title": "LoadLiquidParams",
-      "description": "Payload required to load a liquid into a well.",
-      "type": "object",
+    "DeactivateShakerParams": {
+      "description": "Input parameters to deactivate shaker for a Heater-Shaker Module.",
       "properties": {
-        "liquidId": {
-          "title": "Liquidid",
-          "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.",
-          "anyOf": [
-            {
-              "type": "string"
-            },
-            {
-              "enum": ["EMPTY"],
-              "type": "string"
-            }
-          ]
-        },
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Unique identifier of labware to load liquid into.",
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
           "type": "string"
-        },
-        "volumeByWell": {
-          "title": "Volumebywell",
-          "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.",
-          "type": "object",
-          "additionalProperties": {
-            "type": "number"
-          }
         }
       },
-      "required": ["liquidId", "labwareId", "volumeByWell"]
+      "required": ["moduleId"],
+      "title": "DeactivateShakerParams",
+      "type": "object"
     },
-    "LoadLiquidCreate": {
-      "title": "LoadLiquidCreate",
-      "description": "Load liquid command creation request.",
-      "type": "object",
+    "DeactivateTemperatureCreate": {
+      "description": "A request to deactivate a Temperature Module.",
       "properties": {
         "commandType": {
+          "const": "temperatureModule/deactivate",
+          "default": "temperatureModule/deactivate",
+          "enum": ["temperatureModule/deactivate"],
           "title": "Commandtype",
-          "default": "loadLiquid",
-          "enum": ["loadLiquid"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/LoadLiquidParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/DeactivateTemperatureParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "DeactivateTemperatureCreate",
+      "type": "object"
     },
-    "PositionReference": {
-      "title": "PositionReference",
-      "description": "Positional reference for liquid handling operations.",
-      "enum": ["well-bottom", "well-top", "well-center", "liquid-meniscus"]
+    "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"
     },
-    "Coordinate": {
-      "title": "Coordinate",
-      "description": "Three-dimensional coordinates.",
-      "type": "object",
+    "DeckPoint": {
+      "description": "Coordinates of a point in deck space.",
       "properties": {
         "x": {
           "title": "X",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
+          "type": "number"
         },
         "y": {
           "title": "Y",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
+          "type": "number"
         },
         "z": {
           "title": "Z",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
+          "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": ["x", "y", "z"]
+      "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": {
-      "title": "DelayParams",
       "description": "Parameters for delay.",
-      "type": "object",
       "properties": {
         "duration": {
-          "title": "Duration",
-          "description": "Duration of delay, in seconds.",
           "anyOf": [
             {
-              "type": "integer",
-              "minimum": 0
+              "minimum": 0,
+              "type": "integer"
             },
             {
-              "type": "number",
-              "minimum": 0.0
+              "minimum": 0.0,
+              "type": "number"
             }
-          ]
+          ],
+          "description": "Duration of delay, in seconds.",
+          "title": "Duration"
         }
       },
-      "required": ["duration"]
+      "required": ["duration"],
+      "title": "DelayParams",
+      "type": "object"
     },
     "DelayProperties": {
-      "title": "DelayProperties",
       "description": "Shared properties for delay..",
-      "type": "object",
       "properties": {
         "enable": {
-          "title": "Enable",
           "description": "Whether delay is enabled.",
+          "title": "Enable",
           "type": "boolean"
         },
         "params": {
-          "title": "Params",
+          "$ref": "#/$defs/DelayParams",
           "description": "Parameters for the delay function.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayParams"
-            }
-          ]
+          "title": "Params"
         }
       },
-      "required": ["enable"]
+      "required": ["enable"],
+      "title": "DelayProperties",
+      "type": "object"
     },
-    "Submerge": {
-      "title": "Submerge",
-      "description": "Shared properties for the submerge function before aspiration or dispense.",
-      "type": "object",
+    "DisengageCreate": {
+      "description": "A request to create a Magnetic Module disengage command.",
       "properties": {
-        "positionReference": {
-          "description": "Position reference for submerge.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
+        "commandType": {
+          "const": "magneticModule/disengage",
+          "default": "magneticModule/disengage",
+          "enum": ["magneticModule/disengage"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset for submerge.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
+        "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"
         },
-        "speed": {
-          "title": "Speed",
-          "description": "Speed of submerging, in millimeters per second.",
-          "anyOf": [
-            {
-              "type": "integer",
-              "minimum": 0
-            },
-            {
-              "type": "number",
-              "minimum": 0.0
-            }
-          ]
+        "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"
         },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay settings for submerge.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
+        "params": {
+          "$ref": "#/$defs/DisengageParams"
         }
       },
-      "required": ["positionReference", "offset", "speed", "delay"]
+      "required": ["params"],
+      "title": "DisengageCreate",
+      "type": "object"
     },
-    "LiquidClassTouchTipParams": {
-      "title": "LiquidClassTouchTipParams",
-      "description": "Parameters for touch-tip.",
-      "type": "object",
+    "DisengageParams": {
+      "description": "Input data to disengage a Magnetic Module's magnets.",
       "properties": {
-        "zOffset": {
-          "title": "Zoffset",
-          "description": "Offset from the top of the well for touch-tip, in millimeters.",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
-        },
-        "mmToEdge": {
-          "title": "Mmtoedge",
-          "description": "Offset away from the the well edge, in millimeters.",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "Touch-tip speed, in millimeters per second.",
-          "anyOf": [
-            {
-              "type": "integer",
-              "minimum": 0
-            },
-            {
-              "type": "number",
-              "minimum": 0.0
-            }
-          ]
+        "moduleId": {
+          "description": "The ID of the Magnetic Module whose magnets you want to disengage, from a prior `loadModule` command.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": ["zOffset", "mmToEdge", "speed"]
+      "required": ["moduleId"],
+      "title": "DisengageParams",
+      "type": "object"
     },
-    "TouchTipProperties": {
-      "title": "TouchTipProperties",
-      "description": "Shared properties for the touch-tip function.",
-      "type": "object",
+    "DispenseCreate": {
+      "description": "Create dispense command request model.",
       "properties": {
-        "enable": {
-          "title": "Enable",
-          "description": "Whether touch-tip is enabled.",
-          "type": "boolean"
+        "commandType": {
+          "const": "dispense",
+          "default": "dispense",
+          "enum": ["dispense"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
         },
         "params": {
-          "title": "Params",
-          "description": "Parameters for the touch-tip function.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/LiquidClassTouchTipParams"
-            }
-          ]
+          "$ref": "#/$defs/DispenseParams"
         }
       },
-      "required": ["enable"]
+      "required": ["params"],
+      "title": "DispenseCreate",
+      "type": "object"
     },
-    "RetractAspirate": {
-      "title": "RetractAspirate",
-      "description": "Shared properties for the retract function after aspiration.",
-      "type": "object",
+    "DispenseInPlaceCreate": {
+      "description": "DispenseInPlace command request model.",
       "properties": {
-        "positionReference": {
-          "description": "Position reference for retract after aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
+        "commandType": {
+          "const": "dispenseInPlace",
+          "default": "dispenseInPlace",
+          "enum": ["dispenseInPlace"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset for retract after aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
+        "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"
         },
-        "speed": {
-          "title": "Speed",
-          "description": "Speed of retraction, in millimeters per second.",
-          "anyOf": [
-            {
-              "type": "integer",
-              "minimum": 0
-            },
-            {
-              "type": "number",
-              "minimum": 0.0
-            }
-          ]
+        "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"
         },
-        "airGapByVolume": {
-          "title": "Airgapbyvolume",
-          "description": "Settings for air gap keyed by target aspiration volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
+        "params": {
+          "$ref": "#/$defs/DispenseInPlaceParams"
+        }
+      },
+      "required": ["params"],
+      "title": "DispenseInPlaceCreate",
+      "type": "object"
+    },
+    "DispenseInPlaceParams": {
+      "description": "Payload required to dispense in place.",
+      "properties": {
+        "flowRate": {
+          "description": "Speed in \u00b5L/s configured for the pipette",
+          "exclusiveMinimum": 0.0,
+          "title": "Flowrate",
+          "type": "number"
         },
-        "touchTip": {
-          "title": "Touchtip",
-          "description": "Touch tip settings for retract after aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/TouchTipProperties"
-            }
-          ]
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay settings for retract after aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
+        "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": [
-        "positionReference",
-        "offset",
-        "speed",
-        "airGapByVolume",
-        "touchTip",
-        "delay"
-      ]
+      "required": ["flowRate", "volume", "pipetteId"],
+      "title": "DispenseInPlaceParams",
+      "type": "object"
     },
-    "MixParams": {
-      "title": "MixParams",
-      "description": "Parameters for mix.",
-      "type": "object",
+    "DispenseParams": {
+      "description": "Payload required to dispense to a specific well.",
       "properties": {
-        "repetitions": {
-          "title": "Repetitions",
-          "description": "Number of mixing repetitions.",
-          "minimum": 0,
-          "type": "integer"
+        "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",
-          "description": "Volume used for mixing, in microliters.",
-          "anyOf": [
-            {
-              "type": "integer"
-            },
-            {
-              "type": "number"
-            }
-          ]
+          "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": ["repetitions", "volume"]
+      "required": ["labwareId", "wellName", "flowRate", "volume", "pipetteId"],
+      "title": "DispenseParams",
+      "type": "object"
     },
-    "MixProperties": {
-      "title": "MixProperties",
-      "description": "Mixing properties.",
-      "type": "object",
+    "DropTipCreate": {
+      "description": "Drop tip command creation request model.",
       "properties": {
-        "enable": {
-          "title": "Enable",
-          "description": "Whether mix is enabled.",
-          "type": "boolean"
+        "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": {
-          "title": "Params",
-          "description": "Parameters for the mix function.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MixParams"
-            }
-          ]
+          "$ref": "#/$defs/DropTipParams"
         }
       },
-      "required": ["enable"]
+      "required": ["params"],
+      "title": "DropTipCreate",
+      "type": "object"
     },
-    "AspirateProperties": {
-      "title": "AspirateProperties",
-      "description": "Properties specific to the aspirate function.",
-      "type": "object",
+    "DropTipInPlaceCreate": {
+      "description": "Drop tip in place command creation request model.",
       "properties": {
-        "submerge": {
-          "title": "Submerge",
-          "description": "Submerge settings for aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Submerge"
-            }
-          ]
-        },
-        "retract": {
-          "title": "Retract",
-          "description": "Pipette retract settings after an aspirate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/RetractAspirate"
-            }
-          ]
-        },
-        "positionReference": {
-          "description": "Position reference for aspiration.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
-        },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset for aspiration.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
-        },
-        "flowRateByVolume": {
-          "title": "Flowratebyvolume",
-          "description": "Settings for flow rate keyed by target aspiration volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "correctionByVolume": {
-          "title": "Correctionbyvolume",
-          "description": "Settings for volume correction keyed by by target aspiration volume, representing additional volume the plunger should move to accurately hit target volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer"
-                  },
-                  {
-                    "type": "number"
-                  }
-                ]
-              }
-            ]
-          }
+        "commandType": {
+          "const": "dropTipInPlace",
+          "default": "dropTipInPlace",
+          "enum": ["dropTipInPlace"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "preWet": {
-          "title": "Prewet",
-          "description": "Whether to perform a pre-wet action.",
-          "type": "boolean"
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
         },
-        "mix": {
-          "title": "Mix",
-          "description": "Mixing settings for before an aspirate",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MixProperties"
-            }
-          ]
+        "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"
         },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay settings after an aspirate",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
+        "params": {
+          "$ref": "#/$defs/DropTipInPlaceParams"
         }
       },
-      "required": [
-        "submerge",
-        "retract",
-        "positionReference",
-        "offset",
-        "flowRateByVolume",
-        "correctionByVolume",
-        "preWet",
-        "mix",
-        "delay"
-      ]
-    },
-    "BlowoutLocation": {
-      "title": "BlowoutLocation",
-      "description": "Location for blowout during a transfer function.",
-      "enum": ["source", "destination", "trash"]
+      "required": ["params"],
+      "title": "DropTipInPlaceCreate",
+      "type": "object"
     },
-    "BlowoutParams": {
-      "title": "BlowoutParams",
-      "description": "Parameters for blowout.",
-      "type": "object",
+    "DropTipInPlaceParams": {
+      "description": "Payload required to drop a tip in place.",
       "properties": {
-        "location": {
-          "description": "Location well or trash entity for blow out.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/BlowoutLocation"
-            }
-          ]
+        "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"
         },
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Flow rate for blow out, in microliters per second.",
-          "anyOf": [
-            {
-              "type": "integer",
-              "minimum": 0
-            },
-            {
-              "type": "number",
-              "minimum": 0.0
-            }
-          ]
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         }
       },
-      "required": ["location", "flowRate"]
+      "required": ["pipetteId"],
+      "title": "DropTipInPlaceParams",
+      "type": "object"
     },
-    "BlowoutProperties": {
-      "title": "BlowoutProperties",
-      "description": "Blowout properties.",
-      "type": "object",
+    "DropTipParams": {
+      "description": "Payload required to drop a tip in a specific well.",
       "properties": {
-        "enable": {
-          "title": "Enable",
-          "description": "Whether blow-out is enabled.",
+        "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"
         },
-        "params": {
-          "title": "Params",
-          "description": "Parameters for the blowout function.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/BlowoutParams"
-            }
-          ]
+        "homeAfter": {
+          "description": "Whether to home this pipette's plunger after dropping the tip. You should normally leave this unspecified to let the robot choose a safe default depending on its hardware.",
+          "title": "Homeafter",
+          "type": "boolean"
+        },
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
+          "type": "string"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
+        },
+        "wellLocation": {
+          "$ref": "#/$defs/DropTipWellLocation",
+          "description": "Relative well location at which to drop the tip."
+        },
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
         }
       },
-      "required": ["enable"]
+      "required": ["pipetteId", "labwareId", "wellName"],
+      "title": "DropTipParams",
+      "type": "object"
     },
-    "RetractDispense": {
-      "title": "RetractDispense",
-      "description": "Shared properties for the retract function after dispense.",
-      "type": "object",
+    "DropTipWellLocation": {
+      "description": "Like WellLocation, but for dropping tips.\n\nUnlike a typical WellLocation, the location for a drop tip\ndefaults to location based on the tip length rather than the well's top.",
       "properties": {
-        "positionReference": {
-          "description": "Position reference for retract after dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
-        },
         "offset": {
-          "title": "Offset",
-          "description": "Relative offset for retract after dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "Speed of retraction, in millimeters per second.",
-          "anyOf": [
-            {
-              "type": "integer",
-              "minimum": 0
-            },
-            {
-              "type": "number",
-              "minimum": 0.0
-            }
-          ]
+          "$ref": "#/$defs/WellOffset"
         },
-        "airGapByVolume": {
-          "title": "Airgapbyvolume",
-          "description": "Settings for air gap keyed by target aspiration volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
+        "origin": {
+          "$ref": "#/$defs/DropTipWellOrigin",
+          "default": "default"
+        }
+      },
+      "title": "DropTipWellLocation",
+      "type": "object"
+    },
+    "DropTipWellOrigin": {
+      "description": "The origin of a DropTipWellLocation offset.\n\nProps:\n    TOP: the top-center of the well\n    BOTTOM: the bottom-center of the well\n    CENTER: the middle-center of the well\n    DEFAULT: the default drop-tip location of the well,\n        based on pipette configuration and length of the tip.",
+      "enum": ["top", "bottom", "center", "default"],
+      "title": "DropTipWellOrigin",
+      "type": "string"
+    },
+    "EngageCreate": {
+      "description": "A request to create a Magnetic Module engage command.",
+      "properties": {
+        "commandType": {
+          "const": "magneticModule/engage",
+          "default": "magneticModule/engage",
+          "enum": ["magneticModule/engage"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "blowout": {
-          "title": "Blowout",
-          "description": "Blowout properties for retract after dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/BlowoutProperties"
-            }
-          ]
+        "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"
         },
-        "touchTip": {
-          "title": "Touchtip",
-          "description": "Touch tip settings for retract after dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/TouchTipProperties"
-            }
-          ]
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
         },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay settings for retract after dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
+        "params": {
+          "$ref": "#/$defs/EngageParams"
         }
       },
-      "required": [
-        "positionReference",
-        "offset",
-        "speed",
-        "airGapByVolume",
-        "blowout",
-        "touchTip",
-        "delay"
-      ]
+      "required": ["params"],
+      "title": "EngageCreate",
+      "type": "object"
     },
-    "SingleDispenseProperties": {
-      "title": "SingleDispenseProperties",
-      "description": "Properties specific to the single-dispense function.",
-      "type": "object",
+    "EngageParams": {
+      "description": "Input data to engage a Magnetic Module.",
       "properties": {
-        "submerge": {
-          "title": "Submerge",
-          "description": "Submerge settings for single dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Submerge"
-            }
-          ]
-        },
-        "retract": {
-          "title": "Retract",
-          "description": "Pipette retract settings after a single dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/RetractDispense"
-            }
-          ]
-        },
-        "positionReference": {
-          "description": "Position reference for single dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
-        },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset for single dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
-        },
-        "flowRateByVolume": {
-          "title": "Flowratebyvolume",
-          "description": "Settings for flow rate keyed by target dispense volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "correctionByVolume": {
-          "title": "Correctionbyvolume",
-          "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer"
-                  },
-                  {
-                    "type": "number"
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "mix": {
-          "title": "Mix",
-          "description": "Mixing settings for after a dispense",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MixProperties"
-            }
-          ]
-        },
-        "pushOutByVolume": {
-          "title": "Pushoutbyvolume",
-          "description": "Settings for pushout keyed by target dispense volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay after dispense, in seconds.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
-        }
-      },
-      "required": [
-        "submerge",
-        "retract",
-        "positionReference",
-        "offset",
-        "flowRateByVolume",
-        "correctionByVolume",
-        "mix",
-        "pushOutByVolume",
-        "delay"
-      ]
-    },
-    "MultiDispenseProperties": {
-      "title": "MultiDispenseProperties",
-      "description": "Properties specific to the multi-dispense function.",
-      "type": "object",
-      "properties": {
-        "submerge": {
-          "title": "Submerge",
-          "description": "Submerge settings for multi-dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Submerge"
-            }
-          ]
-        },
-        "retract": {
-          "title": "Retract",
-          "description": "Pipette retract settings after a multi-dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/RetractDispense"
-            }
-          ]
-        },
-        "positionReference": {
-          "description": "Position reference for multi-dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PositionReference"
-            }
-          ]
-        },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset for single multi-dispense.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Coordinate"
-            }
-          ]
-        },
-        "flowRateByVolume": {
-          "title": "Flowratebyvolume",
-          "description": "Settings for flow rate keyed by target dispense volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "correctionByVolume": {
-          "title": "Correctionbyvolume",
-          "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer"
-                  },
-                  {
-                    "type": "number"
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "conditioningByVolume": {
-          "title": "Conditioningbyvolume",
-          "description": "Settings for conditioning volume keyed by target dispense volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
-        },
-        "disposalByVolume": {
-          "title": "Disposalbyvolume",
-          "description": "Settings for disposal volume keyed by target dispense volume.",
-          "type": "array",
-          "items": {
-            "type": "array",
-            "minItems": 2,
-            "maxItems": 2,
-            "items": [
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              },
-              {
-                "anyOf": [
-                  {
-                    "type": "integer",
-                    "minimum": 0
-                  },
-                  {
-                    "type": "number",
-                    "minimum": 0.0
-                  }
-                ]
-              }
-            ]
-          }
+        "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"
         },
-        "delay": {
-          "title": "Delay",
-          "description": "Delay settings after each dispense",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DelayProperties"
-            }
-          ]
+        "moduleId": {
+          "description": "The ID of the Magnetic Module whose magnets you want to raise, from a prior `loadModule` command.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": [
-        "submerge",
-        "retract",
-        "positionReference",
-        "offset",
-        "flowRateByVolume",
-        "correctionByVolume",
-        "conditioningByVolume",
-        "disposalByVolume",
-        "delay"
-      ]
+      "required": ["moduleId", "height"],
+      "title": "EngageParams",
+      "type": "object"
     },
-    "LiquidClassRecord": {
-      "title": "LiquidClassRecord",
-      "description": "LiquidClassRecord is our internal representation of an (immutable) liquid class.\n\nConceptually, a liquid class record is the tuple (name, pipette, tip, transfer properties).\nWe consider two liquid classes to be the same if every entry in that tuple is the same; and liquid\nclasses are different if any entry in the tuple is different.\n\nThis class defines the tuple via inheritance so that we can reuse the definitions from shared_data.",
-      "type": "object",
+    "GetNextTipCreate": {
+      "description": "Get next tip command creation request model.",
       "properties": {
-        "tiprack": {
-          "title": "Tiprack",
-          "description": "The name of tiprack whose tip will be used when handling this specific liquid class with this pipette",
-          "type": "string"
-        },
-        "aspirate": {
-          "title": "Aspirate",
-          "description": "Aspirate parameters for this tip type.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/AspirateProperties"
-            }
-          ]
-        },
-        "singleDispense": {
-          "title": "Singledispense",
-          "description": "Single dispense parameters for this tip type.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/SingleDispenseProperties"
-            }
-          ]
-        },
-        "multiDispense": {
-          "title": "Multidispense",
-          "description": "Optional multi-dispense parameters for this tip type.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MultiDispenseProperties"
-            }
-          ]
-        },
-        "liquidClassName": {
-          "title": "Liquidclassname",
-          "description": "Identifier for the liquid of this liquid class, e.g. glycerol50.",
+        "commandType": {
+          "const": "getNextTip",
+          "default": "getNextTip",
+          "enum": ["getNextTip"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "pipetteModel": {
-          "title": "Pipettemodel",
-          "description": "Identifier for the pipette of this liquid class.",
+        "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": [
-        "tiprack",
-        "aspirate",
-        "singleDispense",
-        "liquidClassName",
-        "pipetteModel"
-      ]
+      "required": ["params"],
+      "title": "GetNextTipCreate",
+      "type": "object"
     },
-    "LoadLiquidClassParams": {
-      "title": "LoadLiquidClassParams",
-      "description": "The liquid class transfer properties to store.",
-      "type": "object",
+    "GetNextTipParams": {
+      "description": "Payload needed to resolve the next available tip.",
       "properties": {
-        "liquidClassId": {
-          "title": "Liquidclassid",
-          "description": "Unique identifier for the liquid class to store. If you do not supply a liquidClassId, we will generate one.",
+        "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"
         },
-        "liquidClassRecord": {
-          "title": "Liquidclassrecord",
-          "description": "The liquid class to store.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/LiquidClassRecord"
-            }
-          ]
+        "startingTipWell": {
+          "description": "Name of starting tip rack 'well'. This only applies to the first tip rack in the list provided in labwareIDs",
+          "title": "Startingtipwell",
+          "type": "string"
         }
       },
-      "required": ["liquidClassRecord"]
+      "required": ["pipetteId", "labwareIds"],
+      "title": "GetNextTipParams",
+      "type": "object"
     },
-    "LoadLiquidClassCreate": {
-      "title": "LoadLiquidClassCreate",
-      "description": "Load Liquid Class command creation request.",
-      "type": "object",
+    "GetTipPresenceCreate": {
+      "description": "GetTipPresence command creation request model.",
       "properties": {
         "commandType": {
+          "const": "getTipPresence",
+          "default": "getTipPresence",
+          "enum": ["getTipPresence"],
           "title": "Commandtype",
-          "default": "loadLiquidClass",
-          "enum": ["loadLiquidClass"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/LoadLiquidClassParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/GetTipPresenceParams"
         }
       },
-      "required": ["params"]
-    },
-    "ModuleModel": {
-      "title": "ModuleModel",
-      "description": "All available modules' models.",
-      "enum": [
-        "temperatureModuleV1",
-        "temperatureModuleV2",
-        "magneticModuleV1",
-        "magneticModuleV2",
-        "thermocyclerModuleV1",
-        "thermocyclerModuleV2",
-        "heaterShakerModuleV1",
-        "magneticBlockV1",
-        "absorbanceReaderV1"
-      ],
-      "type": "string"
+      "required": ["params"],
+      "title": "GetTipPresenceCreate",
+      "type": "object"
     },
-    "LoadModuleParams": {
-      "title": "LoadModuleParams",
-      "description": "Payload required to load a module.",
-      "type": "object",
+    "GetTipPresenceParams": {
+      "description": "Payload required for a GetTipPresence command.",
       "properties": {
-        "model": {
-          "description": "The model name of the module to load.\n\nProtocol Engine will look for a connected module that either exactly matches this one, or is compatible.\n\n For example, if you request a `temperatureModuleV1` here, Protocol Engine might load a `temperatureModuleV1` or a `temperatureModuleV2`.\n\n The model that it finds connected will be available through `result.model`.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/ModuleModel"
-            }
-          ]
-        },
-        "location": {
-          "title": "Location",
-          "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).",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DeckSlotLocation"
-            }
-          ]
-        },
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "An optional ID to assign to this module. If None, an ID will be generated.",
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
         }
       },
-      "required": ["model", "location"]
+      "required": ["pipetteId"],
+      "title": "GetTipPresenceParams",
+      "type": "object"
     },
-    "LoadModuleCreate": {
-      "title": "LoadModuleCreate",
-      "description": "The model for a creation request for a load module command.",
-      "type": "object",
+    "HomeCreate": {
+      "description": "Data to create a Home command.",
       "properties": {
         "commandType": {
+          "const": "home",
+          "default": "home",
+          "enum": ["home"],
           "title": "Commandtype",
-          "default": "loadModule",
-          "enum": ["loadModule"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/LoadModuleParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/HomeParams"
         }
       },
-      "required": ["params"]
-    },
-    "PipetteNameType": {
-      "title": "PipetteNameType",
-      "description": "Pipette load name values.",
-      "enum": [
-        "p10_single",
-        "p10_multi",
-        "p20_single_gen2",
-        "p20_multi_gen2",
-        "p50_single",
-        "p50_multi",
-        "p50_single_flex",
-        "p50_multi_flex",
-        "p300_single",
-        "p300_multi",
-        "p300_single_gen2",
-        "p300_multi_gen2",
-        "p1000_single",
-        "p1000_single_gen2",
-        "p1000_single_flex",
-        "p1000_multi_flex",
-        "p1000_multi_em",
-        "p1000_96",
-        "p200_96"
-      ],
-      "type": "string"
+      "required": ["params"],
+      "title": "HomeCreate",
+      "type": "object"
     },
-    "LoadPipetteParams": {
-      "title": "LoadPipetteParams",
-      "description": "Payload needed to load a pipette on to a mount.",
-      "type": "object",
+    "HomeParams": {
+      "description": "Payload required for a Home command.",
       "properties": {
-        "pipetteName": {
-          "description": "The load name of the pipette to be required.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PipetteNameType"
-            }
-          ]
-        },
-        "mount": {
-          "description": "The mount the pipette should be present on.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "An optional ID to assign to this pipette. If None, an ID will be generated.",
-          "type": "string"
-        },
-        "tipOverlapNotAfterVersion": {
-          "title": "Tipoverlapnotafterversion",
-          "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.",
-          "type": "string"
+        "axes": {
+          "description": "Axes to return to their home positions. If omitted, will home all motors. Extra axes may be implicitly homed to ensure accurate homing of the explicitly specified axes.",
+          "items": {
+            "$ref": "#/$defs/MotorAxis"
+          },
+          "title": "Axes",
+          "type": "array"
         },
-        "liquidPresenceDetection": {
-          "title": "Liquidpresencedetection",
-          "description": "Enable liquid presence detection for this pipette. Defaults to False.",
-          "type": "boolean"
+        "skipIfMountPositionOk": {
+          "$ref": "#/$defs/MountType",
+          "description": "If this parameter is provided, the gantry will only be homed if the specified mount has an invalid position. If omitted, the homing action will be executed unconditionally.",
+          "title": "Skipifmountpositionok"
         }
       },
-      "required": ["pipetteName", "mount"]
+      "title": "HomeParams",
+      "type": "object"
     },
-    "LoadPipetteCreate": {
-      "title": "LoadPipetteCreate",
-      "description": "Load pipette command creation request model.",
-      "type": "object",
+    "InitializeCreate": {
+      "description": "A request to execute an Absorbance Reader measurement.",
       "properties": {
         "commandType": {
+          "const": "absorbanceReader/initialize",
+          "default": "absorbanceReader/initialize",
+          "enum": ["absorbanceReader/initialize"],
           "title": "Commandtype",
-          "default": "loadPipette",
-          "enum": ["loadPipette"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/LoadPipetteParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$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": ["params"]
+      "required": ["moduleId", "measureMode", "sampleWavelengths"],
+      "title": "InitializeParams",
+      "type": "object"
+    },
+    "InstrumentSensorId": {
+      "description": "Primary and secondary sensor ids.",
+      "enum": ["primary", "secondary", "both"],
+      "title": "InstrumentSensorId",
+      "type": "string"
     },
     "LabwareMovementStrategy": {
-      "title": "LabwareMovementStrategy",
       "description": "Strategy to use for labware movement.",
       "enum": ["usingGripper", "manualMoveWithPause", "manualMoveWithoutPause"],
+      "title": "LabwareMovementStrategy",
       "type": "string"
     },
     "LabwareOffsetVector": {
-      "title": "LabwareOffsetVector",
       "description": "Offset, in deck coordinates from nominal to actual position.",
-      "type": "object",
       "properties": {
         "x": {
           "title": "X",
           "type": "number"
         },
-        "y": {
-          "title": "Y",
-          "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": "#/$defs/MultiDispenseProperties",
+          "description": "Optional multi-dispense parameters for this tip type.",
+          "title": "Multidispense"
+        },
+        "pipetteModel": {
+          "description": "Identifier for the pipette of this liquid class.",
+          "title": "Pipettemodel",
+          "type": "string"
         },
-        "z": {
-          "title": "Z",
-          "type": "number"
+        "singleDispense": {
+          "$ref": "#/$defs/SingleDispenseProperties",
+          "description": "Single dispense parameters for this tip type."
+        },
+        "tiprack": {
+          "description": "The name of tiprack whose tip will be used when handling this specific liquid class with this pipette",
+          "title": "Tiprack",
+          "type": "string"
         }
       },
-      "required": ["x", "y", "z"]
+      "required": [
+        "tiprack",
+        "aspirate",
+        "singleDispense",
+        "liquidClassName",
+        "pipetteModel"
+      ],
+      "title": "LiquidClassRecord",
+      "type": "object"
     },
-    "MoveLabwareParams": {
-      "title": "MoveLabwareParams",
-      "description": "Input parameters for a ``moveLabware`` command.",
-      "type": "object",
+    "LiquidClassTouchTipParams": {
+      "description": "Parameters for touch-tip.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "The ID of the labware to move.",
-          "type": "string"
-        },
-        "newLocation": {
-          "title": "Newlocation",
-          "description": "Where to move the labware.",
+        "mmToEdge": {
           "anyOf": [
             {
-              "$ref": "#/definitions/DeckSlotLocation"
-            },
-            {
-              "$ref": "#/definitions/ModuleLocation"
+              "type": "integer"
             },
             {
-              "$ref": "#/definitions/OnLabwareLocation"
-            },
+              "type": "number"
+            }
+          ],
+          "description": "Offset away from the the well edge, in millimeters.",
+          "title": "Mmtoedge"
+        },
+        "speed": {
+          "anyOf": [
             {
-              "enum": ["offDeck"],
-              "type": "string"
+              "minimum": 0,
+              "type": "integer"
             },
             {
-              "$ref": "#/definitions/AddressableAreaLocation"
+              "minimum": 0.0,
+              "type": "number"
             }
-          ]
+          ],
+          "description": "Touch-tip speed, in millimeters per second.",
+          "title": "Speed"
         },
-        "strategy": {
-          "description": "Whether to use the gripper to perform the labware movement or to perform a manual movement with an option to pause.",
-          "allOf": [
+        "zOffset": {
+          "anyOf": [
             {
-              "$ref": "#/definitions/LabwareMovementStrategy"
-            }
-          ]
-        },
-        "pickUpOffset": {
-          "title": "Pickupoffset",
-          "description": "Offset to use when picking up labware. Experimental param, subject to change",
-          "allOf": [
+              "type": "integer"
+            },
             {
-              "$ref": "#/definitions/LabwareOffsetVector"
+              "type": "number"
             }
-          ]
+          ],
+          "description": "Offset from the top of the well for touch-tip, in millimeters.",
+          "title": "Zoffset"
+        }
+      },
+      "required": ["zOffset", "mmToEdge", "speed"],
+      "title": "LiquidClassTouchTipParams",
+      "type": "object"
+    },
+    "LiquidHandlingWellLocation": {
+      "description": "A relative location in reference to a well's location.\n\nTo be used with commands that handle liquids.",
+      "properties": {
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
         },
-        "dropOffset": {
-          "title": "Dropoffset",
-          "description": "Offset to use when dropping off labware. Experimental param, subject to change",
-          "allOf": [
+        "origin": {
+          "$ref": "#/$defs/WellOrigin",
+          "default": "top"
+        },
+        "volumeOffset": {
+          "anyOf": [
+            {
+              "type": "number"
+            },
             {
-              "$ref": "#/definitions/LabwareOffsetVector"
+              "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"
         }
       },
-      "required": ["labwareId", "newLocation", "strategy"]
+      "title": "LiquidHandlingWellLocation",
+      "type": "object"
     },
-    "MoveLabwareCreate": {
-      "title": "MoveLabwareCreate",
-      "description": "A request to create a ``moveLabware`` command.",
-      "type": "object",
+    "LiquidProbeCreate": {
+      "description": "The request model for a `liquidProbe` command.",
       "properties": {
         "commandType": {
+          "const": "liquidProbe",
+          "default": "liquidProbe",
+          "enum": ["liquidProbe"],
           "title": "Commandtype",
-          "default": "moveLabware",
-          "enum": ["moveLabware"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveLabwareParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "MovementAxis": {
-      "title": "MovementAxis",
-      "description": "Axis on which to issue a relative movement.",
-      "enum": ["x", "y", "z"],
-      "type": "string"
+      "required": ["params"],
+      "title": "LiquidProbeCreate",
+      "type": "object"
     },
-    "MoveRelativeParams": {
-      "title": "MoveRelativeParams",
-      "description": "Payload required for a MoveRelative command.",
-      "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",
-          "description": "Pipette to move.",
           "type": "string"
         },
-        "axis": {
-          "description": "Axis along which to move.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MovementAxis"
-            }
-          ]
+        "wellLocation": {
+          "$ref": "#/$defs/WellLocation",
+          "description": "Relative well location at which to perform the operation"
         },
-        "distance": {
-          "title": "Distance",
-          "description": "Distance to move in millimeters. A positive number will move towards the right (x), back (y), top (z) of the deck.",
-          "type": "number"
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
+          "type": "string"
         }
       },
-      "required": ["pipetteId", "axis", "distance"]
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "LiquidProbeParams",
+      "type": "object"
     },
-    "MoveRelativeCreate": {
-      "title": "MoveRelativeCreate",
-      "description": "Data to create a MoveRelative command.",
-      "type": "object",
+    "LoadLabwareCreate": {
+      "description": "Load labware command creation request.",
       "properties": {
         "commandType": {
+          "const": "loadLabware",
+          "default": "loadLabware",
+          "enum": ["loadLabware"],
           "title": "Commandtype",
-          "default": "moveRelative",
-          "enum": ["moveRelative"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveRelativeParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLabwareParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "LoadLabwareCreate",
+      "type": "object"
     },
-    "DeckPoint": {
-      "title": "DeckPoint",
-      "description": "Coordinates of a point in deck space.",
-      "type": "object",
+    "LoadLabwareParams": {
+      "description": "Payload required to load a labware into a slot.",
       "properties": {
-        "x": {
-          "title": "X",
-          "type": "number"
+        "displayName": {
+          "description": "An optional user-specified display name or label for this labware.",
+          "title": "Displayname",
+          "type": "string"
         },
-        "y": {
-          "title": "Y",
-          "type": "number"
+        "labwareId": {
+          "description": "An optional ID to assign to this labware. If None, an ID will be generated.",
+          "title": "Labwareid",
+          "type": "string"
         },
-        "z": {
-          "title": "Z",
-          "type": "number"
+        "loadName": {
+          "description": "Name used to reference a labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "$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": ["x", "y", "z"]
+      "required": ["location", "loadName", "namespace", "version"],
+      "title": "LoadLabwareParams",
+      "type": "object"
     },
-    "MoveToCoordinatesParams": {
-      "title": "MoveToCoordinatesParams",
-      "description": "Payload required to move a pipette to coordinates.",
-      "type": "object",
+    "LoadLiquidClassCreate": {
+      "description": "Load Liquid Class command creation request.",
       "properties": {
-        "minimumZHeight": {
-          "title": "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.",
-          "type": "number"
-        },
-        "forceDirect": {
-          "title": "Forcedirect",
-          "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.",
-          "default": false,
-          "type": "boolean"
+        "commandType": {
+          "const": "loadLiquidClass",
+          "default": "loadLiquidClass",
+          "enum": ["loadLiquidClass"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "speed": {
-          "title": "Speed",
-          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
-          "type": "number"
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
         },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
         },
-        "coordinates": {
-          "title": "Coordinates",
-          "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DeckPoint"
-            }
-          ]
+        "params": {
+          "$ref": "#/$defs/LoadLiquidClassParams"
         }
       },
-      "required": ["pipetteId", "coordinates"]
+      "required": ["params"],
+      "title": "LoadLiquidClassCreate",
+      "type": "object"
     },
-    "MoveToCoordinatesCreate": {
-      "title": "MoveToCoordinatesCreate",
-      "description": "Move to coordinates command creation request model.",
-      "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",
-          "default": "moveToCoordinates",
-          "enum": ["moveToCoordinates"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToCoordinatesParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "LoadLiquidCreate",
+      "type": "object"
     },
-    "MoveToWellParams": {
-      "title": "MoveToWellParams",
-      "description": "Payload required to move a pipette to a specific well.",
-      "type": "object",
+    "LoadLiquidParams": {
+      "description": "Payload required to load a liquid into a well.",
       "properties": {
-        "minimumZHeight": {
-          "title": "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.",
-          "type": "number"
-        },
-        "forceDirect": {
-          "title": "Forcedirect",
-          "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.",
-          "default": false,
-          "type": "boolean"
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
-          "type": "number"
-        },
         "labwareId": {
+          "description": "Unique identifier of labware to load liquid into.",
           "title": "Labwareid",
-          "description": "Identifier of labware to use.",
           "type": "string"
         },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "type": "string"
-        },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
+        "liquidId": {
+          "anyOf": [
             {
-              "$ref": "#/definitions/WellLocation"
+              "type": "string"
+            },
+            {
+              "const": "EMPTY",
+              "enum": ["EMPTY"],
+              "type": "string"
             }
-          ]
+          ],
+          "description": "Unique identifier of the liquid to load. If this is the sentinel value EMPTY, all values of volumeByWell must be 0.",
+          "title": "Liquidid"
         },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
+        "volumeByWell": {
+          "additionalProperties": {
+            "type": "number"
+          },
+          "description": "Volume of liquid, in \u00b5L, loaded into each well by name, in this labware. If the liquid id is the sentinel value EMPTY, all volumes must be 0.",
+          "title": "Volumebywell",
+          "type": "object"
         }
       },
-      "required": ["labwareId", "wellName", "pipetteId"]
+      "required": ["liquidId", "labwareId", "volumeByWell"],
+      "title": "LoadLiquidParams",
+      "type": "object"
     },
-    "MoveToWellCreate": {
-      "title": "MoveToWellCreate",
-      "description": "Move to well command creation request model.",
-      "type": "object",
+    "LoadModuleCreate": {
+      "description": "The model for a creation request for a load module command.",
       "properties": {
         "commandType": {
+          "const": "loadModule",
+          "default": "loadModule",
+          "enum": ["loadModule"],
           "title": "Commandtype",
-          "default": "moveToWell",
-          "enum": ["moveToWell"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToWellParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadModuleParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "LoadModuleCreate",
+      "type": "object"
     },
-    "AddressableOffsetVector": {
-      "title": "AddressableOffsetVector",
-      "description": "Offset, in deck coordinates, from nominal to actual position of an addressable area.",
-      "type": "object",
+    "LoadModuleParams": {
+      "description": "Payload required to load a module.",
       "properties": {
-        "x": {
-          "title": "X",
-          "type": "number"
+        "location": {
+          "$ref": "#/$defs/DeckSlotLocation",
+          "description": "The location into which this module should be loaded.\n\nFor the Thermocycler Module, which occupies multiple deck slots, this should be the front-most occupied slot (normally slot 7)."
         },
-        "y": {
-          "title": "Y",
-          "type": "number"
+        "model": {
+          "$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`."
         },
-        "z": {
-          "title": "Z",
-          "type": "number"
+        "moduleId": {
+          "description": "An optional ID to assign to this module. If None, an ID will be generated.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": ["x", "y", "z"]
+      "required": ["model", "location"],
+      "title": "LoadModuleParams",
+      "type": "object"
     },
-    "MoveToAddressableAreaParams": {
-      "title": "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.",
-      "type": "object",
+    "LoadPipetteCreate": {
+      "description": "Load pipette command creation request model.",
       "properties": {
-        "minimumZHeight": {
-          "title": "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.",
-          "type": "number"
+        "commandType": {
+          "const": "loadPipette",
+          "default": "loadPipette",
+          "enum": ["loadPipette"],
+          "title": "Commandtype",
+          "type": "string"
         },
-        "forceDirect": {
-          "title": "Forcedirect",
-          "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.",
-          "default": false,
+        "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": "#/$defs/LoadPipetteParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadPipetteCreate",
+      "type": "object"
+    },
+    "LoadPipetteParams": {
+      "description": "Payload needed to load a pipette on to a mount.",
+      "properties": {
+        "liquidPresenceDetection": {
+          "description": "Enable liquid presence detection for this pipette. Defaults to False.",
+          "title": "Liquidpresencedetection",
           "type": "boolean"
         },
-        "speed": {
-          "title": "Speed",
-          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
-          "type": "number"
+        "mount": {
+          "$ref": "#/$defs/MountType",
+          "description": "The mount the pipette should be present on."
         },
         "pipetteId": {
+          "description": "An optional ID to assign to this pipette. If None, an ID will be generated.",
           "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
           "type": "string"
         },
-        "addressableAreaName": {
-          "title": "Addressableareaname",
-          "description": "The name of the addressable area that you want to use. Valid values are the `id`s of `addressableArea`s in the [deck definition](https://github.com/Opentrons/opentrons/tree/edge/shared-data/deck).",
+        "pipetteName": {
+          "$ref": "#/$defs/PipetteNameType",
+          "description": "The load name of the pipette to be required."
+        },
+        "tipOverlapNotAfterVersion": {
+          "description": "A version of tip overlap data to not exceed. The highest-versioned tip overlap data that does not exceed this version will be used. Versions are expressed as vN where N is an integer, counting up from v0. If None, the current highest version will be used.",
+          "title": "Tipoverlapnotafterversion",
           "type": "string"
+        }
+      },
+      "required": ["pipetteName", "mount"],
+      "title": "LoadPipetteParams",
+      "type": "object"
+    },
+    "MaintenancePosition": {
+      "description": "Maintenance position options.",
+      "enum": ["attachPlate", "attachInstrument"],
+      "title": "MaintenancePosition",
+      "type": "string"
+    },
+    "MixParams": {
+      "description": "Parameters for mix.",
+      "properties": {
+        "repetitions": {
+          "description": "Number of mixing repetitions.",
+          "minimum": 0,
+          "title": "Repetitions",
+          "type": "integer"
         },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset of addressable area to move pipette's critical point.",
-          "default": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 0.0
-          },
-          "allOf": [
+        "volume": {
+          "anyOf": [
+            {
+              "type": "integer"
+            },
             {
-              "$ref": "#/definitions/AddressableOffsetVector"
+              "type": "number"
             }
-          ]
-        },
-        "stayAtHighestPossibleZ": {
-          "title": "Stayathighestpossiblez",
-          "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.",
-          "default": false,
+          ],
+          "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": ["pipetteId", "addressableAreaName"]
+      "required": ["enable"],
+      "title": "MixProperties",
+      "type": "object"
     },
-    "MoveToAddressableAreaCreate": {
-      "title": "MoveToAddressableAreaCreate",
-      "description": "Move to addressable area command creation request model.",
-      "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"
+      ],
+      "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",
-          "default": "moveToAddressableArea",
-          "enum": ["moveToAddressableArea"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToAddressableAreaParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "MoveAxesRelativeCreate",
+      "type": "object"
     },
-    "MoveToAddressableAreaForDropTipParams": {
-      "title": "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.",
-      "type": "object",
+    "MoveAxesRelativeParams": {
+      "description": "Payload required to move axes relative to position.",
       "properties": {
-        "minimumZHeight": {
-          "title": "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.",
-          "type": "number"
-        },
-        "forceDirect": {
-          "title": "Forcedirect",
-          "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.",
-          "default": false,
-          "type": "boolean"
+        "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",
-          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
           "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
-        },
-        "addressableAreaName": {
-          "title": "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).",
-          "type": "string"
-        },
-        "offset": {
-          "title": "Offset",
-          "description": "Relative offset of addressable area to move pipette's critical point.",
-          "default": {
-            "x": 0.0,
-            "y": 0.0,
-            "z": 0.0
-          },
-          "allOf": [
-            {
-              "$ref": "#/definitions/AddressableOffsetVector"
-            }
-          ]
-        },
-        "alternateDropLocation": {
-          "title": "Alternatedroplocation",
-          "description": "Whether to alternate location where tip is dropped within the addressable area. If True, this command will ignore the offset provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the area.",
-          "default": false,
-          "type": "boolean"
-        },
-        "ignoreTipConfiguration": {
-          "title": "Ignoretipconfiguration",
-          "description": "Whether to utilize the critical point of the tip configuraiton when moving to an addressable area. If True, this command will ignore the tip configuration and use the center of the entire instrument as the critical point for movement. If False, this command will use the critical point provided by the current tip configuration.",
-          "default": true,
-          "type": "boolean"
         }
       },
-      "required": ["pipetteId", "addressableAreaName"]
+      "required": ["axis_map"],
+      "title": "MoveAxesRelativeParams",
+      "type": "object"
     },
-    "MoveToAddressableAreaForDropTipCreate": {
-      "title": "MoveToAddressableAreaForDropTipCreate",
-      "description": "Move to addressable area for drop tip command creation request model.",
-      "type": "object",
+    "MoveAxesToCreate": {
+      "description": "MoveAxesTo command request model.",
       "properties": {
         "commandType": {
+          "const": "robot/moveAxesTo",
+          "default": "robot/moveAxesTo",
+          "enum": ["robot/moveAxesTo"],
           "title": "Commandtype",
-          "default": "moveToAddressableAreaForDropTip",
-          "enum": ["moveToAddressableAreaForDropTip"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToAddressableAreaForDropTipParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveAxesToParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "MoveAxesToCreate",
+      "type": "object"
     },
-    "PrepareToAspirateParams": {
-      "title": "PrepareToAspirateParams",
-      "description": "Parameters required to prepare a specific pipette for aspiration.",
-      "type": "object",
+    "MoveAxesToParams": {
+      "description": "Payload required to move axes to absolute position.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
+        "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": ["pipetteId"]
+      "required": ["axis_map"],
+      "title": "MoveAxesToParams",
+      "type": "object"
     },
-    "PrepareToAspirateCreate": {
-      "title": "PrepareToAspirateCreate",
-      "description": "Prepare for aspirate command creation request model.",
-      "type": "object",
+    "MoveLabwareCreate": {
+      "description": "A request to create a ``moveLabware`` command.",
       "properties": {
         "commandType": {
+          "const": "moveLabware",
+          "default": "moveLabware",
+          "enum": ["moveLabware"],
           "title": "Commandtype",
-          "default": "prepareToAspirate",
-          "enum": ["prepareToAspirate"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/PrepareToAspirateParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/MoveLabwareParams"
         }
       },
-      "required": ["params"]
-    },
-    "WaitForResumeParams": {
-      "title": "WaitForResumeParams",
-      "description": "Payload required to pause the protocol.",
-      "type": "object",
-      "properties": {
-        "message": {
-          "title": "Message",
-          "description": "A user-facing message associated with the pause",
-          "type": "string"
-        }
-      }
+      "required": ["params"],
+      "title": "MoveLabwareCreate",
+      "type": "object"
     },
-    "WaitForResumeCreate": {
-      "title": "WaitForResumeCreate",
-      "description": "Wait for resume command request model.",
-      "type": "object",
+    "MoveLabwareParams": {
+      "description": "Input parameters for a ``moveLabware`` command.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "waitForResume",
-          "enum": ["waitForResume", "pause"],
-          "type": "string"
+        "dropOffset": {
+          "$ref": "#/$defs/LabwareOffsetVector",
+          "description": "Offset to use when dropping off labware. Experimental param, subject to change",
+          "title": "Dropoffset"
         },
-        "params": {
-          "$ref": "#/definitions/WaitForResumeParams"
+        "labwareId": {
+          "description": "The ID of the labware to move.",
+          "title": "Labwareid",
+          "type": "string"
         },
-        "intent": {
-          "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.",
-          "allOf": [
+        "newLocation": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
             {
-              "$ref": "#/definitions/CommandIntent"
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
             }
-          ]
+          ],
+          "description": "Where to move the labware.",
+          "title": "Newlocation"
         },
-        "key": {
-          "title": "Key",
-          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
-          "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "WaitForDurationParams": {
-      "title": "WaitForDurationParams",
-      "description": "Payload required to pause the protocol.",
-      "type": "object",
-      "properties": {
-        "seconds": {
-          "title": "Seconds",
-          "description": "Duration, in seconds, to wait for.",
-          "type": "number"
+        "pickUpOffset": {
+          "$ref": "#/$defs/LabwareOffsetVector",
+          "description": "Offset to use when picking up labware. Experimental param, subject to change",
+          "title": "Pickupoffset"
         },
-        "message": {
-          "title": "Message",
-          "description": "A user-facing message associated with the pause",
-          "type": "string"
+        "strategy": {
+          "$ref": "#/$defs/LabwareMovementStrategy",
+          "description": "Whether to use the gripper to perform the labware movement or to perform a manual movement with an option to pause."
         }
       },
-      "required": ["seconds"]
+      "required": ["labwareId", "newLocation", "strategy"],
+      "title": "MoveLabwareParams",
+      "type": "object"
     },
-    "WaitForDurationCreate": {
-      "title": "WaitForDurationCreate",
-      "description": "Wait for duration command request model.",
-      "type": "object",
+    "MoveRelativeCreate": {
+      "description": "Data to create a MoveRelative command.",
       "properties": {
         "commandType": {
+          "const": "moveRelative",
+          "default": "moveRelative",
+          "enum": ["moveRelative"],
           "title": "Commandtype",
-          "default": "waitForDuration",
-          "enum": ["waitForDuration"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/WaitForDurationParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "PickUpTipWellOrigin": {
-      "title": "PickUpTipWellOrigin",
-      "description": "The origin of a PickUpTipWellLocation offset.\n\nProps:\n    TOP: the top-center of the well\n    BOTTOM: the bottom-center of the well\n    CENTER: the middle-center of the well",
-      "enum": ["top", "bottom", "center"],
-      "type": "string"
-    },
-    "PickUpTipWellLocation": {
-      "title": "PickUpTipWellLocation",
-      "description": "A relative location in reference to a well's location.\n\nTo be used for picking up tips.",
-      "type": "object",
-      "properties": {
-        "origin": {
-          "default": "top",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PickUpTipWellOrigin"
-            }
-          ]
         },
-        "offset": {
-          "$ref": "#/definitions/WellOffset"
+        "params": {
+          "$ref": "#/$defs/MoveRelativeParams"
         }
-      }
+      },
+      "required": ["params"],
+      "title": "MoveRelativeCreate",
+      "type": "object"
     },
-    "PickUpTipParams": {
-      "title": "PickUpTipParams",
-      "description": "Payload needed to move a pipette to a specific well.",
-      "type": "object",
+    "MoveRelativeParams": {
+      "description": "Payload required for a MoveRelative command.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
-        },
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
+        "axis": {
+          "$ref": "#/$defs/MovementAxis",
+          "description": "Axis along which to move."
         },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "type": "string"
+        "distance": {
+          "description": "Distance to move in millimeters. A positive number will move towards the right (x), back (y), top (z) of the deck.",
+          "title": "Distance",
+          "type": "number"
         },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to pick up the tip.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/PickUpTipWellLocation"
-            }
-          ]
+        "pipetteId": {
+          "description": "Pipette to move.",
+          "title": "Pipetteid",
+          "type": "string"
         }
       },
-      "required": ["pipetteId", "labwareId", "wellName"]
+      "required": ["pipetteId", "axis", "distance"],
+      "title": "MoveRelativeParams",
+      "type": "object"
     },
-    "PickUpTipCreate": {
-      "title": "PickUpTipCreate",
-      "description": "Pick up tip command creation request model.",
-      "type": "object",
+    "MoveToAddressableAreaCreate": {
+      "description": "Move to addressable area command creation request model.",
       "properties": {
         "commandType": {
+          "const": "moveToAddressableArea",
+          "default": "moveToAddressableArea",
+          "enum": ["moveToAddressableArea"],
           "title": "Commandtype",
-          "default": "pickUpTip",
-          "enum": ["pickUpTip"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/PickUpTipParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "MoveToAddressableAreaCreate",
+      "type": "object"
     },
-    "SavePositionParams": {
-      "title": "SavePositionParams",
-      "description": "Payload needed to save a pipette's current position.",
-      "type": "object",
+    "MoveToAddressableAreaForDropTipCreate": {
+      "description": "Move to addressable area for drop tip command creation request model.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Unique identifier of the pipette in question.",
+        "commandType": {
+          "const": "moveToAddressableAreaForDropTip",
+          "default": "moveToAddressableAreaForDropTip",
+          "enum": ["moveToAddressableAreaForDropTip"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "positionId": {
-          "title": "Positionid",
-          "description": "An optional ID to assign to this command instance. Auto-assigned if not defined.",
+        "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"
         },
-        "failOnNotHomed": {
-          "title": "Failonnothomed",
-          "default": true,
-          "descrption": "Require all axes to be homed before saving position.",
-          "type": "boolean"
+        "params": {
+          "$ref": "#/$defs/MoveToAddressableAreaForDropTipParams"
         }
       },
-      "required": ["pipetteId"]
+      "required": ["params"],
+      "title": "MoveToAddressableAreaForDropTipCreate",
+      "type": "object"
     },
-    "SavePositionCreate": {
-      "title": "SavePositionCreate",
-      "description": "Save position command creation request model.",
-      "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": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "savePosition",
-          "enum": ["savePosition"],
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/SavePositionParams"
+        "alternateDropLocation": {
+          "description": "Whether to alternate location where tip is dropped within the addressable area. If True, this command will ignore the offset provided and alternate between dropping tips at two predetermined locations inside the specified labware well. If False, the tip will be dropped at the top center of the area.",
+          "title": "Alternatedroplocation",
+          "type": "boolean"
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "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"
         },
-        "key": {
-          "title": "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.",
+        "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": ["params"]
+      "required": ["pipetteId", "addressableAreaName"],
+      "title": "MoveToAddressableAreaForDropTipParams",
+      "type": "object"
     },
-    "SetRailLightsParams": {
-      "title": "SetRailLightsParams",
-      "description": "Payload required to set the rail lights on or off.",
-      "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": {
-        "on": {
-          "title": "On",
-          "description": "The field that determines if the light is turned off or on.",
+        "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": ["on"]
+      "required": ["pipetteId", "addressableAreaName"],
+      "title": "MoveToAddressableAreaParams",
+      "type": "object"
     },
-    "SetRailLightsCreate": {
-      "title": "SetRailLightsCreate",
-      "description": "setRailLights command request model.",
-      "type": "object",
+    "MoveToCoordinatesCreate": {
+      "description": "Move to coordinates command creation request model.",
       "properties": {
         "commandType": {
+          "const": "moveToCoordinates",
+          "default": "moveToCoordinates",
+          "enum": ["moveToCoordinates"],
           "title": "Commandtype",
-          "default": "setRailLights",
-          "enum": ["setRailLights"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/SetRailLightsParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "MoveToCoordinatesCreate",
+      "type": "object"
     },
-    "TouchTipParams": {
-      "title": "TouchTipParams",
-      "description": "Payload needed to touch a pipette tip the sides of a specific well.",
-      "type": "object",
+    "MoveToCoordinatesParams": {
+      "description": "Payload required to move a pipette to coordinates.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
+        "coordinates": {
+          "$ref": "#/$defs/DeckPoint",
+          "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)"
         },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "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"
         },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellLocation"
-            }
-          ]
+        "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": {
-          "title": "Pipetteid",
           "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
         },
-        "radius": {
-          "title": "Radius",
-          "description": "The proportion of the target well's radius the pipette tip will move towards.",
-          "default": 1.0,
-          "type": "number"
-        },
-        "mmFromEdge": {
-          "title": "Mmfromedge",
-          "description": "Offset away from the the well edge, in millimeters.Incompatible when a radius is included as a non 1.0 value.",
-          "type": "number"
-        },
         "speed": {
-          "title": "Speed",
           "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
           "type": "number"
         }
       },
-      "required": ["labwareId", "wellName", "pipetteId"]
+      "required": ["pipetteId", "coordinates"],
+      "title": "MoveToCoordinatesParams",
+      "type": "object"
     },
-    "TouchTipCreate": {
-      "title": "TouchTipCreate",
-      "description": "Touch tip command creation request model.",
-      "type": "object",
+    "MoveToCreate": {
+      "description": "MoveTo command request model.",
       "properties": {
         "commandType": {
+          "const": "robot/moveTo",
+          "default": "robot/moveTo",
+          "enum": ["robot/moveTo"],
           "title": "Commandtype",
-          "default": "touchTip",
-          "enum": ["touchTip"],
+          "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": "#/definitions/TouchTipParams"
+          "$ref": "#/$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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$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": "#/$defs/MountType",
+          "description": "Gantry mount to move maintenance position."
         }
       },
-      "required": ["params"]
-    },
-    "StatusBarAnimation": {
-      "title": "StatusBarAnimation",
-      "description": "Status Bar animation options.",
-      "enum": ["idle", "confirm", "updating", "disco", "off"]
+      "required": ["mount"],
+      "title": "MoveToMaintenancePositionParams",
+      "type": "object"
     },
-    "SetStatusBarParams": {
-      "title": "SetStatusBarParams",
-      "description": "Payload required to set the status bar to run an animation.",
-      "type": "object",
+    "MoveToParams": {
+      "description": "Payload required to move to a destination position.",
       "properties": {
-        "animation": {
-          "description": "The animation that should be executed on the status bar.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/StatusBarAnimation"
-            }
-          ]
+        "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": ["animation"]
+      "required": ["mount", "destination"],
+      "title": "MoveToParams",
+      "type": "object"
     },
-    "SetStatusBarCreate": {
-      "title": "SetStatusBarCreate",
-      "description": "setStatusBar command request model.",
-      "type": "object",
+    "MoveToWellCreate": {
+      "description": "Move to well command creation request model.",
       "properties": {
         "commandType": {
+          "const": "moveToWell",
+          "default": "moveToWell",
+          "enum": ["moveToWell"],
           "title": "Commandtype",
-          "default": "setStatusBar",
-          "enum": ["setStatusBar"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/SetStatusBarParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "TipPresenceStatus": {
-      "title": "TipPresenceStatus",
-      "description": "Tip presence status reported by a pipette.",
-      "enum": ["present", "absent", "unknown"],
-      "type": "string"
-    },
-    "InstrumentSensorId": {
-      "title": "InstrumentSensorId",
-      "description": "Primary and secondary sensor ids.",
-      "enum": ["primary", "secondary", "both"],
-      "type": "string"
+      "required": ["params"],
+      "title": "MoveToWellCreate",
+      "type": "object"
     },
-    "VerifyTipPresenceParams": {
-      "title": "VerifyTipPresenceParams",
-      "description": "Payload required for a VerifyTipPresence command.",
-      "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": {
-          "title": "Pipetteid",
           "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
         },
-        "expectedState": {
-          "description": "The expected tip presence status on the pipette.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/TipPresenceStatus"
-            }
-          ]
+        "speed": {
+          "description": "Override the travel speed in mm/s. This controls the straight linear speed of motion.",
+          "title": "Speed",
+          "type": "number"
         },
-        "followSingularSensor": {
-          "description": "The sensor id to follow if the other can be ignored.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/InstrumentSensorId"
-            }
-          ]
+        "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": ["pipetteId", "expectedState"]
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "MoveToWellParams",
+      "type": "object"
     },
-    "VerifyTipPresenceCreate": {
-      "title": "VerifyTipPresenceCreate",
-      "description": "VerifyTipPresence command creation request model.",
-      "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": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "verifyTipPresence",
-          "enum": ["verifyTipPresence"],
-          "type": "string"
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/VerifyTipPresenceParams"
+        "correctionByVolume": {
+          "description": "Settings for volume correction keyed by by target dispense volume, representing additional volume the plunger should move to accurately hit target volume.",
+          "items": {
+            "maxItems": 2,
+            "minItems": 2,
+            "prefixItems": [
+              {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "integer"
+                  },
+                  {
+                    "minimum": 0.0,
+                    "type": "number"
+                  }
+                ]
+              },
+              {
+                "anyOf": [
+                  {
+                    "type": "integer"
+                  },
+                  {
+                    "type": "number"
+                  }
+                ]
+              }
+            ],
+            "type": "array"
+          },
+          "title": "Correctionbyvolume",
+          "type": "array"
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings after each dispense"
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
+        "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": ["params"]
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "conditioningByVolume",
+        "disposalByVolume",
+        "delay"
+      ],
+      "title": "MultiDispenseProperties",
+      "type": "object"
     },
-    "GetTipPresenceParams": {
-      "title": "GetTipPresenceParams",
-      "description": "Payload required for a GetTipPresence command.",
-      "type": "object",
+    "OnLabwareLocation": {
+      "description": "The location of something placed atop another labware.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "labwareId": {
+          "description": "The ID of a loaded Labware from a prior `loadLabware` command.",
+          "title": "Labwareid",
           "type": "string"
         }
       },
-      "required": ["pipetteId"]
+      "required": ["labwareId"],
+      "title": "OnLabwareLocation",
+      "type": "object"
     },
-    "GetTipPresenceCreate": {
-      "title": "GetTipPresenceCreate",
-      "description": "GetTipPresence command creation request model.",
-      "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",
-          "default": "getTipPresence",
-          "enum": ["getTipPresence"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/GetTipPresenceParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "OpenLabwareLatchCreate",
+      "type": "object"
     },
-    "GetNextTipParams": {
-      "title": "GetNextTipParams",
-      "description": "Payload needed to resolve the next available tip.",
-      "type": "object",
+    "OpenLabwareLatchParams": {
+      "description": "Input parameters to open a Heater-Shaker Module's labware latch.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
-        },
-        "labwareIds": {
-          "title": "Labwareids",
-          "description": "Labware ID(s) of tip racks to resolve next available tip(s) from Labware IDs will be resolved sequentially",
-          "type": "array",
-          "items": {
-            "type": "string"
-          }
-        },
-        "startingTipWell": {
-          "title": "Startingtipwell",
-          "description": "Name of starting tip rack 'well'. This only applies to the first tip rack in the list provided in labwareIDs",
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
           "type": "string"
         }
       },
-      "required": ["pipetteId", "labwareIds"]
+      "required": ["moduleId"],
+      "title": "OpenLabwareLatchParams",
+      "type": "object"
     },
-    "GetNextTipCreate": {
-      "title": "GetNextTipCreate",
-      "description": "Get next tip command creation request model.",
-      "type": "object",
+    "PickUpTipCreate": {
+      "description": "Pick up tip command creation request model.",
       "properties": {
         "commandType": {
+          "const": "pickUpTip",
+          "default": "pickUpTip",
+          "enum": ["pickUpTip"],
           "title": "Commandtype",
-          "default": "getNextTip",
-          "enum": ["getNextTip"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/GetNextTipParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "PickUpTipCreate",
+      "type": "object"
     },
-    "LiquidProbeParams": {
-      "title": "LiquidProbeParams",
-      "description": "Parameters required for a `liquidProbe` command.",
-      "type": "object",
+    "PickUpTipParams": {
+      "description": "Payload needed to move a pipette to a specific well.",
       "properties": {
         "labwareId": {
-          "title": "Labwareid",
           "description": "Identifier of labware to use.",
+          "title": "Labwareid",
           "type": "string"
         },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "type": "string"
-        },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellLocation"
-            }
-          ]
-        },
         "pipetteId": {
-          "title": "Pipetteid",
           "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
-        }
-      },
-      "required": ["labwareId", "wellName", "pipetteId"]
-    },
-    "LiquidProbeCreate": {
-      "title": "LiquidProbeCreate",
-      "description": "The request model for a `liquidProbe` command.",
-      "type": "object",
-      "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "liquidProbe",
-          "enum": ["liquidProbe"],
+          "title": "Pipetteid",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/LiquidProbeParams"
-        },
-        "intent": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "wellLocation": {
+          "$ref": "#/$defs/PickUpTipWellLocation",
+          "description": "Relative well location at which to pick up the tip."
         },
-        "key": {
-          "title": "Key",
-          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+        "wellName": {
+          "description": "Name of well to use in labware.",
+          "title": "Wellname",
           "type": "string"
         }
       },
-      "required": ["params"]
+      "required": ["pipetteId", "labwareId", "wellName"],
+      "title": "PickUpTipParams",
+      "type": "object"
     },
-    "TryLiquidProbeParams": {
-      "title": "TryLiquidProbeParams",
-      "description": "Parameters required for a `tryLiquidProbe` command.",
-      "type": "object",
+    "PickUpTipWellLocation": {
+      "description": "A relative location in reference to a well's location.\n\nTo be used for picking up tips.",
       "properties": {
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "Identifier of labware to use.",
-          "type": "string"
-        },
-        "wellName": {
-          "title": "Wellname",
-          "description": "Name of well to use in labware.",
-          "type": "string"
-        },
-        "wellLocation": {
-          "title": "Welllocation",
-          "description": "Relative well location at which to perform the operation",
-          "allOf": [
-            {
-              "$ref": "#/definitions/WellLocation"
-            }
-          ]
+        "offset": {
+          "$ref": "#/$defs/WellOffset"
         },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
-          "type": "string"
+        "origin": {
+          "$ref": "#/$defs/PickUpTipWellOrigin",
+          "default": "top"
         }
       },
-      "required": ["labwareId", "wellName", "pipetteId"]
+      "title": "PickUpTipWellLocation",
+      "type": "object"
     },
-    "TryLiquidProbeCreate": {
-      "title": "TryLiquidProbeCreate",
-      "description": "The request model for a `tryLiquidProbe` command.",
-      "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",
+        "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",
-          "default": "tryLiquidProbe",
-          "enum": ["tryLiquidProbe"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/TryLiquidProbeParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "PrepareToAspirateCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams": {
-      "title": "WaitForTemperatureParams",
-      "description": "Input parameters to wait for a Heater-Shaker's target temperature.",
-      "type": "object",
+    "PrepareToAspirateParams": {
+      "description": "Parameters required to prepare a specific pipette for aspiration.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
-        },
-        "celsius": {
-          "title": "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.",
-          "type": "number"
         }
       },
-      "required": ["moduleId"]
+      "required": ["pipetteId"],
+      "title": "PrepareToAspirateParams",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureCreate": {
-      "title": "WaitForTemperatureCreate",
-      "description": "A request to create a Heater-Shaker's wait for temperature command.",
-      "type": "object",
+    "ProfileCycle": {
+      "description": "An individual cycle in a Thermocycler extended profile.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "heaterShaker/waitForTemperature",
-          "enum": ["heaterShaker/waitForTemperature"],
-          "type": "string"
-        },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__wait_for_temperature__WaitForTemperatureParams"
-        },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "repetitions": {
+          "description": "Number of times to repeat the steps.",
+          "title": "Repetitions",
+          "type": "integer"
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
+        "steps": {
+          "description": "Steps to repeat.",
+          "items": {
+            "$ref": "#/$defs/ProfileStep"
+          },
+          "title": "Steps",
+          "type": "array"
         }
       },
-      "required": ["params"]
+      "required": ["steps", "repetitions"],
+      "title": "ProfileCycle",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams": {
-      "title": "SetTargetTemperatureParams",
-      "description": "Input parameters to set a Heater-Shaker's target temperature.",
-      "type": "object",
+    "ProfileStep": {
+      "description": "An individual step in a Thermocycler extended profile.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
-          "type": "string"
-        },
         "celsius": {
-          "title": "Celsius",
           "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
+          "type": "number"
+        },
+        "holdSeconds": {
+          "description": "Time to hold target temperature in seconds.",
+          "title": "Holdseconds",
           "type": "number"
         }
       },
-      "required": ["moduleId", "celsius"]
+      "required": ["celsius", "holdSeconds"],
+      "title": "ProfileStep",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureCreate": {
-      "title": "SetTargetTemperatureCreate",
-      "description": "A request to create a Heater-Shaker's set temperature command.",
-      "type": "object",
+    "QuadrantNozzleLayoutConfiguration": {
+      "description": "Information required for nozzle configurations of type QUADRANT.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "heaterShaker/setTargetTemperature",
-          "enum": ["heaterShaker/setTargetTemperature"],
+        "backLeftNozzle": {
+          "description": "The back left nozzle in your configuration.",
+          "pattern": "[A-Z]\\d{1,2}",
+          "title": "Backleftnozzle",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams"
-        },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "frontRightNozzle": {
+          "description": "The front right nozzle in your configuration.",
+          "pattern": "[A-Z]\\d{1,2}",
+          "title": "Frontrightnozzle",
+          "type": "string"
         },
-        "key": {
-          "title": "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.",
+        "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"
-        }
-      },
-      "required": ["params"]
-    },
-    "DeactivateHeaterParams": {
-      "title": "DeactivateHeaterParams",
-      "description": "Input parameters to unset a Heater-Shaker's target temperature.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
+        },
+        "style": {
+          "const": "QUADRANT",
+          "default": "QUADRANT",
+          "enum": ["QUADRANT"],
+          "title": "Style",
           "type": "string"
         }
       },
-      "required": ["moduleId"]
+      "required": ["primaryNozzle", "frontRightNozzle", "backLeftNozzle"],
+      "title": "QuadrantNozzleLayoutConfiguration",
+      "type": "object"
     },
-    "DeactivateHeaterCreate": {
-      "title": "DeactivateHeaterCreate",
-      "description": "A request to create a Heater-Shaker's deactivate heater command.",
-      "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",
-          "default": "heaterShaker/deactivateHeater",
-          "enum": ["heaterShaker/deactivateHeater"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DeactivateHeaterParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "ReadAbsorbanceCreate",
+      "type": "object"
     },
-    "SetAndWaitForShakeSpeedParams": {
-      "title": "SetAndWaitForShakeSpeedParams",
-      "description": "Input parameters to set and wait for a shake speed for a Heater-Shaker Module.",
-      "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",
-          "description": "Unique ID of the Heater-Shaker Module.",
           "type": "string"
-        },
-        "rpm": {
-          "title": "Rpm",
-          "description": "Target speed in rotations per minute.",
-          "type": "number"
         }
       },
-      "required": ["moduleId", "rpm"]
+      "required": ["moduleId"],
+      "title": "ReadAbsorbanceParams",
+      "type": "object"
     },
-    "SetAndWaitForShakeSpeedCreate": {
-      "title": "SetAndWaitForShakeSpeedCreate",
-      "description": "A request to create a Heater-Shaker's set and wait for shake speed command.",
-      "type": "object",
+    "ReloadLabwareCreate": {
+      "description": "Reload labware command creation request.",
       "properties": {
         "commandType": {
+          "const": "reloadLabware",
+          "default": "reloadLabware",
+          "enum": ["reloadLabware"],
           "title": "Commandtype",
-          "default": "heaterShaker/setAndWaitForShakeSpeed",
-          "enum": ["heaterShaker/setAndWaitForShakeSpeed"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/SetAndWaitForShakeSpeedParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "ReloadLabwareCreate",
+      "type": "object"
     },
-    "DeactivateShakerParams": {
-      "title": "DeactivateShakerParams",
-      "description": "Input parameters to deactivate shaker for a Heater-Shaker Module.",
-      "type": "object",
+    "ReloadLabwareParams": {
+      "description": "Payload required to load a labware into a slot.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
+        "labwareId": {
+          "description": "The already-loaded labware instance to update.",
+          "title": "Labwareid",
           "type": "string"
         }
       },
-      "required": ["moduleId"]
+      "required": ["labwareId"],
+      "title": "ReloadLabwareParams",
+      "type": "object"
     },
-    "DeactivateShakerCreate": {
-      "title": "DeactivateShakerCreate",
-      "description": "A request to create a Heater-Shaker's deactivate shaker command.",
-      "type": "object",
+    "RetractAspirate": {
+      "description": "Shared properties for the retract function after aspiration.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "heaterShaker/deactivateShaker",
-          "enum": ["heaterShaker/deactivateShaker"],
-          "type": "string"
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/DeactivateShakerParams"
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for retract after aspirate."
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for retract after aspirate."
+        },
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for retract after aspirate."
+        },
+        "speed": {
+          "anyOf": [
             {
-              "$ref": "#/definitions/CommandIntent"
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
             }
-          ]
+          ],
+          "description": "Speed of retraction, in millimeters per second.",
+          "title": "Speed"
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "OpenLabwareLatchParams": {
-      "title": "OpenLabwareLatchParams",
-      "description": "Input parameters to open a Heater-Shaker Module's labware latch.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
-          "type": "string"
+        "touchTip": {
+          "$ref": "#/$defs/TouchTipProperties",
+          "description": "Touch tip settings for retract after aspirate."
         }
       },
-      "required": ["moduleId"]
+      "required": [
+        "positionReference",
+        "offset",
+        "speed",
+        "airGapByVolume",
+        "touchTip",
+        "delay"
+      ],
+      "title": "RetractAspirate",
+      "type": "object"
     },
-    "OpenLabwareLatchCreate": {
-      "title": "OpenLabwareLatchCreate",
-      "description": "A request to create a Heater-Shaker's open labware latch command.",
-      "type": "object",
+    "RetractAxisCreate": {
+      "description": "Data to create a Retract Axis command.",
       "properties": {
         "commandType": {
+          "const": "retractAxis",
+          "default": "retractAxis",
+          "enum": ["retractAxis"],
           "title": "Commandtype",
-          "default": "heaterShaker/openLabwareLatch",
-          "enum": ["heaterShaker/openLabwareLatch"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/OpenLabwareLatchParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "RetractAxisCreate",
+      "type": "object"
     },
-    "CloseLabwareLatchParams": {
-      "title": "CloseLabwareLatchParams",
-      "description": "Input parameters to close a Heater-Shaker Module's labware latch.",
-      "type": "object",
+    "RetractAxisParams": {
+      "description": "Payload required for a Retract Axis command.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Heater-Shaker Module.",
-          "type": "string"
+        "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": ["moduleId"]
+      "required": ["axis"],
+      "title": "RetractAxisParams",
+      "type": "object"
     },
-    "CloseLabwareLatchCreate": {
-      "title": "CloseLabwareLatchCreate",
-      "description": "A request to create a Heater-Shaker's close latch command.",
-      "type": "object",
+    "RetractDispense": {
+      "description": "Shared properties for the retract function after dispense.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "heaterShaker/closeLabwareLatch",
-          "enum": ["heaterShaker/closeLabwareLatch"],
-          "type": "string"
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/CloseLabwareLatchParams"
+        "blowout": {
+          "$ref": "#/$defs/BlowoutProperties",
+          "description": "Blowout properties for retract after dispense."
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for retract after dispense."
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "DisengageParams": {
-      "title": "DisengageParams",
-      "description": "Input data to disengage a Magnetic Module's magnets.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "The ID of the Magnetic Module whose magnets you want to disengage, from a prior `loadModule` command.",
-          "type": "string"
-        }
-      },
-      "required": ["moduleId"]
-    },
-    "DisengageCreate": {
-      "title": "DisengageCreate",
-      "description": "A request to create a Magnetic Module disengage command.",
-      "type": "object",
-      "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "magneticModule/disengage",
-          "enum": ["magneticModule/disengage"],
-          "type": "string"
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for retract after dispense."
         },
-        "params": {
-          "$ref": "#/definitions/DisengageParams"
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for retract after dispense."
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
+        "speed": {
+          "anyOf": [
+            {
+              "minimum": 0,
+              "type": "integer"
+            },
             {
-              "$ref": "#/definitions/CommandIntent"
+              "minimum": 0.0,
+              "type": "number"
             }
-          ]
+          ],
+          "description": "Speed of retraction, in millimeters per second.",
+          "title": "Speed"
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
+        "touchTip": {
+          "$ref": "#/$defs/TouchTipProperties",
+          "description": "Touch tip settings for retract after dispense."
         }
       },
-      "required": ["params"]
+      "required": [
+        "positionReference",
+        "offset",
+        "speed",
+        "airGapByVolume",
+        "blowout",
+        "touchTip",
+        "delay"
+      ],
+      "title": "RetractDispense",
+      "type": "object"
     },
-    "EngageParams": {
-      "title": "EngageParams",
-      "description": "Input data to engage a Magnetic Module.",
-      "type": "object",
+    "RowNozzleLayoutConfiguration": {
+      "description": "Minimum information required for a new nozzle configuration.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "The ID of the Magnetic Module whose magnets you want to raise, from a prior `loadModule` command.",
+        "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"
         },
-        "height": {
-          "title": "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.",
-          "type": "number"
+        "style": {
+          "const": "ROW",
+          "default": "ROW",
+          "enum": ["ROW"],
+          "title": "Style",
+          "type": "string"
         }
       },
-      "required": ["moduleId", "height"]
+      "required": ["primaryNozzle"],
+      "title": "RowNozzleLayoutConfiguration",
+      "type": "object"
     },
-    "EngageCreate": {
-      "title": "EngageCreate",
-      "description": "A request to create a Magnetic Module engage command.",
-      "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",
-          "default": "magneticModule/engage",
-          "enum": ["magneticModule/engage"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/EngageParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "RunExtendedProfileCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams": {
-      "title": "SetTargetTemperatureParams",
-      "description": "Input parameters to set a Temperature Module's target temperature.",
-      "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",
-          "description": "Unique ID of the Temperature Module.",
           "type": "string"
         },
-        "celsius": {
-          "title": "Celsius",
-          "description": "Target temperature in \u00b0C.",
-          "type": "number"
+        "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", "celsius"]
+      "required": ["moduleId", "profileElements"],
+      "title": "RunExtendedProfileParams",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureCreate": {
-      "title": "SetTargetTemperatureCreate",
-      "description": "A request to create a Temperature Module's set temperature command.",
-      "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",
-          "default": "temperatureModule/setTargetTemperature",
-          "enum": ["temperatureModule/setTargetTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "RunProfileCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams": {
-      "title": "WaitForTemperatureParams",
-      "description": "Input parameters to wait for a Temperature Module's target temperature.",
-      "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",
-          "description": "Unique ID of the Temperature Module.",
           "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",
-          "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.",
+          "type": "number"
+        },
+        "holdSeconds": {
+          "description": "Time to hold target temperature at in seconds.",
+          "title": "Holdseconds",
           "type": "number"
         }
       },
-      "required": ["moduleId"]
+      "required": ["celsius", "holdSeconds"],
+      "title": "RunProfileStepParams",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureCreate": {
-      "title": "WaitForTemperatureCreate",
-      "description": "A request to create a Temperature Module's wait for temperature command.",
-      "type": "object",
+    "SavePositionCreate": {
+      "description": "Save position command creation request model.",
       "properties": {
         "commandType": {
+          "const": "savePosition",
+          "default": "savePosition",
+          "enum": ["savePosition"],
           "title": "Commandtype",
-          "default": "temperatureModule/waitForTemperature",
-          "enum": ["temperatureModule/waitForTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__temperature_module__wait_for_temperature__WaitForTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SavePositionCreate",
+      "type": "object"
     },
-    "DeactivateTemperatureParams": {
-      "title": "DeactivateTemperatureParams",
-      "description": "Input parameters to deactivate a Temperature Module.",
-      "type": "object",
+    "SavePositionParams": {
+      "description": "Payload needed to save a pipette's current position.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Temperature Module.",
+        "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": ["moduleId"]
+      "required": ["pipetteId"],
+      "title": "SavePositionParams",
+      "type": "object"
     },
-    "DeactivateTemperatureCreate": {
-      "title": "DeactivateTemperatureCreate",
-      "description": "A request to deactivate a Temperature Module.",
-      "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",
-          "default": "temperatureModule/deactivate",
-          "enum": ["temperatureModule/deactivate"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/DeactivateTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetAndWaitForShakeSpeedCreate",
+      "type": "object"
     },
-    "SetTargetBlockTemperatureParams": {
-      "title": "SetTargetBlockTemperatureParams",
-      "description": "Input parameters to set a Thermocycler's target block temperature.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler Module.",
-          "type": "string"
-        },
-        "celsius": {
-          "title": "Celsius",
-          "description": "Target temperature in \u00b0C.",
-          "type": "number"
-        },
-        "blockMaxVolumeUl": {
-          "title": "Blockmaxvolumeul",
-          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
-          "type": "number"
+    "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"
         },
-        "holdTimeSeconds": {
-          "title": "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.",
+        "rpm": {
+          "description": "Target speed in rotations per minute.",
+          "title": "Rpm",
           "type": "number"
         }
       },
-      "required": ["moduleId", "celsius"]
+      "required": ["moduleId", "rpm"],
+      "title": "SetAndWaitForShakeSpeedParams",
+      "type": "object"
     },
-    "SetTargetBlockTemperatureCreate": {
-      "title": "SetTargetBlockTemperatureCreate",
-      "description": "A request to create a Thermocycler's set block temperature command.",
-      "type": "object",
+    "SetRailLightsCreate": {
+      "description": "setRailLights command request model.",
       "properties": {
         "commandType": {
+          "const": "setRailLights",
+          "default": "setRailLights",
+          "enum": ["setRailLights"],
           "title": "Commandtype",
-          "default": "thermocycler/setTargetBlockTemperature",
-          "enum": ["thermocycler/setTargetBlockTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/SetTargetBlockTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetRailLightsCreate",
+      "type": "object"
     },
-    "WaitForBlockTemperatureParams": {
-      "title": "WaitForBlockTemperatureParams",
-      "description": "Input parameters to wait for Thermocycler's target block temperature.",
-      "type": "object",
+    "SetRailLightsParams": {
+      "description": "Payload required to set the rail lights on or off.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler Module.",
-          "type": "string"
+        "on": {
+          "description": "The field that determines if the light is turned off or on.",
+          "title": "On",
+          "type": "boolean"
         }
       },
-      "required": ["moduleId"]
+      "required": ["on"],
+      "title": "SetRailLightsParams",
+      "type": "object"
     },
-    "WaitForBlockTemperatureCreate": {
-      "title": "WaitForBlockTemperatureCreate",
-      "description": "A request to create Thermocycler's wait for block temperature command.",
-      "type": "object",
+    "SetStatusBarCreate": {
+      "description": "setStatusBar command request model.",
       "properties": {
         "commandType": {
+          "const": "setStatusBar",
+          "default": "setStatusBar",
+          "enum": ["setStatusBar"],
           "title": "Commandtype",
-          "default": "thermocycler/waitForBlockTemperature",
-          "enum": ["thermocycler/waitForBlockTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/WaitForBlockTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetStatusBarCreate",
+      "type": "object"
     },
-    "SetTargetLidTemperatureParams": {
-      "title": "SetTargetLidTemperatureParams",
-      "description": "Input parameters to set a Thermocycler's target lid temperature.",
-      "type": "object",
+    "SetStatusBarParams": {
+      "description": "Payload required to set the status bar to run an animation.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler Module.",
-          "type": "string"
-        },
-        "celsius": {
-          "title": "Celsius",
-          "description": "Target temperature in \u00b0C.",
-          "type": "number"
+        "animation": {
+          "$ref": "#/$defs/StatusBarAnimation",
+          "description": "The animation that should be executed on the status bar."
         }
       },
-      "required": ["moduleId", "celsius"]
+      "required": ["animation"],
+      "title": "SetStatusBarParams",
+      "type": "object"
     },
-    "SetTargetLidTemperatureCreate": {
-      "title": "SetTargetLidTemperatureCreate",
-      "description": "A request to create a Thermocycler's set lid temperature command.",
-      "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",
-          "default": "thermocycler/setTargetLidTemperature",
-          "enum": ["thermocycler/setTargetLidTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/SetTargetLidTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetTargetBlockTemperatureCreate",
+      "type": "object"
     },
-    "WaitForLidTemperatureParams": {
-      "title": "WaitForLidTemperatureParams",
-      "description": "Input parameters to wait for Thermocycler's lid temperature.",
-      "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": {
-          "title": "Moduleid",
           "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
           "type": "string"
         }
       },
-      "required": ["moduleId"]
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetBlockTemperatureParams",
+      "type": "object"
     },
-    "WaitForLidTemperatureCreate": {
-      "title": "WaitForLidTemperatureCreate",
-      "description": "A request to create Thermocycler's wait for lid temperature command.",
-      "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",
-          "default": "thermocycler/waitForLidTemperature",
-          "enum": ["thermocycler/waitForLidTemperature"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/WaitForLidTemperatureParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetTargetLidTemperatureCreate",
+      "type": "object"
     },
-    "DeactivateBlockParams": {
-      "title": "DeactivateBlockParams",
-      "description": "Input parameters to unset a Thermocycler's target block temperature.",
-      "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",
-          "description": "Unique ID of the Thermocycler.",
           "type": "string"
         }
       },
-      "required": ["moduleId"]
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetLidTemperatureParams",
+      "type": "object"
     },
-    "DeactivateBlockCreate": {
-      "title": "DeactivateBlockCreate",
-      "description": "A request to create a Thermocycler's deactivate block command.",
-      "type": "object",
+    "SingleDispenseProperties": {
+      "description": "Properties specific to the single-dispense function.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "thermocycler/deactivateBlock",
-          "enum": ["thermocycler/deactivateBlock"],
-          "type": "string"
+        "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"
         },
-        "params": {
-          "$ref": "#/definitions/DeactivateBlockParams"
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay after dispense, in seconds."
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "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."
         },
-        "key": {
-          "title": "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.",
-          "type": "string"
+        "submerge": {
+          "$ref": "#/$defs/Submerge",
+          "description": "Submerge settings for single dispense."
         }
       },
-      "required": ["params"]
+      "required": [
+        "submerge",
+        "retract",
+        "positionReference",
+        "offset",
+        "flowRateByVolume",
+        "correctionByVolume",
+        "mix",
+        "pushOutByVolume",
+        "delay"
+      ],
+      "title": "SingleDispenseProperties",
+      "type": "object"
     },
-    "DeactivateLidParams": {
-      "title": "DeactivateLidParams",
-      "description": "Input parameters to unset a Thermocycler's target lid temperature.",
-      "type": "object",
+    "SingleNozzleLayoutConfiguration": {
+      "description": "Minimum information required for a new nozzle configuration.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler.",
+        "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": ["moduleId"]
+      "required": ["primaryNozzle"],
+      "title": "SingleNozzleLayoutConfiguration",
+      "type": "object"
     },
-    "DeactivateLidCreate": {
-      "title": "DeactivateLidCreate",
-      "description": "A request to create a Thermocycler's deactivate lid command.",
-      "type": "object",
+    "StatusBarAnimation": {
+      "description": "Status Bar animation options.",
+      "enum": ["idle", "confirm", "updating", "disco", "off"],
+      "title": "StatusBarAnimation",
+      "type": "string"
+    },
+    "Submerge": {
+      "description": "Shared properties for the submerge function before aspiration or dispense.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "thermocycler/deactivateLid",
-          "enum": ["thermocycler/deactivateLid"],
-          "type": "string"
+        "delay": {
+          "$ref": "#/$defs/DelayProperties",
+          "description": "Delay settings for submerge."
         },
-        "params": {
-          "$ref": "#/definitions/DeactivateLidParams"
+        "offset": {
+          "$ref": "#/$defs/Coordinate",
+          "description": "Relative offset for submerge."
         },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
+        "positionReference": {
+          "$ref": "#/$defs/PositionReference",
+          "description": "Position reference for submerge."
+        },
+        "speed": {
+          "anyOf": [
             {
-              "$ref": "#/definitions/CommandIntent"
+              "minimum": 0,
+              "type": "integer"
+            },
+            {
+              "minimum": 0.0,
+              "type": "number"
             }
-          ]
-        },
-        "key": {
-          "title": "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.",
-          "type": "string"
+          ],
+          "description": "Speed of submerging, in millimeters per second.",
+          "title": "Speed"
         }
       },
-      "required": ["params"]
+      "required": ["positionReference", "offset", "speed", "delay"],
+      "title": "Submerge",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams": {
-      "title": "OpenLidParams",
-      "description": "Input parameters to open a Thermocycler's lid.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler.",
-          "type": "string"
-        }
-      },
-      "required": ["moduleId"]
+    "TipPresenceStatus": {
+      "description": "Tip presence status reported by a pipette.",
+      "enum": ["present", "absent", "unknown"],
+      "title": "TipPresenceStatus",
+      "type": "string"
     },
-    "opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidCreate": {
-      "title": "OpenLidCreate",
-      "description": "A request to open a Thermocycler's lid.",
-      "type": "object",
+    "TouchTipCreate": {
+      "description": "Touch tip command creation request model.",
       "properties": {
         "commandType": {
+          "const": "touchTip",
+          "default": "touchTip",
+          "enum": ["touchTip"],
           "title": "Commandtype",
-          "default": "thermocycler/openLid",
-          "enum": ["thermocycler/openLid"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__thermocycler__open_lid__OpenLidParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams": {
-      "title": "CloseLidParams",
-      "description": "Input parameters to close a Thermocycler's lid.",
-      "type": "object",
-      "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler.",
-          "type": "string"
-        }
-      },
-      "required": ["moduleId"]
+      "required": ["params"],
+      "title": "TouchTipCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidCreate": {
-      "title": "CloseLidCreate",
-      "description": "A request to close a Thermocycler's lid.",
-      "type": "object",
+    "TouchTipParams": {
+      "description": "Payload needed to touch a pipette tip the sides of a specific well.",
       "properties": {
-        "commandType": {
-          "title": "Commandtype",
-          "default": "thermocycler/closeLid",
-          "enum": ["thermocycler/closeLid"],
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams"
-        },
-        "intent": {
-          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+        "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"
         },
-        "key": {
-          "title": "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.",
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
           "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "RunProfileStepParams": {
-      "title": "RunProfileStepParams",
-      "description": "Input parameters for an individual Thermocycler profile step.",
-      "type": "object",
-      "properties": {
-        "celsius": {
-          "title": "Celsius",
-          "description": "Target temperature in \u00b0C.",
+        },
+        "radius": {
+          "default": 1.0,
+          "description": "The proportion of the target well's radius the pipette tip will move towards.",
+          "title": "Radius",
           "type": "number"
         },
-        "holdSeconds": {
-          "title": "Holdseconds",
-          "description": "Time to hold target temperature at in seconds.",
+        "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": ["celsius", "holdSeconds"]
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "TouchTipParams",
+      "type": "object"
     },
-    "RunProfileParams": {
-      "title": "RunProfileParams",
-      "description": "Input parameters to run a Thermocycler profile.",
-      "type": "object",
+    "TouchTipProperties": {
+      "description": "Shared properties for the touch-tip function.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler.",
-          "type": "string"
-        },
-        "profile": {
-          "title": "Profile",
-          "description": "Array of profile steps with target temperature and temperature hold time.",
-          "type": "array",
-          "items": {
-            "$ref": "#/definitions/RunProfileStepParams"
-          }
+        "enable": {
+          "description": "Whether touch-tip is enabled.",
+          "title": "Enable",
+          "type": "boolean"
         },
-        "blockMaxVolumeUl": {
-          "title": "Blockmaxvolumeul",
-          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
-          "type": "number"
+        "params": {
+          "$ref": "#/$defs/LiquidClassTouchTipParams",
+          "description": "Parameters for the touch-tip function.",
+          "title": "Params"
         }
       },
-      "required": ["moduleId", "profile"]
+      "required": ["enable"],
+      "title": "TouchTipProperties",
+      "type": "object"
     },
-    "RunProfileCreate": {
-      "title": "RunProfileCreate",
-      "description": "A request to execute a Thermocycler profile run.",
-      "type": "object",
+    "TryLiquidProbeCreate": {
+      "description": "The request model for a `tryLiquidProbe` command.",
       "properties": {
         "commandType": {
+          "const": "tryLiquidProbe",
+          "default": "tryLiquidProbe",
+          "enum": ["tryLiquidProbe"],
           "title": "Commandtype",
-          "default": "thermocycler/runProfile",
-          "enum": ["thermocycler/runProfile"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/RunProfileParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
-        }
-      },
-      "required": ["params"]
-    },
-    "ProfileStep": {
-      "title": "ProfileStep",
-      "description": "An individual step in a Thermocycler extended profile.",
-      "type": "object",
-      "properties": {
-        "celsius": {
-          "title": "Celsius",
-          "description": "Target temperature in \u00b0C.",
-          "type": "number"
-        },
-        "holdSeconds": {
-          "title": "Holdseconds",
-          "description": "Time to hold target temperature in seconds.",
-          "type": "number"
-        }
-      },
-      "required": ["celsius", "holdSeconds"]
-    },
-    "ProfileCycle": {
-      "title": "ProfileCycle",
-      "description": "An individual cycle in a Thermocycler extended profile.",
-      "type": "object",
-      "properties": {
-        "steps": {
-          "title": "Steps",
-          "description": "Steps to repeat.",
-          "type": "array",
-          "items": {
-            "$ref": "#/definitions/ProfileStep"
-          }
         },
-        "repetitions": {
-          "title": "Repetitions",
-          "description": "Number of times to repeat the steps.",
-          "type": "integer"
+        "params": {
+          "$ref": "#/$defs/TryLiquidProbeParams"
         }
       },
-      "required": ["steps", "repetitions"]
+      "required": ["params"],
+      "title": "TryLiquidProbeCreate",
+      "type": "object"
     },
-    "RunExtendedProfileParams": {
-      "title": "RunExtendedProfileParams",
-      "description": "Input parameters for an individual Thermocycler profile step.",
-      "type": "object",
+    "TryLiquidProbeParams": {
+      "description": "Parameters required for a `tryLiquidProbe` command.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Thermocycler.",
+        "labwareId": {
+          "description": "Identifier of labware to use.",
+          "title": "Labwareid",
           "type": "string"
         },
-        "profileElements": {
-          "title": "Profileelements",
-          "description": "Elements of the profile. Each can be either a step or a cycle.",
-          "type": "array",
-          "items": {
-            "anyOf": [
-              {
-                "$ref": "#/definitions/ProfileStep"
-              },
-              {
-                "$ref": "#/definitions/ProfileCycle"
-              }
-            ]
-          }
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         },
-        "blockMaxVolumeUl": {
-          "title": "Blockmaxvolumeul",
-          "description": "Amount of liquid in uL of the most-full well in labware loaded onto the thermocycler.",
-          "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": ["moduleId", "profileElements"]
+      "required": ["labwareId", "wellName", "pipetteId"],
+      "title": "TryLiquidProbeParams",
+      "type": "object"
     },
-    "RunExtendedProfileCreate": {
-      "title": "RunExtendedProfileCreate",
-      "description": "A request to execute a Thermocycler profile run.",
-      "type": "object",
+    "UnsafeBlowOutInPlaceCreate": {
+      "description": "UnsafeBlowOutInPlace command request model.",
       "properties": {
         "commandType": {
+          "const": "unsafe/blowOutInPlace",
+          "default": "unsafe/blowOutInPlace",
+          "enum": ["unsafe/blowOutInPlace"],
           "title": "Commandtype",
-          "default": "thermocycler/runExtendedProfile",
-          "enum": ["thermocycler/runExtendedProfile"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/RunExtendedProfileParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "UnsafeBlowOutInPlaceCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams": {
-      "title": "CloseLidParams",
-      "description": "Input parameters to close the lid on an absorbance reading.",
-      "type": "object",
+    "UnsafeBlowOutInPlaceParams": {
+      "description": "Payload required to blow-out in place while position is unknown.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the absorbance reader.",
+        "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": ["moduleId"]
+      "required": ["flowRate", "pipetteId"],
+      "title": "UnsafeBlowOutInPlaceParams",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidCreate": {
-      "title": "CloseLidCreate",
-      "description": "A request to execute an Absorbance Reader close lid command.",
-      "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",
-          "default": "absorbanceReader/closeLid",
-          "enum": ["absorbanceReader/closeLid"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__close_lid__CloseLidParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "UnsafeDropTipInPlaceCreate",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams": {
-      "title": "OpenLidParams",
-      "description": "Input parameters to open the lid on an absorbance reading.",
-      "type": "object",
+    "UnsafeDropTipInPlaceParams": {
+      "description": "Payload required to drop a tip in place even if the plunger position is not known.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the absorbance reader.",
+        "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": ["moduleId"]
+      "required": ["pipetteId"],
+      "title": "UnsafeDropTipInPlaceParams",
+      "type": "object"
     },
-    "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidCreate": {
-      "title": "OpenLidCreate",
-      "description": "A request to execute an Absorbance Reader open lid command.",
-      "type": "object",
+    "UnsafeEngageAxesCreate": {
+      "description": "UnsafeEngageAxes command request model.",
       "properties": {
         "commandType": {
+          "const": "unsafe/engageAxes",
+          "default": "unsafe/engageAxes",
+          "enum": ["unsafe/engageAxes"],
           "title": "Commandtype",
-          "default": "absorbanceReader/openLid",
-          "enum": ["absorbanceReader/openLid"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "UnsafeEngageAxesCreate",
+      "type": "object"
     },
-    "InitializeParams": {
-      "title": "InitializeParams",
-      "description": "Input parameters to initialize an absorbance reading.",
-      "type": "object",
+    "UnsafeEngageAxesParams": {
+      "description": "Payload required for an UnsafeEngageAxes command.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the absorbance reader.",
-          "type": "string"
-        },
-        "measureMode": {
-          "title": "Measuremode",
-          "description": "Initialize single or multi measurement mode.",
-          "enum": ["single", "multi"],
-          "type": "string"
-        },
-        "sampleWavelengths": {
-          "title": "Samplewavelengths",
-          "description": "Sample wavelengths in nm.",
-          "type": "array",
+        "axes": {
+          "description": "The axes for which to enable.",
           "items": {
-            "type": "integer"
-          }
-        },
-        "referenceWavelength": {
-          "title": "Referencewavelength",
-          "description": "Optional reference wavelength in nm.",
-          "type": "integer"
+            "$ref": "#/$defs/MotorAxis"
+          },
+          "title": "Axes",
+          "type": "array"
         }
       },
-      "required": ["moduleId", "measureMode", "sampleWavelengths"]
+      "required": ["axes"],
+      "title": "UnsafeEngageAxesParams",
+      "type": "object"
     },
-    "InitializeCreate": {
-      "title": "InitializeCreate",
-      "description": "A request to execute an Absorbance Reader measurement.",
-      "type": "object",
+    "UnsafePlaceLabwareCreate": {
+      "description": "UnsafePlaceLabware command request model.",
       "properties": {
         "commandType": {
+          "const": "unsafe/placeLabware",
+          "default": "unsafe/placeLabware",
+          "enum": ["unsafe/placeLabware"],
           "title": "Commandtype",
-          "default": "absorbanceReader/initialize",
-          "enum": ["absorbanceReader/initialize"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/InitializeParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "UnsafePlaceLabwareCreate",
+      "type": "object"
     },
-    "ReadAbsorbanceParams": {
-      "title": "ReadAbsorbanceParams",
-      "description": "Input parameters for an absorbance reading.",
-      "type": "object",
+    "UnsafePlaceLabwareParams": {
+      "description": "Payload required for an UnsafePlaceLabware command.",
       "properties": {
-        "moduleId": {
-          "title": "Moduleid",
-          "description": "Unique ID of the Absorbance Reader.",
+        "labwareURI": {
+          "description": "Labware URI for labware.",
+          "title": "Labwareuri",
           "type": "string"
         },
-        "fileName": {
-          "title": "Filename",
-          "description": "Optional file name to use when storing the results of a measurement.",
-          "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": ["moduleId"]
+      "required": ["labwareURI", "location"],
+      "title": "UnsafePlaceLabwareParams",
+      "type": "object"
     },
-    "ReadAbsorbanceCreate": {
-      "title": "ReadAbsorbanceCreate",
-      "description": "A request to execute an Absorbance Reader measurement.",
-      "type": "object",
+    "UnsafeUngripLabwareCreate": {
+      "description": "UnsafeEngageAxes command request model.",
       "properties": {
         "commandType": {
+          "const": "unsafe/ungripLabware",
+          "default": "unsafe/ungripLabware",
+          "enum": ["unsafe/ungripLabware"],
           "title": "Commandtype",
-          "default": "absorbanceReader/read",
-          "enum": ["absorbanceReader/read"],
+          "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": {
-          "$ref": "#/definitions/ReadAbsorbanceParams"
+          "$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": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "UpdatePositionEstimatorsCreate",
+      "type": "object"
     },
-    "CalibrateGripperParamsJaw": {
-      "title": "CalibrateGripperParamsJaw",
-      "description": "An enumeration.",
-      "enum": ["front", "rear"]
+    "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": {
-      "title": "Vec3f",
       "description": "A 3D vector of floats.",
-      "type": "object",
       "properties": {
         "x": {
           "title": "X",
           "type": "number"
         },
         "y": {
-          "title": "Y",
-          "type": "number"
-        },
-        "z": {
-          "title": "Z",
-          "type": "number"
-        }
-      },
-      "required": ["x", "y", "z"]
-    },
-    "CalibrateGripperParams": {
-      "title": "CalibrateGripperParams",
-      "description": "Parameters for a `calibrateGripper` command.",
-      "type": "object",
-      "properties": {
-        "jaw": {
-          "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CalibrateGripperParamsJaw"
-            }
-          ]
+          "title": "Y",
+          "type": "number"
         },
-        "otherJawOffset": {
-          "title": "Otherjawoffset",
-          "description": "If an offset for the other probe is already found, then specifying it here will enable the CalibrateGripper command to complete the calibration process by calculating the total offset and saving it to disk. If this param is not specified then the command will only find and return the offset for the specified probe.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/Vec3f"
-            }
-          ]
+        "z": {
+          "title": "Z",
+          "type": "number"
         }
       },
-      "required": ["jaw"]
+      "required": ["x", "y", "z"],
+      "title": "Vec3f",
+      "type": "object"
     },
-    "CalibrateGripperCreate": {
-      "title": "CalibrateGripperCreate",
-      "description": "A request to create a `calibrateGripper` command.",
-      "type": "object",
+    "VerifyTipPresenceCreate": {
+      "description": "VerifyTipPresence command creation request model.",
       "properties": {
         "commandType": {
+          "const": "verifyTipPresence",
+          "default": "verifyTipPresence",
+          "enum": ["verifyTipPresence"],
           "title": "Commandtype",
-          "default": "calibration/calibrateGripper",
-          "enum": ["calibration/calibrateGripper"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/CalibrateGripperParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "VerifyTipPresenceCreate",
+      "type": "object"
     },
-    "CalibratePipetteParams": {
-      "title": "CalibratePipetteParams",
-      "description": "Payload required to calibrate-pipette.",
-      "type": "object",
+    "VerifyTipPresenceParams": {
+      "description": "Payload required for a VerifyTipPresence command.",
       "properties": {
-        "mount": {
-          "description": "Instrument mount to calibrate.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
+        "expectedState": {
+          "$ref": "#/$defs/TipPresenceStatus",
+          "description": "The expected tip presence status on the pipette."
+        },
+        "followSingularSensor": {
+          "$ref": "#/$defs/InstrumentSensorId",
+          "description": "The sensor id to follow if the other can be ignored.",
+          "title": "Followsingularsensor"
+        },
+        "pipetteId": {
+          "description": "Identifier of pipette to use for liquid handling.",
+          "title": "Pipetteid",
+          "type": "string"
         }
       },
-      "required": ["mount"]
+      "required": ["pipetteId", "expectedState"],
+      "title": "VerifyTipPresenceParams",
+      "type": "object"
     },
-    "CalibratePipetteCreate": {
-      "title": "CalibratePipetteCreate",
-      "description": "Create calibrate-pipette command request model.",
-      "type": "object",
+    "WaitForBlockTemperatureCreate": {
+      "description": "A request to create Thermocycler's wait for block temperature command.",
       "properties": {
         "commandType": {
+          "const": "thermocycler/waitForBlockTemperature",
+          "default": "thermocycler/waitForBlockTemperature",
+          "enum": ["thermocycler/waitForBlockTemperature"],
           "title": "Commandtype",
-          "default": "calibration/calibratePipette",
-          "enum": ["calibration/calibratePipette"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/CalibratePipetteParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/WaitForBlockTemperatureParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "WaitForBlockTemperatureCreate",
+      "type": "object"
     },
-    "CalibrateModuleParams": {
-      "title": "CalibrateModuleParams",
-      "description": "Payload required to calibrate-module.",
-      "type": "object",
+    "WaitForBlockTemperatureParams": {
+      "description": "Input parameters to wait for Thermocycler's target block temperature.",
       "properties": {
         "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
           "title": "Moduleid",
-          "description": "The unique id of module to calibrate.",
-          "type": "string"
-        },
-        "labwareId": {
-          "title": "Labwareid",
-          "description": "The unique id of module calibration adapter labware.",
           "type": "string"
-        },
-        "mount": {
-          "description": "The instrument mount used to calibrate the module.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
         }
       },
-      "required": ["moduleId", "labwareId", "mount"]
+      "required": ["moduleId"],
+      "title": "WaitForBlockTemperatureParams",
+      "type": "object"
     },
-    "CalibrateModuleCreate": {
-      "title": "CalibrateModuleCreate",
-      "description": "Create calibrate-module command request model.",
-      "type": "object",
+    "WaitForDurationCreate": {
+      "description": "Wait for duration command request model.",
       "properties": {
         "commandType": {
+          "const": "waitForDuration",
+          "default": "waitForDuration",
+          "enum": ["waitForDuration"],
           "title": "Commandtype",
-          "default": "calibration/calibrateModule",
-          "enum": ["calibration/calibrateModule"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/CalibrateModuleParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "MaintenancePosition": {
-      "title": "MaintenancePosition",
-      "description": "Maintenance position options.",
-      "enum": ["attachPlate", "attachInstrument"]
+      "required": ["params"],
+      "title": "WaitForDurationCreate",
+      "type": "object"
     },
-    "MoveToMaintenancePositionParams": {
-      "title": "MoveToMaintenancePositionParams",
-      "description": "Calibration set up position command parameters.",
-      "type": "object",
+    "WaitForDurationParams": {
+      "description": "Payload required to pause the protocol.",
       "properties": {
-        "mount": {
-          "description": "Gantry mount to move maintenance position.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
+        "message": {
+          "description": "A user-facing message associated with the pause",
+          "title": "Message",
+          "type": "string"
         },
-        "maintenancePosition": {
-          "description": "The position the gantry mount needs to move to.",
-          "default": "attachInstrument",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MaintenancePosition"
-            }
-          ]
+        "seconds": {
+          "description": "Duration, in seconds, to wait for.",
+          "title": "Seconds",
+          "type": "number"
         }
       },
-      "required": ["mount"]
+      "required": ["seconds"],
+      "title": "WaitForDurationParams",
+      "type": "object"
     },
-    "MoveToMaintenancePositionCreate": {
-      "title": "MoveToMaintenancePositionCreate",
-      "description": "Calibration set up position command creation request model.",
-      "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",
-          "default": "calibration/moveToMaintenancePosition",
-          "enum": ["calibration/moveToMaintenancePosition"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToMaintenancePositionParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "WaitForLidTemperatureCreate",
+      "type": "object"
     },
-    "UnsafeBlowOutInPlaceParams": {
-      "title": "UnsafeBlowOutInPlaceParams",
-      "description": "Payload required to blow-out in place while position is unknown.",
-      "type": "object",
+    "WaitForLidTemperatureParams": {
+      "description": "Input parameters to wait for Thermocycler's lid temperature.",
       "properties": {
-        "flowRate": {
-          "title": "Flowrate",
-          "description": "Speed in \u00b5L/s configured for the pipette",
-          "exclusiveMinimum": 0,
-          "type": "number"
-        },
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler Module.",
+          "title": "Moduleid",
           "type": "string"
         }
       },
-      "required": ["flowRate", "pipetteId"]
+      "required": ["moduleId"],
+      "title": "WaitForLidTemperatureParams",
+      "type": "object"
     },
-    "UnsafeBlowOutInPlaceCreate": {
-      "title": "UnsafeBlowOutInPlaceCreate",
-      "description": "UnsafeBlowOutInPlace command request model.",
-      "type": "object",
+    "WaitForResumeCreate": {
+      "description": "Wait for resume command request model.",
       "properties": {
         "commandType": {
+          "default": "waitForResume",
+          "enum": ["waitForResume", "pause"],
           "title": "Commandtype",
-          "default": "unsafe/blowOutInPlace",
-          "enum": ["unsafe/blowOutInPlace"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UnsafeBlowOutInPlaceParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "WaitForResumeCreate",
+      "type": "object"
     },
-    "UnsafeDropTipInPlaceParams": {
-      "title": "UnsafeDropTipInPlaceParams",
-      "description": "Payload required to drop a tip in place even if the plunger position is not known.",
-      "type": "object",
+    "WaitForResumeParams": {
+      "description": "Payload required to pause the protocol.",
       "properties": {
-        "pipetteId": {
-          "title": "Pipetteid",
-          "description": "Identifier of pipette to use for liquid handling.",
+        "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"
         },
-        "homeAfter": {
-          "title": "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.",
-          "type": "boolean"
+        "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"
         }
       },
-      "required": ["pipetteId"]
+      "title": "WellLocation",
+      "type": "object"
     },
-    "UnsafeDropTipInPlaceCreate": {
-      "title": "UnsafeDropTipInPlaceCreate",
-      "description": "Drop tip in place command creation request model.",
-      "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",
-          "default": "unsafe/dropTipInPlace",
-          "enum": ["unsafe/dropTipInPlace"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UnsafeDropTipInPlaceParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
-    },
-    "UpdatePositionEstimatorsParams": {
-      "title": "UpdatePositionEstimatorsParams",
-      "description": "Payload required for an UpdatePositionEstimators command.",
-      "type": "object",
+      "required": ["params"],
+      "title": "closeGripperJawCreate",
+      "type": "object"
+    },
+    "closeGripperJawParams": {
+      "description": "Payload required to close a gripper.",
       "properties": {
-        "axes": {
-          "description": "The axes for which to update the position estimators. Any axes that are not physically present will be ignored.",
-          "type": "array",
-          "items": {
-            "$ref": "#/definitions/MotorAxis"
-          }
+        "force": {
+          "description": "The force the gripper should use to hold the jaws, falls to default if none is provided.",
+          "title": "Force",
+          "type": "number"
         }
       },
-      "required": ["axes"]
+      "title": "closeGripperJawParams",
+      "type": "object"
     },
-    "UpdatePositionEstimatorsCreate": {
-      "title": "UpdatePositionEstimatorsCreate",
-      "description": "UpdatePositionEstimators command request model.",
-      "type": "object",
+    "openGripperJawCreate": {
+      "description": "openGripperJaw command request model.",
       "properties": {
         "commandType": {
+          "const": "robot/openGripperJaw",
+          "default": "robot/openGripperJaw",
+          "enum": ["robot/openGripperJaw"],
           "title": "Commandtype",
-          "default": "unsafe/updatePositionEstimators",
-          "enum": ["unsafe/updatePositionEstimators"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UpdatePositionEstimatorsParams"
-        },
         "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.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "Key",
           "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
           "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/openGripperJawParams"
         }
       },
-      "required": ["params"]
+      "required": ["params"],
+      "title": "openGripperJawCreate",
+      "type": "object"
     },
-    "UnsafeEngageAxesParams": {
-      "title": "UnsafeEngageAxesParams",
-      "description": "Payload required for an UnsafeEngageAxes command.",
-      "type": "object",
-      "properties": {
-        "axes": {
-          "description": "The axes for which to enable.",
-          "type": "array",
-          "items": {
-            "$ref": "#/definitions/MotorAxis"
-          }
-        }
-      },
-      "required": ["axes"]
+    "openGripperJawParams": {
+      "description": "Payload required to release a gripper.",
+      "properties": {},
+      "title": "openGripperJawParams",
+      "type": "object"
     },
-    "UnsafeEngageAxesCreate": {
-      "title": "UnsafeEngageAxesCreate",
-      "description": "UnsafeEngageAxes command request model.",
-      "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",
-          "default": "unsafe/engageAxes",
-          "enum": ["unsafe/engageAxes"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UnsafeEngageAxesParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "CloseLidCreate",
+      "type": "object"
     },
-    "UnsafeUngripLabwareParams": {
-      "title": "UnsafeUngripLabwareParams",
-      "description": "Payload required for an UngripLabware command.",
-      "type": "object",
-      "properties": {}
+    "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"
     },
-    "UnsafeUngripLabwareCreate": {
-      "title": "UnsafeUngripLabwareCreate",
-      "description": "UnsafeEngageAxes command request model.",
-      "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",
-          "default": "unsafe/ungripLabware",
-          "enum": ["unsafe/ungripLabware"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UnsafeUngripLabwareParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "OpenLidCreate",
+      "type": "object"
     },
-    "UnsafePlaceLabwareParams": {
-      "title": "UnsafePlaceLabwareParams",
-      "description": "Payload required for an UnsafePlaceLabware command.",
-      "type": "object",
+    "opentrons__protocol_engine__commands__absorbance_reader__open_lid__OpenLidParams": {
+      "description": "Input parameters to open the lid on an absorbance reading.",
       "properties": {
-        "labwareURI": {
-          "title": "Labwareuri",
-          "description": "Labware URI for labware.",
+        "moduleId": {
+          "description": "Unique ID of the absorbance reader.",
+          "title": "Moduleid",
           "type": "string"
-        },
-        "location": {
-          "title": "Location",
-          "description": "Where to place the labware.",
-          "anyOf": [
-            {
-              "$ref": "#/definitions/DeckSlotLocation"
-            },
-            {
-              "$ref": "#/definitions/ModuleLocation"
-            },
-            {
-              "$ref": "#/definitions/OnLabwareLocation"
-            },
-            {
-              "$ref": "#/definitions/AddressableAreaLocation"
-            }
-          ]
         }
       },
-      "required": ["labwareURI", "location"]
+      "required": ["moduleId"],
+      "title": "OpenLidParams",
+      "type": "object"
     },
-    "UnsafePlaceLabwareCreate": {
-      "title": "UnsafePlaceLabwareCreate",
-      "description": "UnsafePlaceLabware command request model.",
-      "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",
-          "default": "unsafe/placeLabware",
-          "enum": ["unsafe/placeLabware"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/UnsafePlaceLabwareParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetTargetTemperatureCreate",
+      "type": "object"
     },
-    "MoveAxesRelativeParams": {
-      "title": "MoveAxesRelativeParams",
-      "description": "Payload required to move axes relative to position.",
-      "type": "object",
+    "opentrons__protocol_engine__commands__heater_shaker__set_target_temperature__SetTargetTemperatureParams": {
+      "description": "Input parameters to set a Heater-Shaker's target temperature.",
       "properties": {
-        "axis_map": {
-          "title": "Axis Map",
-          "description": "A dictionary mapping axes to relative movements in mm.",
-          "type": "object",
-          "additionalProperties": {
-            "type": "number"
-          }
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
           "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Heater-Shaker Module.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": ["axis_map"]
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetTemperatureParams",
+      "type": "object"
     },
-    "MoveAxesRelativeCreate": {
-      "title": "MoveAxesRelativeCreate",
-      "description": "MoveAxesRelative command request model.",
-      "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",
-          "default": "robot/moveAxesRelative",
-          "enum": ["robot/moveAxesRelative"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveAxesRelativeParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "WaitForTemperatureCreate",
+      "type": "object"
     },
-    "MoveAxesToParams": {
-      "title": "MoveAxesToParams",
-      "description": "Payload required to move axes to absolute position.",
-      "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": {
-        "axis_map": {
-          "title": "Axis Map",
-          "description": "The specified axes to move to an absolute deck position with.",
-          "type": "object",
-          "additionalProperties": {
-            "type": "number"
-          }
-        },
-        "critical_point": {
-          "title": "Critical Point",
-          "description": "The critical point to move the mount with.",
-          "type": "object",
-          "additionalProperties": {
-            "type": "number"
-          }
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        "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": ["axis_map"]
+      "required": ["moduleId"],
+      "title": "WaitForTemperatureParams",
+      "type": "object"
     },
-    "MoveAxesToCreate": {
-      "title": "MoveAxesToCreate",
-      "description": "MoveAxesTo command request model.",
-      "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",
-          "default": "robot/moveAxesTo",
-          "enum": ["robot/moveAxesTo"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveAxesToParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "SetTargetTemperatureCreate",
+      "type": "object"
     },
-    "MoveToParams": {
-      "title": "MoveToParams",
-      "description": "Payload required to move to a destination position.",
-      "type": "object",
+    "opentrons__protocol_engine__commands__temperature_module__set_target_temperature__SetTargetTemperatureParams": {
+      "description": "Input parameters to set a Temperature Module's target temperature.",
       "properties": {
-        "mount": {
-          "description": "The mount to move to the destination point.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/MountType"
-            }
-          ]
-        },
-        "destination": {
-          "title": "Destination",
-          "description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)",
-          "allOf": [
-            {
-              "$ref": "#/definitions/DeckPoint"
-            }
-          ]
-        },
-        "speed": {
-          "title": "Speed",
-          "description": "The max velocity to move the axes at. Will fall to hardware defaults if none provided.",
+        "celsius": {
+          "description": "Target temperature in \u00b0C.",
+          "title": "Celsius",
           "type": "number"
+        },
+        "moduleId": {
+          "description": "Unique ID of the Temperature Module.",
+          "title": "Moduleid",
+          "type": "string"
         }
       },
-      "required": ["mount", "destination"]
+      "required": ["moduleId", "celsius"],
+      "title": "SetTargetTemperatureParams",
+      "type": "object"
     },
-    "MoveToCreate": {
-      "title": "MoveToCreate",
-      "description": "MoveTo command request model.",
-      "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": {
-          "title": "Commandtype",
-          "default": "robot/moveTo",
-          "enum": ["robot/moveTo"],
+          "const": "temperatureModule/waitForTemperature",
+          "default": "temperatureModule/waitForTemperature",
+          "enum": ["temperatureModule/waitForTemperature"],
+          "title": "Commandtype",
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/MoveToParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "WaitForTemperatureCreate",
+      "type": "object"
     },
-    "openGripperJawParams": {
-      "title": "openGripperJawParams",
-      "description": "Payload required to release a gripper.",
-      "type": "object",
-      "properties": {}
+    "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"
     },
-    "openGripperJawCreate": {
-      "title": "openGripperJawCreate",
-      "description": "openGripperJaw command request model.",
-      "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",
-          "default": "robot/openGripperJaw",
-          "enum": ["robot/openGripperJaw"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/openGripperJawParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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"]
+      "required": ["params"],
+      "title": "CloseLidCreate",
+      "type": "object"
     },
-    "closeGripperJawParams": {
-      "title": "closeGripperJawParams",
-      "description": "Payload required to close a gripper.",
-      "type": "object",
+    "opentrons__protocol_engine__commands__thermocycler__close_lid__CloseLidParams": {
+      "description": "Input parameters to close a Thermocycler's lid.",
       "properties": {
-        "force": {
-          "title": "Force",
-          "description": "The force the gripper should use to hold the jaws, falls to default if none is provided.",
-          "type": "number"
+        "moduleId": {
+          "description": "Unique ID of the Thermocycler.",
+          "title": "Moduleid",
+          "type": "string"
         }
-      }
+      },
+      "required": ["moduleId"],
+      "title": "CloseLidParams",
+      "type": "object"
     },
-    "closeGripperJawCreate": {
-      "title": "closeGripperJawCreate",
-      "description": "closeGripperJaw command request model.",
-      "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",
-          "default": "robot/closeGripperJaw",
-          "enum": ["robot/closeGripperJaw"],
           "type": "string"
         },
-        "params": {
-          "$ref": "#/definitions/closeGripperJawParams"
-        },
         "intent": {
+          "$ref": "#/$defs/CommandIntent",
           "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
-          "allOf": [
-            {
-              "$ref": "#/definitions/CommandIntent"
-            }
-          ]
+          "title": "Intent"
         },
         "key": {
-          "title": "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": ["params"]
+      "required": ["moduleId"],
+      "title": "OpenLidParams",
+      "type": "object"
     }
   },
   "$id": "opentronsCommandSchemaV11",
-  "$schema": "http://json-schema.org/draft-07/schema#"
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "discriminator": {
+    "mapping": {
+      "absorbanceReader/closeLid": "#/$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",
+      "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",
+      "dropTip": "#/$defs/DropTipCreate",
+      "dropTipInPlace": "#/$defs/DropTipInPlaceCreate",
+      "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",
+      "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": "#/$defs/AspirateInPlaceCreate"
+    },
+    {
+      "$ref": "#/$defs/CommentCreate"
+    },
+    {
+      "$ref": "#/$defs/ConfigureForVolumeCreate"
+    },
+    {
+      "$ref": "#/$defs/ConfigureNozzleLayoutCreate"
+    },
+    {
+      "$ref": "#/$defs/CustomCreate"
+    },
+    {
+      "$ref": "#/$defs/DispenseCreate"
+    },
+    {
+      "$ref": "#/$defs/DispenseInPlaceCreate"
+    },
+    {
+      "$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": "#/$defs/MoveLabwareCreate"
+    },
+    {
+      "$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": "#/$defs/CalibrateGripperCreate"
+    },
+    {
+      "$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"
+    }
+  ]
 }
diff --git a/shared-data/python/Pipfile b/shared-data/python/Pipfile
index dff2c2318bd..36fe4d3a4c2 100644
--- a/shared-data/python/Pipfile
+++ b/shared-data/python/Pipfile
@@ -4,7 +4,7 @@ verify_ssl = true
 name = "pypi"
 
 [dev-packages]
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 flake8 = "~=7.0.0"
 flake8-annotations = "~=3.0.1"
 flake8-docstrings = "~=1.7.0"
@@ -27,5 +27,5 @@ pytest-clarity = "~=1.0.0"
 [packages]
 opentrons-shared-data = { editable = true, path = "." }
 jsonschema = "==4.21.1"
-pydantic = "==1.10.12"
+pydantic = "==2.9.0"
 numpy = "==1.22.3"
diff --git a/shared-data/python/Pipfile.lock b/shared-data/python/Pipfile.lock
index 43ce052e327..be15adba052 100644
--- a/shared-data/python/Pipfile.lock
+++ b/shared-data/python/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "9b5174a247c5fe717a5db26f523afd532a6b0fc27943d86f6588839785ef51f4"
+            "sha256": "26e2a27ca64e01b1f0274cbbe632e28a6d15977ac1d4eecdc5077dd3acb6e364"
         },
         "pipfile-spec": 6,
         "requires": {},
@@ -14,13 +14,21 @@
         ]
     },
     "default": {
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346",
+                "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
         },
         "jsonschema": {
             "hashes": [
@@ -33,11 +41,11 @@
         },
         "jsonschema-specifications": {
             "hashes": [
-                "sha256:48a76787b3e70f5ed53f1160d2b81f586e4ca6d1548c5de7085d1682674764cc",
-                "sha256:87e4fdf3a94858b8a2ba2778d9ba57d8a9cafca7c7489c46ba0d30a8bc6a9c3c"
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@@ -68,172 +76,245 @@
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             ],
             "markers": "python_version >= '3.8'",
-            "version": "==0.17.1"
+            "version": "==0.20.1"
         },
         "typing-extensions": {
             "hashes": [
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-            "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "markers": "python_version < '3.13'",
+            "version": "==4.12.2"
+        },
+        "tzdata": {
+            "hashes": [
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+            "markers": "python_version >= '3.9'",
+            "version": "==2024.2"
         }
     },
     "develop": {
@@ -247,11 +328,19 @@
         },
         "attrs": {
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             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
+        },
+        "backports.tarfile": {
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         "black": {
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@@ -285,107 +374,122 @@
         },
         "certifi": {
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-            "version": "==2023.11.17"
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+            "markers": "python_version >= '3.9'",
+            "version": "==0.21.2"
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-            "version": "==1.2.0"
+            "version": "==1.2.2"
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-            "markers": "python_version >= '3.7'",
-            "version": "==2.0.2"
+            "markers": "python_version >= '3.8'",
+            "version": "==2.1.1"
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@@ -526,19 +640,19 @@
         },
         "idna": {
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-            "markers": "python_version >= '3.5'",
-            "version": "==3.6"
+            "markers": "python_version >= '3.6'",
+            "version": "==3.10"
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@@ -550,19 +664,35 @@
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-            "version": "==3.3.0"
+            "version": "==3.4.0"
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+        "jaraco.context": {
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+            "version": "==6.0.1"
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+        "jaraco.functools": {
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@@ -590,45 +720,45 @@
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@@ -640,32 +770,32 @@
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@@ -677,27 +807,27 @@
         },
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@@ -732,11 +862,11 @@
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+                "sha256:786ff802f32e91311bff3889f6e9a86e81505fe99f2735bb6d60ae0c5004f199",
+                "sha256:b8e6aca0523f3ab76fee51799c488e38782ac06eafcf95e7ba832985c8e7b13a"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==2.17.2"
+            "markers": "python_version >= '3.8'",
+            "version": "==2.18.0"
         },
         "pytest": {
             "hashes": [
@@ -775,19 +905,19 @@
         },
         "readme-renderer": {
             "hashes": [
-                "sha256:13d039515c1f24de668e2c93f2e877b9dbe6c6c32328b90a40a49d8b2b85f36d",
-                "sha256:2d55489f83be4992fe4454939d1a051c33edbab778e82761d060c9fc6b308cd1"
+                "sha256:2fbca89b81a08526aadf1357a8c2ae889ec05fb03f5da67f9769c9a592166151",
+                "sha256:8712034eabbfa6805cacf1402b4eeb2a73028f72d1166d6f5cb7f9c047c5d1e1"
             ],
-            "markers": "python_version >= '3.8'",
-            "version": "==42.0"
+            "markers": "python_version >= '3.9'",
+            "version": "==44.0"
         },
         "requests": {
             "hashes": [
-                "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f",
-                "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"
+                "sha256:55365417734eb18255590a9ff9eb97e9e1da868d4ccd6402399eaf68af20a760",
+                "sha256:70761cfe03c773ceb22aa2f671b4757976145175cdfca038c02654d061d6dcc6"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==2.31.0"
+            "markers": "python_version >= '3.8'",
+            "version": "==2.32.3"
         },
         "requests-toolbelt": {
             "hashes": [
@@ -807,11 +937,11 @@
         },
         "rich": {
             "hashes": [
-                "sha256:5cb5123b5cf9ee70584244246816e9114227e0b98ad9176eede6ad54bf5403fa",
-                "sha256:6da14c108c4866ee9520bbffa71f6fe3962e193b7da68720583850cd4548e235"
+                "sha256:439594978a49a09530cff7ebc4b5c7103ef57baf48d5ea3184f21d9a2befa098",
+                "sha256:6049d5e6ec054bf2779ab3358186963bac2ea89175919d699e378b99738c2a90"
             ],
-            "markers": "python_full_version >= '3.7.0'",
-            "version": "==13.7.0"
+            "markers": "python_full_version >= '3.8.0'",
+            "version": "==13.9.4"
         },
         "snowballstemmer": {
             "hashes": [
@@ -822,11 +952,11 @@
         },
         "tomli": {
             "hashes": [
-                "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc",
-                "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"
+                "sha256:2ebe24485c53d303f690b0ec092806a085f07af5a5aa1464f3931eec36caaa38",
+                "sha256:d46d457a85337051c36524bc5349dd91b1877838e2979ac5ced3e710ed8a60ed"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==2.0.1"
+            "version": "==2.0.2"
         },
         "twine": {
             "hashes": [
@@ -848,19 +978,19 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
-                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
+                "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
+                "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
-            "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "markers": "python_version < '3.13'",
+            "version": "==4.12.2"
         },
         "urllib3": {
             "hashes": [
-                "sha256:55901e917a5896a349ff771be919f8bd99aff50b79fe58fec595eb37bbc56bb3",
-                "sha256:df7aa8afb0148fa78488e7899b2c59b5f4ffcfa82e6c54ccb9dd37c1d7b52d54"
+                "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac",
+                "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==2.1.0"
+            "version": "==2.2.3"
         },
         "wheel": {
             "hashes": [
@@ -873,11 +1003,11 @@
         },
         "zipp": {
             "hashes": [
-                "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31",
-                "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"
+                "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350",
+                "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==3.17.0"
+            "version": "==3.20.2"
         }
     }
 }
diff --git a/shared-data/python/mypy.ini b/shared-data/python/mypy.ini
index 17d9374de2a..a12fe382e75 100644
--- a/shared-data/python/mypy.ini
+++ b/shared-data/python/mypy.ini
@@ -16,26 +16,7 @@ warn_untyped_fields = True
 warn_return_any = False
 
 [mypy-opentrons_shared_data.pipette.*]
-no_implicit_optional = False
 warn_return_any = False
 
 [mypy-opentrons_shared_data.protocol.*]
 warn_return_any = False
-
-[mypy-tests.deck.*]
-disallow_untyped_defs = False
-
-[mypy-tests.labware.*]
-disallow_untyped_defs = False
-disallow_untyped_calls = False
-
-[mypy-tests.module.*]
-disallow_untyped_defs = False
-disallow_untyped_calls = False
-
-[mypy-tests.pipette.*]
-disallow_untyped_defs = False
-disallow_untyped_calls = False
-
-[mypy-tests.protocol.*]
-disallow_untyped_defs = False
diff --git a/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py b/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py
index 707d960a9ba..99e362c25d0 100644
--- a/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py
+++ b/shared-data/python/opentrons_shared_data/gripper/gripper_definition.py
@@ -1,8 +1,8 @@
 """Gripper configurations."""
 
-from typing_extensions import Literal
-from typing import TYPE_CHECKING, List, Dict, Tuple, Any, NewType
-from pydantic import BaseModel, Field, conint, confloat
+from typing_extensions import Annotated, Literal
+from typing import List, Dict, Tuple, Any, NewType
+from pydantic import ConfigDict, BaseModel, Field
 from enum import Enum
 
 
@@ -42,22 +42,20 @@ def __str__(self) -> str:
 GripperSchema = Dict[str, Any]
 
 
-if TYPE_CHECKING:
-    _StrictNonNegativeInt = int
-    _StrictNonNegativeFloat = float
-else:
-    _StrictNonNegativeInt = conint(strict=True, ge=0)
-    _StrictNonNegativeFloat = confloat(strict=True, ge=0.0)
+_StrictNonNegativeInt = Annotated[int, Field(strict=True, ge=0)]
+_StrictNonNegativeFloat = Annotated[float, Field(strict=True, ge=0.0)]
+
+
+PolynomialTerm = Tuple[_StrictNonNegativeInt, float]
+_Polynomial = Annotated[List[PolynomialTerm], Field(min_length=1)]
 
 
 class GripperBaseModel(BaseModel):
     """Gripper base model."""
 
-    class Config:
-        """Config."""
-
-        alias_generator = _snake_to_camel_case
-        allow_population_by_field_name = True
+    model_config = ConfigDict(
+        alias_generator=_snake_to_camel_case, populate_by_name=True
+    )
 
 
 Offset = Tuple[float, float, float]
@@ -74,16 +72,12 @@ class Geometry(GripperBaseModel):
     max_allowed_grip_error: _StrictNonNegativeFloat
 
 
-PolynomialTerm = Tuple[_StrictNonNegativeInt, float]
-
-
 class GripForceProfile(GripperBaseModel):
     """Gripper force profile."""
 
-    polynomial: List[PolynomialTerm] = Field(
+    polynomial: _Polynomial = Field(
         ...,
         description="Polynomial function to convert a grip force in Newton to the jaw motor duty cycle value, which will be read by the gripper firmware.",
-        min_items=1,
     )
     default_grip_force: _StrictNonNegativeFloat
     default_idle_force: _StrictNonNegativeFloat
diff --git a/shared-data/python/opentrons_shared_data/labware/labware_definition.py b/shared-data/python/opentrons_shared_data/labware/labware_definition.py
index 3363c874c55..994d4e743eb 100644
--- a/shared-data/python/opentrons_shared_data/labware/labware_definition.py
+++ b/shared-data/python/opentrons_shared_data/labware/labware_definition.py
@@ -6,21 +6,19 @@
 from __future__ import annotations
 
 from enum import Enum
-from typing import TYPE_CHECKING, Dict, List, Optional, Union
+from typing import Dict, List, Optional, Union
 from math import sqrt, asin
 from numpy import pi, trapz
 from functools import cached_property
 
 from pydantic import (
+    ConfigDict,
     BaseModel,
-    Extra,
     Field,
-    conint,
-    confloat,
     StrictInt,
     StrictFloat,
 )
-from typing_extensions import Literal
+from typing_extensions import Annotated, Literal
 
 from .constants import (
     Conical,
@@ -36,12 +34,8 @@
 SAFE_STRING_REGEX = "^[a-z0-9._]+$"
 
 
-if TYPE_CHECKING:
-    _StrictNonNegativeInt = int
-    _StrictNonNegativeFloat = float
-else:
-    _StrictNonNegativeInt = conint(strict=True, ge=0)
-    _StrictNonNegativeFloat = confloat(strict=True, ge=0.0)
+_StrictNonNegativeInt = Annotated[int, Field(strict=True, ge=0)]
+_StrictNonNegativeFloat = Annotated[float, Field(strict=True, ge=0.0)]
 
 
 _Number = Union[StrictInt, StrictFloat]
@@ -176,7 +170,7 @@ class Parameters(BaseModel):
     loadName: str = Field(
         ...,
         description="Name used to reference a labware definition",
-        regex=SAFE_STRING_REGEX,
+        pattern=SAFE_STRING_REGEX,
     )
     isMagneticModuleCompatible: bool = Field(
         ...,
@@ -199,8 +193,7 @@ class Dimensions(BaseModel):
 
 
 class WellDefinition(BaseModel):
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
     depth: _NonNegativeNumber = Field(...)
     x: _NonNegativeNumber = Field(
@@ -269,8 +262,7 @@ class SphericalSegment(BaseModel):
     def count(self) -> int:
         return self.xCount * self.yCount
 
-    class Config:
-        keep_untouched = (cached_property,)
+    model_config = ConfigDict(ignored_types=(cached_property,))
 
 
 class ConicalFrustum(BaseModel):
@@ -304,8 +296,7 @@ class ConicalFrustum(BaseModel):
     def count(self) -> int:
         return self.xCount * self.yCount
 
-    class Config:
-        keep_untouched = (cached_property,)
+    model_config = ConfigDict(ignored_types=(cached_property,))
 
 
 class CuboidalFrustum(BaseModel):
@@ -348,8 +339,7 @@ class CuboidalFrustum(BaseModel):
     def count(self) -> int:
         return self.xCount * self.yCount
 
-    class Config:
-        keep_untouched = (cached_property,)
+    model_config = ConfigDict(ignored_types=(cached_property,))
 
 
 # A squared cone is the intersection of a cube and a cone that both
@@ -490,8 +480,7 @@ def volume_to_height_table(self) -> Dict[float, float]:
     def count(self) -> int:
         return self.xCount * self.yCount
 
-    class Config:
-        keep_untouched = (cached_property,)
+    model_config = ConfigDict(ignored_types=(cached_property,))
 
 
 """
@@ -616,8 +605,7 @@ class RoundedCuboidSegment(BaseModel):
     def count(self) -> int:
         return self.xCount * self.yCount
 
-    class Config:
-        keep_untouched = (cached_property,)
+    model_config = ConfigDict(ignored_types=(cached_property,))
 
 
 class Metadata1(BaseModel):
@@ -672,9 +660,9 @@ class LabwareDefinition(BaseModel):
         ...,
         description="Version of the labware definition itself "
         "(eg myPlate v1/v2/v3). An incrementing integer",
-        ge=1.0,
+        ge=1,
     )
-    namespace: str = Field(..., regex=SAFE_STRING_REGEX)
+    namespace: str = Field(..., pattern=SAFE_STRING_REGEX)
     metadata: Metadata = Field(
         ..., description="Properties used for search and display"
     )
@@ -731,11 +719,11 @@ class LabwareDefinition(BaseModel):
         "during labware movement.",
     )
     gripHeightFromLabwareBottom: Optional[float] = Field(
-        default_factory=None,
+        default=None,
         description="The Z-height, from labware bottom, where the gripper should grip the labware.",
     )
     gripForce: Optional[float] = Field(
-        default_factory=None,
+        default=None,
         description="Force, in Newtons, with which the gripper should grip the labware.",
     )
     innerLabwareGeometry: Optional[Dict[str, InnerWellGeometry]] = Field(
diff --git a/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py b/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py
index 2c2de84e07e..aca371d43e6 100644
--- a/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py
+++ b/shared-data/python/opentrons_shared_data/liquid_classes/liquid_class_definition.py
@@ -1,25 +1,22 @@
 """Python shared data models for liquid class definitions."""
 
 from enum import Enum
-from typing import TYPE_CHECKING, Literal, Union, Optional, Dict, Any, Sequence, Tuple
+from typing import Literal, Union, Optional, Sequence, Tuple, Any
 
 from pydantic import (
     BaseModel,
-    validator,
+    field_validator,
+    ValidationInfo,
     Field,
-    conint,
-    confloat,
     StrictInt,
     StrictFloat,
 )
+from pydantic.json_schema import SkipJsonSchema
+from typing_extensions import Annotated
 
 
-if TYPE_CHECKING:
-    _StrictNonNegativeInt = int
-    _StrictNonNegativeFloat = float
-else:
-    _StrictNonNegativeInt = conint(strict=True, ge=0)
-    _StrictNonNegativeFloat = confloat(strict=True, ge=0.0)
+_StrictNonNegativeInt = Annotated[int, Field(strict=True, ge=0)]
+_StrictNonNegativeFloat = Annotated[float, Field(strict=True, ge=0.0)]
 
 
 _Number = Union[StrictInt, StrictFloat]
@@ -35,6 +32,10 @@
 """Settings for correctionByVolume, which unlike other `byVolume` properties allows negative values with volume."""
 
 
+def _remove_default(s: dict[str, Any]) -> None:
+    s.pop("default")
+
+
 class PositionReference(Enum):
     """Positional reference for liquid handling operations."""
 
@@ -72,15 +73,18 @@ class DelayProperties(BaseModel):
     """Shared properties for delay.."""
 
     enable: bool = Field(..., description="Whether delay is enabled.")
-    params: Optional[DelayParams] = Field(
-        None, description="Parameters for the delay function."
+    params: DelayParams | SkipJsonSchema[None] = Field(
+        None,
+        description="Parameters for the delay function.",
+        json_schema_extra=_remove_default,
     )
 
-    @validator("params")
+    @field_validator("params")
+    @classmethod
     def _validate_params(
-        cls, v: Optional[DelayParams], values: Dict[str, Any]
+        cls, v: Optional[DelayParams], info: ValidationInfo
     ) -> Optional[DelayParams]:
-        if v is None and values["enable"]:
+        if v is None and info.data.get("enable", False):
             raise ValueError("If enable is true parameters for delay must be defined.")
         return v
 
@@ -108,15 +112,18 @@ class TouchTipProperties(BaseModel):
     """Shared properties for the touch-tip function."""
 
     enable: bool = Field(..., description="Whether touch-tip is enabled.")
-    params: Optional[LiquidClassTouchTipParams] = Field(
-        None, description="Parameters for the touch-tip function."
+    params: LiquidClassTouchTipParams | SkipJsonSchema[None] = Field(
+        None,
+        description="Parameters for the touch-tip function.",
+        json_schema_extra=_remove_default,
     )
 
-    @validator("params")
+    @field_validator("params")
+    @classmethod
     def _validate_params(
-        cls, v: Optional[LiquidClassTouchTipParams], values: Dict[str, Any]
+        cls, v: Optional[LiquidClassTouchTipParams], info: ValidationInfo
     ) -> Optional[LiquidClassTouchTipParams]:
-        if v is None and values["enable"]:
+        if v is None and info.data.get("enable", False):
             raise ValueError(
                 "If enable is true parameters for touch tip must be defined."
             )
@@ -136,15 +143,18 @@ class MixProperties(BaseModel):
     """Mixing properties."""
 
     enable: bool = Field(..., description="Whether mix is enabled.")
-    params: Optional[MixParams] = Field(
-        None, description="Parameters for the mix function."
+    params: MixParams | SkipJsonSchema[None] = Field(
+        None,
+        description="Parameters for the mix function.",
+        json_schema_extra=_remove_default,
     )
 
-    @validator("params")
+    @field_validator("params")
+    @classmethod
     def _validate_params(
-        cls, v: Optional[MixParams], values: Dict[str, Any]
+        cls, v: Optional[MixParams], info: ValidationInfo
     ) -> Optional[MixParams]:
-        if v is None and values["enable"]:
+        if v is None and info.data.get("enable", False):
             raise ValueError("If enable is true parameters for mix must be defined.")
         return v
 
@@ -164,15 +174,18 @@ class BlowoutProperties(BaseModel):
     """Blowout properties."""
 
     enable: bool = Field(..., description="Whether blow-out is enabled.")
-    params: Optional[BlowoutParams] = Field(
-        None, description="Parameters for the blowout function."
+    params: BlowoutParams | SkipJsonSchema[None] = Field(
+        None,
+        description="Parameters for the blowout function.",
+        json_schema_extra=_remove_default,
     )
 
-    @validator("params")
+    @field_validator("params")
+    @classmethod
     def _validate_params(
-        cls, v: Optional[BlowoutParams], values: Dict[str, Any]
+        cls, v: Optional[BlowoutParams], info: ValidationInfo
     ) -> Optional[BlowoutParams]:
-        if v is None and values["enable"]:
+        if v is None and info.data.get("enable", False):
             raise ValueError(
                 "If enable is true parameters for blowout must be defined."
             )
@@ -344,8 +357,10 @@ class ByTipTypeSetting(BaseModel):
     singleDispense: SingleDispenseProperties = Field(
         ..., description="Single dispense parameters for this tip type."
     )
-    multiDispense: Optional[MultiDispenseProperties] = Field(
-        None, description="Optional multi-dispense parameters for this tip type."
+    multiDispense: MultiDispenseProperties | SkipJsonSchema[None] = Field(
+        None,
+        description="Optional multi-dispense parameters for this tip type.",
+        json_schema_extra=_remove_default,
     )
 
 
diff --git a/shared-data/python/opentrons_shared_data/pipette/__init__.py b/shared-data/python/opentrons_shared_data/pipette/__init__.py
index 1f3fce2b6d5..91473529a90 100644
--- a/shared-data/python/opentrons_shared_data/pipette/__init__.py
+++ b/shared-data/python/opentrons_shared_data/pipette/__init__.py
@@ -4,7 +4,7 @@
 opentrons_shared_data.pipette: functions and types for pipette config
 """
 import copy
-from typing import TYPE_CHECKING, Dict
+from typing import TYPE_CHECKING, Dict, Optional
 import json
 from functools import lru_cache
 
@@ -63,7 +63,7 @@ def name_for_model(pipette_model: PipetteModel) -> PipetteName:
 
 
 def fuse_specs(
-    pipette_model: PipetteModel, pipette_name: PipetteName = None
+    pipette_model: PipetteModel, pipette_name: Optional[PipetteName] = None
 ) -> PipetteFusedSpec:
     """Combine the model and name spec for a given model.
 
@@ -75,7 +75,7 @@ def fuse_specs(
 
 @lru_cache(maxsize=None)
 def _fuse_specs_cached(
-    pipette_model: PipetteModel, pipette_name: PipetteName = None
+    pipette_model: PipetteModel, pipette_name: Optional[PipetteName] = None
 ) -> PipetteFusedSpec:
     """
     Do the work of fusing the specs inside an lru cache. This can't be the
diff --git a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
index 84566c4ea92..2e10ede5093 100644
--- a/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
+++ b/shared-data/python/opentrons_shared_data/pipette/pipette_definition.py
@@ -1,7 +1,12 @@
 import re
-from typing import List, Dict, Tuple, Optional
-from pydantic import BaseModel, Field, validator
-from typing_extensions import Literal
+from typing import List, Dict, Tuple, Optional, Annotated, Literal, TypeVar
+from pydantic import (
+    field_validator,
+    BaseModel,
+    Field,
+    BeforeValidator,
+    PlainSerializer,
+)
 from dataclasses import dataclass
 
 from . import types as pip_types, types
@@ -16,6 +21,17 @@
 NOZZLE_MAP_NAMES = re.compile(r"(?P<row>[A-Z]+)(?P<column>[0-9]+)")
 COLUMN_NAMES = re.compile(r"[0-9]+")
 ROW_NAMES = re.compile(r"[A-Z]+")
+OT_TIPRACK_NAMES = re.compile(r"opentrons/[a-z0-9._]+/[0-9]")
+
+
+def validate_opentrons_tiprack(v: str) -> str:
+    if not OT_TIPRACK_NAMES.match(v):
+        raise ValueError("{v} is not a valid tiprack name.")
+    return v
+
+
+EnumType = TypeVar("EnumType")
+EnumSerializer = Annotated[EnumType, PlainSerializer(lambda v: v.value)]
 
 
 # TODO (lc 12-5-2022) Ideally we can deprecate this
@@ -257,10 +273,12 @@ class CamActionDropTipConfiguration(BaseModel):
 
 class DropTipConfigurations(BaseModel):
     plunger_eject: Optional[PlungerEjectDropTipConfiguration] = Field(
-        description="Configuration for tip drop via plunger eject", alias="plungerEject"
+        None,
+        description="Configuration for tip drop via plunger eject",
+        alias="plungerEject",
     )
     cam_action: Optional[CamActionDropTipConfiguration] = Field(
-        description="Configuration for tip drop via cam action", alias="camAction"
+        None, description="Configuration for tip drop via cam action", alias="camAction"
     )
 
 
@@ -307,12 +325,12 @@ class PipettePhysicalPropertiesDefinition(BaseModel):
         description="A list of pipette names that are compatible with this pipette.",
         alias="backCompatNames",
     )
-    pipette_type: pip_types.PipetteModelType = Field(
+    pipette_type: EnumSerializer[pip_types.PipetteModelType] = Field(
         ...,
         description="The pipette model type (related to number of channels).",
         alias="model",
     )
-    display_category: pip_types.PipetteGenerationType = Field(
+    display_category: EnumSerializer[pip_types.PipetteGenerationType] = Field(
         ..., description="The product model of the pipette.", alias="displayCategory"
     )
     pick_up_tip_configurations: PickUpTipConfigurations = Field(
@@ -334,7 +352,7 @@ class PipettePhysicalPropertiesDefinition(BaseModel):
     partial_tip_configurations: PartialTipDefinition = Field(
         ..., alias="partialTipConfigurations"
     )
-    channels: pip_types.PipetteChannelType = Field(
+    channels: EnumSerializer[pip_types.PipetteChannelType] = Field(
         ..., description="The maximum number of channels on the pipette."
     )
     shaft_diameter: float = Field(
@@ -350,7 +368,7 @@ class PipettePhysicalPropertiesDefinition(BaseModel):
         description="The distance of backlash on the plunger motor.",
         alias="backlashDistance",
     )
-    quirks: List[pip_types.Quirks] = Field(
+    quirks: List[EnumSerializer[pip_types.Quirks]] = Field(
         ..., description="The list of quirks available for the loaded configuration"
     )
     tip_presence_check_distance_mm: float = Field(
@@ -364,44 +382,42 @@ class PipettePhysicalPropertiesDefinition(BaseModel):
         alias="endTipActionRetractDistanceMM",
     )
 
-    @validator("pipette_type", pre=True)
+    @field_validator("pipette_type", mode="before")
+    @classmethod
     def convert_pipette_model_string(cls, v: str) -> pip_types.PipetteModelType:
         return pip_types.PipetteModelType(v)
 
-    @validator("channels", pre=True)
+    @field_validator("channels", mode="before")
+    @classmethod
     def convert_channels(cls, v: int) -> pip_types.PipetteChannelType:
         return pip_types.PipetteChannelType(v)
 
-    @validator("display_category", pre=True)
+    @field_validator("display_category", mode="before")
+    @classmethod
     def convert_display_category(cls, v: str) -> pip_types.PipetteGenerationType:
         if not v:
             return pip_types.PipetteGenerationType.GEN1
         return pip_types.PipetteGenerationType(v)
 
-    @validator("quirks", pre=True)
+    @field_validator("quirks", mode="before")
+    @classmethod
     def convert_quirks(cls, v: List[str]) -> List[pip_types.Quirks]:
         return [pip_types.Quirks(q) for q in v]
 
-    @validator("plunger_positions_configurations", pre=True)
+    @field_validator("plunger_positions_configurations", mode="before")
+    @classmethod
     def convert_plunger_positions(
         cls, v: Dict[str, PlungerPositions]
     ) -> Dict[pip_types.LiquidClasses, PlungerPositions]:
         return {pip_types.LiquidClasses[key]: value for key, value in v.items()}
 
-    class Config:
-        json_encoders = {
-            pip_types.PipetteChannelType: lambda v: v.value,
-            pip_types.PipetteModelType: lambda v: v.value,
-            pip_types.PipetteGenerationType: lambda v: v.value,
-            pip_types.Quirks: lambda v: v.value,
-        }
-
 
 class PipetteRowDefinition(BaseModel):
     key: str
     ordered_nozzles: List[str] = Field(..., alias="orderedNozzles")
 
-    @validator("key")
+    @field_validator("key")
+    @classmethod
     def check_key_is_row(cls, v: str) -> str:
         if not ROW_NAMES.search(v):
             raise ValueError(f"{v} is not a valid row name")
@@ -412,7 +428,8 @@ class PipetteColumnDefinition(BaseModel):
     key: str
     ordered_nozzles: List[str] = Field(..., alias="orderedNozzles")
 
-    @validator("key")
+    @field_validator("key")
+    @classmethod
     def check_key_is_column(cls, v: str) -> str:
         if not COLUMN_NAMES.search(v):
             raise ValueError(f"{v} is not a valid column name")
@@ -441,7 +458,8 @@ class PipetteGeometryDefinition(BaseModel):
     ordered_rows: List[PipetteRowDefinition] = Field(..., alias="orderedRows")
     lld_settings: Dict[str, Dict[str, float]] = Field(..., alias="lldSettings")
 
-    @validator("nozzle_map", pre=True)
+    @field_validator("nozzle_map", mode="before")
+    @classmethod
     def check_nonempty_strings(
         cls, v: Dict[str, List[float]]
     ) -> Dict[str, List[float]]:
@@ -469,14 +487,16 @@ class PipetteLiquidPropertiesDefinition(BaseModel):
         description="The minimum supported volume of the pipette.",
         alias="minVolume",
     )
-    default_tipracks: List[str] = Field(
+    default_tipracks: List[
+        Annotated[str, BeforeValidator(validate_opentrons_tiprack)]
+    ] = Field(
         ...,
         description="A list of default tiprack paths.",
-        regex="opentrons/[a-z0-9._]+/[0-9]",
         alias="defaultTipracks",
     )
 
-    @validator("supported_tips", pre=True)
+    @field_validator("supported_tips", mode="before")
+    @classmethod
     def convert_aspirate_key_to_channel_type(
         cls, v: Dict[str, SupportedTipsDefinition]
     ) -> Dict[pip_types.PipetteTipType, SupportedTipsDefinition]:
@@ -501,7 +521,8 @@ class PipetteConfigurations(
         ..., description="A dictionary of liquid properties keyed by liquid classes."
     )
 
-    @validator("liquid_properties", pre=True)
+    @field_validator("liquid_properties", mode="before")
+    @classmethod
     def convert_liquid_properties_key(
         cls, v: Dict[str, PipetteLiquidPropertiesDefinition]
     ) -> Dict[pip_types.LiquidClasses, PipetteLiquidPropertiesDefinition]:
diff --git a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
index d72a09e666b..740504501b0 100644
--- a/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
+++ b/shared-data/python/opentrons_shared_data/pipette/scripts/update_configuration_files.py
@@ -68,9 +68,9 @@ def _change_to_camel_case(c: str) -> str:
 
 def list_configuration_keys() -> Tuple[List[str], Dict[int, str]]:
     """List out the model keys available to modify at the top level."""
-    lookup = {i: v for (i, v) in enumerate(PipetteConfigurations.__fields__)}
+    lookup = {i: v for (i, v) in enumerate(PipetteConfigurations.model_fields)}
     return [
-        f"{i}: {v}" for (i, v) in enumerate(PipetteConfigurations.__fields__)
+        f"{i}: {v}" for (i, v) in enumerate(PipetteConfigurations.model_fields)
     ], lookup
 
 
@@ -84,7 +84,7 @@ def handle_subclass_model(
 ) -> List[str]:
     """Handle sub-classed basemodels and update the top level model as necessary."""
     if is_basemodel:
-        if base_model.__fields__ == SupportedTipsDefinition.__fields__:
+        if base_model.model_fields == SupportedTipsDefinition.model_fields:
             # pydantic does something weird with the types in ModelFields so
             # we cannot use isinstance checks to confirm if the base model
             # is a supported tips definition
@@ -96,8 +96,8 @@ def handle_subclass_model(
             ]
             top_level_configuration.append(tip_type.name)
 
-        lookup = {i: v for (i, v) in enumerate(base_model.__fields__)}
-        config_list = [f"{i}: {v}" for (i, v) in enumerate(base_model.__fields__)]
+        lookup = {i: v for (i, v) in enumerate(base_model.model_fields)}
+        config_list = [f"{i}: {v}" for (i, v) in enumerate(base_model.model_fields)]
         print(f"you selected the basemodel {base_model.__name__}:")  # type: ignore[attr-defined]
         for row in config_list:
             print(f"\t{row}")
@@ -105,7 +105,9 @@ def handle_subclass_model(
         configuration_to_update = lookup[
             int(input("select a specific configuration from above\n"))
         ]
-        field_type = base_model.__fields__[configuration_to_update].type_
+        field_type = base_model.model_fields[
+            configuration_to_update
+        ].rebuild_annotation()
         is_basemodel = isinstance(field_type, ModelMetaclass)
 
         top_level_configuration.append(configuration_to_update)
@@ -196,7 +198,7 @@ def load_and_update_file_from_config(
     """
     camel_list_to_update = iter([_change_to_camel_case(i) for i in config_to_update])
 
-    if config_to_update[0] in PipetteGeometryDefinition.__fields__:
+    if config_to_update[0] in PipetteGeometryDefinition.model_fields:
         geometry = _geometry(
             model_to_update.pipette_channels,
             model_to_update.pipette_type,
@@ -229,7 +231,7 @@ def load_and_update_file_from_config(
             f"{model_to_update.pipette_version.major}_{model_to_update.pipette_version.minor}",
             geometry,
         )
-    elif config_to_update[0] in PipettePhysicalPropertiesDefinition.__fields__:
+    elif config_to_update[0] in PipettePhysicalPropertiesDefinition.model_fields:
         physical = _physical(
             model_to_update.pipette_channels,
             model_to_update.pipette_type,
@@ -401,9 +403,9 @@ def determine_models_to_update(update_all_models: bool) -> None:
                     f"NOTE: updating the {configuration_to_update[0]} will automatically update the {NOZZLE_LOCATION_CONFIGS[1]}\n"
                 )
 
-            field_type = PipetteConfigurations.__fields__[
+            field_type = PipetteConfigurations.model_fields[
                 configuration_to_update[0]
-            ].type_
+            ].rebuild_annotation()
             is_basemodel = isinstance(field_type, ModelMetaclass)
 
             configuration_to_update = handle_subclass_model(
diff --git a/shared-data/python/opentrons_shared_data/protocol/models/__init__.py b/shared-data/python/opentrons_shared_data/protocol/models/__init__.py
index 76f8449d93d..ac9a0df7cba 100644
--- a/shared-data/python/opentrons_shared_data/protocol/models/__init__.py
+++ b/shared-data/python/opentrons_shared_data/protocol/models/__init__.py
@@ -2,7 +2,7 @@
 from . import protocol_schema_v6, protocol_schema_v7, protocol_schema_v8
 from .protocol_schema_v6 import ProtocolSchemaV6
 from .protocol_schema_v7 import ProtocolSchemaV7
-from .protocol_schema_v8 import ProtocolSchemaV8
+from .protocol_schema_v8 import ProtocolSchemaV8, CommandSchemaId
 from .shared_models import (
     Liquid,
     Labware,
@@ -45,4 +45,5 @@
     "Pipette",
     "Robot",
     "DesignerApplication",
+    "CommandSchemaId",
 ]
diff --git a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v6.py b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v6.py
index 24aeb1826bd..f8278d019f8 100644
--- a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v6.py
+++ b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v6.py
@@ -1,4 +1,9 @@
-from pydantic import BaseModel, Field, validator
+from pydantic import (
+    ConfigDict,
+    BaseModel,
+    Field,
+    model_validator,
+)
 from typing import Any, List, Optional, Dict, Union
 from typing_extensions import Literal
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
@@ -21,44 +26,44 @@
 
 # TODO (tamar 3/15/22): split apart all the command payloads when we tackle #9583
 class Params(BaseModel):
-    slotName: Optional[str]
-    axes: Optional[List[str]]
-    pipetteId: Optional[str]
-    mount: Optional[str]
-    moduleId: Optional[str]
-    location: Optional[Union[Location, Literal["offDeck"]]]
-    labwareId: Optional[str]
-    displayName: Optional[str]
-    liquidId: Optional[str]
-    volumeByWell: Optional[Dict[str, Any]]
-    wellName: Optional[str]
-    volume: Optional[float]
-    flowRate: Optional[float]
-    wellLocation: Optional[Union[WellLocation]]
-    waitForResume: Optional[Literal[True]]
-    seconds: Optional[float]
-    minimumZHeight: Optional[float]
-    forceDirect: Optional[bool]
-    speed: Optional[float]
-    message: Optional[str]
-    coordinates: Optional[OffsetVector]
-    axis: Optional[str]
-    distance: Optional[float]
-    positionId: Optional[str]
-    temperature: Optional[float]
-    celsius: Optional[float]
-    blockMaxVolumeUl: Optional[float]
-    rpm: Optional[float]
-    height: Optional[float]
-    offset: Optional[OffsetVector]
-    profile: Optional[List[ProfileStep]]
-    radius: Optional[float]
+    slotName: Optional[str] = None
+    axes: Optional[List[str]] = None
+    pipetteId: Optional[str] = None
+    mount: Optional[str] = None
+    moduleId: Optional[str] = None
+    location: Optional[Union[Location, Literal["offDeck"]]] = None
+    labwareId: Optional[str] = None
+    displayName: Optional[str] = None
+    liquidId: Optional[str] = None
+    volumeByWell: Optional[Dict[str, Any]] = None
+    wellName: Optional[str] = None
+    volume: Optional[float] = None
+    flowRate: Optional[float] = None
+    wellLocation: Optional[Union[WellLocation]] = None
+    waitForResume: Optional[Literal[True]] = None
+    seconds: Optional[float] = None
+    minimumZHeight: Optional[float] = None
+    forceDirect: Optional[bool] = None
+    speed: Optional[float] = None
+    message: Optional[str] = None
+    coordinates: Optional[OffsetVector] = None
+    axis: Optional[str] = None
+    distance: Optional[float] = None
+    positionId: Optional[str] = None
+    temperature: Optional[float] = None
+    celsius: Optional[float] = None
+    blockMaxVolumeUl: Optional[float] = None
+    rpm: Optional[float] = None
+    height: Optional[float] = None
+    offset: Optional[OffsetVector] = None
+    profile: Optional[List[ProfileStep]] = None
+    radius: Optional[float] = None
 
 
 class Command(BaseModel):
     commandType: str
     params: Params
-    key: Optional[str]
+    key: Optional[str] = None
 
 
 class ProtocolSchemaV6(BaseModel):
@@ -73,38 +78,23 @@ class ProtocolSchemaV6(BaseModel):
     robot: Robot
     pipettes: Dict[str, Pipette]
     labware: Dict[str, Labware]
-    modules: Optional[Dict[str, Module]]
-    liquids: Optional[Dict[str, Liquid]]
+    modules: Optional[Dict[str, Module]] = None
+    liquids: Optional[Dict[str, Liquid]] = None
     labwareDefinitions: Dict[str, LabwareDefinition]
     # commands must be after pipettes, labware, etc. for its @validator to work.
     commands: List[Command]
-    commandAnnotations: Optional[List[CommandAnnotation]]
-    designerApplication: Optional[DesignerApplication]
-
-    class Config:
-        # added for constructing the class with field name instead of alias
-        allow_population_by_field_name = True
+    commandAnnotations: Optional[List[CommandAnnotation]] = None
+    designerApplication: Optional[DesignerApplication] = None
+    model_config = ConfigDict(populate_by_name=True)
 
-    @validator("commands")
-    def _validate_commands(
-        cls,
-        value: List[Command],
-        values: Dict[str, Any],
-    ) -> List[Command]:
-        pipette_ids = set(values["pipettes"].keys()) if "pipettes" in values else set()
-        labware_ids = set(values["labware"].keys()) if "labware" in values else set()
-        module_ids = (
-            set(values["modules"].keys())
-            if "modules" in values and values["modules"]
-            else set()
-        )
-        liquid_ids = (
-            set(values["liquids"].keys())
-            if "liquids" in values and values["liquids"]
-            else set()
-        )
+    @model_validator(mode="after")
+    def _validate_commands(self) -> "ProtocolSchemaV6":
+        pipette_ids = set(self.pipettes.keys() if self.pipettes else [])
+        labware_ids = set(self.labware.keys() if self.labware else [])
+        module_ids = set(self.modules.keys() if self.modules else [])
+        liquid_ids = set(self.liquids.keys() if self.liquids else [])
 
-        for index, command in enumerate(value):
+        for index, command in enumerate(self.commands):
             if (
                 command.params.pipetteId is not None
                 and command.params.pipetteId not in pipette_ids
@@ -142,4 +132,4 @@ def _validate_commands(
                     f" which doesn't exist."
                 )
 
-        return value
+        return self
diff --git a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py
index 46eb242b990..97986ed385a 100644
--- a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py
+++ b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v7.py
@@ -1,4 +1,4 @@
-from pydantic import BaseModel, Field
+from pydantic import ConfigDict, BaseModel, Field
 from typing import Any, List, Optional, Dict, Union
 from typing_extensions import Literal
 
@@ -19,59 +19,59 @@
 
 # TODO (tamar 3/15/22): split apart all the command payloads when we tackle #9583
 class Params(BaseModel):
-    slotName: Optional[str]
-    axes: Optional[List[str]]
-    pipetteId: Optional[str]
-    mount: Optional[str]
-    moduleId: Optional[str]
-    location: Optional[Union[Location, Literal["offDeck"]]]
-    labwareId: Optional[str]
-    displayName: Optional[str]
-    liquidId: Optional[str]
-    volumeByWell: Optional[Dict[str, Any]]
-    wellName: Optional[str]
-    volume: Optional[float]
-    flowRate: Optional[float]
-    wellLocation: Optional[WellLocation]
-    waitForResume: Optional[Literal[True]]
-    seconds: Optional[float]
-    minimumZHeight: Optional[float]
-    forceDirect: Optional[bool]
-    speed: Optional[float]
-    message: Optional[str]
-    coordinates: Optional[OffsetVector]
-    axis: Optional[str]
-    distance: Optional[float]
-    positionId: Optional[str]
-    temperature: Optional[float]
-    celsius: Optional[float]
-    blockMaxVolumeUl: Optional[float]
-    rpm: Optional[float]
-    height: Optional[float]
-    offset: Optional[OffsetVector]
-    profile: Optional[List[ProfileStep]]
-    radius: Optional[float]
+    slotName: Optional[str] = None
+    axes: Optional[List[str]] = None
+    pipetteId: Optional[str] = None
+    mount: Optional[str] = None
+    moduleId: Optional[str] = None
+    location: Optional[Union[Location, Literal["offDeck"]]] = None
+    labwareId: Optional[str] = None
+    displayName: Optional[str] = None
+    liquidId: Optional[str] = None
+    volumeByWell: Optional[Dict[str, Any]] = None
+    wellName: Optional[str] = None
+    volume: Optional[float] = None
+    flowRate: Optional[float] = None
+    wellLocation: Optional[WellLocation] = None
+    waitForResume: Optional[Literal[True]] = None
+    seconds: Optional[float] = None
+    minimumZHeight: Optional[float] = None
+    forceDirect: Optional[bool] = None
+    speed: Optional[float] = None
+    message: Optional[str] = None
+    coordinates: Optional[OffsetVector] = None
+    axis: Optional[str] = None
+    distance: Optional[float] = None
+    positionId: Optional[str] = None
+    temperature: Optional[float] = None
+    celsius: Optional[float] = None
+    blockMaxVolumeUl: Optional[float] = None
+    rpm: Optional[float] = None
+    height: Optional[float] = None
+    offset: Optional[OffsetVector] = None
+    profile: Optional[List[ProfileStep]] = None
+    radius: Optional[float] = None
     # schema v7 add-ons
-    newLocation: Optional[Union[Location, Literal["offDeck"]]]
-    strategy: Optional[str]
-    pickUpOffset: Optional[OffsetVector]
-    dropOffset: Optional[OffsetVector]
-    homeAfter: Optional[bool]
-    alternateDropLocation: Optional[bool]
-    holdTimeSeconds: Optional[float]
-    maintenancePosition: Optional[str]
-    pipetteName: Optional[str]
-    model: Optional[str]
-    loadName: Optional[str]
-    namespace: Optional[str]
-    version: Optional[int]
-    pushOut: Optional[float]
+    newLocation: Optional[Union[Location, Literal["offDeck"]]] = None
+    strategy: Optional[str] = None
+    pickUpOffset: Optional[OffsetVector] = None
+    dropOffset: Optional[OffsetVector] = None
+    homeAfter: Optional[bool] = None
+    alternateDropLocation: Optional[bool] = None
+    holdTimeSeconds: Optional[float] = None
+    maintenancePosition: Optional[str] = None
+    pipetteName: Optional[str] = None
+    model: Optional[str] = None
+    loadName: Optional[str] = None
+    namespace: Optional[str] = None
+    version: Optional[int] = None
+    pushOut: Optional[float] = None
 
 
 class Command(BaseModel):
     commandType: str
     params: Params
-    key: Optional[str]
+    key: Optional[str] = None
 
 
 class ProtocolSchemaV7(BaseModel):
@@ -84,12 +84,9 @@ class ProtocolSchemaV7(BaseModel):
     schemaVersion: Literal[7]
     metadata: Metadata
     robot: Robot
-    liquids: Optional[Dict[str, Liquid]]
+    liquids: Optional[Dict[str, Liquid]] = None
     labwareDefinitions: Dict[str, LabwareDefinition]
     commands: List[Command]
-    commandAnnotations: Optional[List[CommandAnnotation]]
-    designerApplication: Optional[DesignerApplication]
-
-    class Config:
-        # added for constructing the class with field name instead of alias
-        allow_population_by_field_name = True
+    commandAnnotations: Optional[List[CommandAnnotation]] = None
+    designerApplication: Optional[DesignerApplication] = None
+    model_config = ConfigDict(populate_by_name=True)
diff --git a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py
index 11beddb96c0..08b6457c206 100644
--- a/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py
+++ b/shared-data/python/opentrons_shared_data/protocol/models/protocol_schema_v8.py
@@ -2,7 +2,7 @@
 from typing import Any, List, Optional, Dict
 from typing_extensions import Literal
 
-from pydantic import BaseModel, Field, Extra
+from pydantic import BaseModel, Field, ConfigDict
 
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.command import known_schema_ids
@@ -18,19 +18,19 @@
 class Command(BaseModel):
     commandType: str
     params: Dict[str, Any]
-    key: Optional[str]
+    key: Optional[str] = None
 
 
 class CommandAnnotation(BaseModel):
     commandKeys: List[str]
     annotationType: str
-
-    class Config:
-        extra = Extra.allow
+    model_config = ConfigDict(extra="allow")
 
 
 CommandSchemaId = Enum(  # type: ignore[misc]
-    "CommandSchemaId", ((schema_id, schema_id) for schema_id in known_schema_ids())
+    "CommandSchemaId",
+    ((schema_id, schema_id) for schema_id in known_schema_ids()),
+    type=str,
 )
 
 
@@ -52,8 +52,5 @@ class ProtocolSchemaV8(BaseModel):
     commands: List[Command]
     commandAnnotationSchemaId: Literal["opentronsCommandAnnotationSchemaV1"]
     commandAnnotations: List[CommandAnnotation]
-    designerApplication: Optional[DesignerApplication]
-
-    class Config:
-        # added for constructing the class with field name instead of alias
-        allow_population_by_field_name = True
+    designerApplication: Optional[DesignerApplication] = None
+    model_config = ConfigDict(populate_by_name=True)
diff --git a/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py b/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py
index 8cf3276f71f..148ca44cc7e 100644
--- a/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py
+++ b/shared-data/python/opentrons_shared_data/protocol/models/shared_models.py
@@ -1,5 +1,4 @@
-from typing import Optional, List, Dict, Any
-from typing_extensions import Literal
+from typing import Optional, List, Dict, Any, Literal
 from enum import Enum
 from pydantic import BaseModel
 
@@ -31,20 +30,20 @@ class WellDefinition(BaseModel):
     x: float
     y: float
     z: float
-    diameter: Optional[float]
-    yDimension: Optional[float]
-    xDimension: Optional[float]
+    diameter: Optional[float] = None
+    yDimension: Optional[float] = None
+    xDimension: Optional[float] = None
 
 
 class Metadata(BaseModel):
-    protocolName: Optional[str]
-    author: Optional[str]
-    description: Optional[str]
-    created: Optional[int]
-    lastModified: Optional[int]
-    category: Optional[str]
-    subcategory: Optional[str]
-    tags: Optional[List[str]]
+    protocolName: Optional[str] = None
+    author: Optional[str] = None
+    description: Optional[str] = None
+    created: Optional[int] = None
+    lastModified: Optional[int] = None
+    category: Optional[str] = None
+    subcategory: Optional[str] = None
+    tags: Optional[List[str]] = None
 
 
 class Module(BaseModel):
@@ -61,9 +60,9 @@ class Robot(BaseModel):
 
 
 class DesignerApplication(BaseModel):
-    name: Optional[str]
-    version: Optional[str]
-    data: Optional[Dict[str, Any]]
+    name: Optional[str] = None
+    version: Optional[str] = None
+    data: Optional[Dict[str, Any]] = None
 
 
 class CommandAnnotation(BaseModel):
@@ -72,16 +71,16 @@ class CommandAnnotation(BaseModel):
 
 
 class OffsetVector(BaseModel):
-    x: Optional[float]
-    y: Optional[float]
-    z: Optional[float]
+    x: Optional[float] = None
+    y: Optional[float] = None
+    z: Optional[float] = None
 
 
 class Location(BaseModel):
-    slotName: Optional[str]
-    moduleId: Optional[str]
-    labwareId: Optional[str]
-    addressableAreaName: Optional[str]
+    slotName: Optional[str] = None
+    moduleId: Optional[str] = None
+    labwareId: Optional[str] = None
+    addressableAreaName: Optional[str] = None
 
 
 class ProfileStep(BaseModel):
@@ -90,22 +89,22 @@ class ProfileStep(BaseModel):
 
 
 class WellLocation(BaseModel):
-    origin: Optional[str]
-    offset: Optional[OffsetVector]
+    origin: Optional[str] = None
+    offset: Optional[OffsetVector] = None
 
 
 class Liquid(BaseModel):
     displayName: str
     description: str
-    displayColor: Optional[str]
+    displayColor: Optional[str] = None
 
 
 class Labware(BaseModel):
-    displayName: Optional[str]
+    displayName: Optional[str] = None
     definitionId: str
 
 
 class NozzleConfigurationParams(BaseModel):
     style: str
-    primaryNozzle: Optional[str]
-    frontRightNozzle: Optional[str]
+    primaryNozzle: Optional[str] = None
+    frontRightNozzle: Optional[str] = None
diff --git a/shared-data/python/setup.py b/shared-data/python/setup.py
index 4e1720cb610..d58ed77c94d 100644
--- a/shared-data/python/setup.py
+++ b/shared-data/python/setup.py
@@ -141,9 +141,9 @@ def get_version():
 )
 PACKAGES = find_packages(where=".", exclude=["tests", "tests.*"])
 INSTALL_REQUIRES = [
-    "jsonschema>=3.0.1,<4.18.0",
+    "jsonschema>=4.0.0,<5",
     "typing-extensions>=4.0.0,<5",
-    "pydantic>=1.10.9,<2.0.0",
+    "pydantic>=2.0.0,<3.0.0",
 ]
 
 
diff --git a/shared-data/python/tests/deck/test_typechecks.py b/shared-data/python/tests/deck/test_typechecks.py
index a5fa3747e99..9477f9c6292 100644
--- a/shared-data/python/tests/deck/test_typechecks.py
+++ b/shared-data/python/tests/deck/test_typechecks.py
@@ -12,12 +12,12 @@
 
 
 @pytest.mark.parametrize("defname", list_deck_definition_names(version=3))
-def test_v3_defs(defname):
+def test_v3_defs(defname: str) -> None:
     defn = load_deck_definition(name=defname, version=3)
     typeguard.check_type(defn, DeckDefinitionV3)
 
 
 @pytest.mark.parametrize("defname", list_deck_definition_names(version=5))
-def test_v5_defs(defname):
+def test_v5_defs(defname: str) -> None:
     defn = load_deck_definition(name=defname, version=5)
     typeguard.check_type(defn, DeckDefinitionV5)
diff --git a/shared-data/python/tests/labware/test_typechecks.py b/shared-data/python/tests/labware/test_typechecks.py
index b62dd27cc70..0e9a8b4b724 100644
--- a/shared-data/python/tests/labware/test_typechecks.py
+++ b/shared-data/python/tests/labware/test_typechecks.py
@@ -8,6 +8,6 @@
 
 
 @pytest.mark.parametrize("loadname,version", get_ot_defs())
-def test_opentrons_definition_types(loadname, version):
+def test_opentrons_definition_types(loadname: str, version: int) -> None:
     defdict = load_definition(loadname, version)
     typeguard.check_type(defdict, LabwareDefinition)
diff --git a/shared-data/python/tests/pipette/test_typechecks.py b/shared-data/python/tests/pipette/test_typechecks.py
index a44b673d3ed..e953443846f 100644
--- a/shared-data/python/tests/pipette/test_typechecks.py
+++ b/shared-data/python/tests/pipette/test_typechecks.py
@@ -1,6 +1,8 @@
 import pytest
 import typeguard
 
+from typing import Generator, Tuple
+
 from opentrons_shared_data.pipette import (
     model_config,
     name_config,
@@ -11,20 +13,22 @@
     PipetteModelSpecs,
     PipetteNameSpecs,
     PipetteFusedSpec,
+    PipetteName,
+    PipetteModel,
 )
 
 
-def test_model_config_check():
+def test_model_config_check() -> None:
     defdict = model_config()
     typeguard.check_type(defdict, PipetteModelSpecs)
 
 
-def test_name_config_check():
+def test_name_config_check() -> None:
     defdict = name_config()
     typeguard.check_type(defdict, PipetteNameSpecs)
 
 
-def build_model_name_pairs():
+def build_model_name_pairs() -> Generator[Tuple[PipetteModel, PipetteName], None, None]:
     for model, conf in model_config()["config"].items():
         yield model, conf["name"]
         for bcn in conf.get("backCompatNames", []):
@@ -32,12 +36,12 @@ def build_model_name_pairs():
 
 
 @pytest.mark.parametrize("model,name", list(build_model_name_pairs()))
-def test_fuse(model, name):
+def test_fuse(model: PipetteModel, name: PipetteName) -> None:
     defdict = fuse_specs(model, name)
     typeguard.check_type(defdict, PipetteFusedSpec)
 
 
 @pytest.mark.parametrize("name", list(name_config().keys()))
-def test_model_for_name(name):
+def test_model_for_name(name: PipetteName) -> None:
     model = dummy_model_for_name(name)
     assert model in model_config()["config"]
diff --git a/shared-data/python/tests/pipette/test_validate_schema.py b/shared-data/python/tests/pipette/test_validate_schema.py
index 57f19dfe3ad..a29d59f4eda 100644
--- a/shared-data/python/tests/pipette/test_validate_schema.py
+++ b/shared-data/python/tests/pipette/test_validate_schema.py
@@ -13,10 +13,10 @@
 from opentrons_shared_data.pipette.pipette_load_name_conversions import (
     convert_pipette_model,
 )
-from opentrons_shared_data.pipette.types import PipetteModel
+from opentrons_shared_data.pipette import types
 
 
-def iterate_models() -> Iterator[PipetteModel]:
+def iterate_models() -> Iterator[types.PipetteModel]:
     """Get an iterator of all pipette models."""
     _channel_model_str = {
         "single_channel": "single",
@@ -31,7 +31,7 @@ def iterate_models() -> Iterator[PipetteModel]:
             for lc_dir in model_dir.iterdir():
                 for version_file in lc_dir.iterdir():
                     version_list = version_file.stem.split("_")
-                    yield PipetteModel(
+                    yield types.PipetteModel(
                         f"{model_dir.stem}_{_channel_model_str[channel_dir.stem]}_v{version_list[0]}.{version_list[1]}"
                     )
 
@@ -72,7 +72,7 @@ def test_pick_up_configs_configuration_by_nozzle_map_keys() -> None:
             for version_file in os.listdir(paths_to_validate / channel_dir / model_dir):
                 print(version_file)
                 version_list = version_file.split(".json")[0].split("_")
-                built_model: PipetteModel = PipetteModel(
+                built_model: types.PipetteModel = types.PipetteModel(
                     f"{model_dir}_{_channel_model_str[channel_dir]}_v{version_list[0]}.{version_list[1]}"
                 )
 
@@ -114,7 +114,7 @@ def test_pick_up_configs_configuration_ordered_from_smallest_to_largest() -> Non
         for model_dir in os.listdir(paths_to_validate / channel_dir):
             for version_file in os.listdir(paths_to_validate / channel_dir / model_dir):
                 version_list = version_file.split(".json")[0].split("_")
-                built_model: PipetteModel = PipetteModel(
+                built_model: types.PipetteModel = types.PipetteModel(
                     f"{model_dir}_{_channel_model_str[channel_dir]}_v{version_list[0]}.{version_list[1]}"
                 )
 
@@ -145,3 +145,48 @@ def test_pick_up_configs_configuration_ordered_from_smallest_to_largest() -> Non
                         assert len(valid_nozzle_maps.maps[pipette_maps[i]]) <= len(
                             valid_nozzle_maps.maps[key]
                         )
+
+
+def test_serializer() -> None:
+    """Verify that the serializer works as expected."""
+
+    loaded_model = load_definition(
+        types.PipetteModelType.p1000,
+        types.PipetteChannelType.NINETY_SIX_CHANNEL,
+        types.PipetteVersionType(3, 3),
+    )
+    quirk_0 = types.Quirks.pickupTipShake
+    quirk_1 = types.Quirks.dropTipShake
+    loaded_model.quirks = [quirk_0, quirk_1]
+
+    assert loaded_model.pipette_type == types.PipetteModelType.p1000
+    assert loaded_model.display_category == types.PipetteGenerationType.FLEX
+    assert loaded_model.channels == types.PipetteChannelType.NINETY_SIX_CHANNEL
+
+    model_dict = loaded_model.dict()
+    # each field should be the value of the enum class
+    assert (
+        isinstance(model_dict["pipette_type"], str)
+        and model_dict["pipette_type"] == loaded_model.pipette_type.value
+    )
+    assert (
+        isinstance(model_dict["display_category"], str)
+        and model_dict["display_category"] == loaded_model.display_category.value
+    )
+    assert (
+        isinstance(model_dict["channels"], int)
+        and model_dict["channels"] == loaded_model.channels.value
+    )
+
+    assert len(model_dict["quirks"]) == 2
+    dict_quirk_0 = model_dict["quirks"][0]
+    dict_quirk_1 = model_dict["quirks"][1]
+    assert isinstance(dict_quirk_0, str) and dict_quirk_0 == quirk_0.value
+    assert isinstance(dict_quirk_1, str) and dict_quirk_1 == quirk_1.value
+
+
+# TODO: (AA, 4/9/2024) we should add a test to validate the dumped json to make
+# sure we can re-load it as the BaseModel class. But we haven't added serializer
+# for other enums yet, such as LiquidClass, and since we haven't been
+# creating the definition files using model_dump/model_dump_json, it is okay to
+# skip this for now.
diff --git a/shared-data/python/tests/protocol/test_protocol_schema_v6.py b/shared-data/python/tests/protocol/test_protocol_schema_v6.py
index cf8a073eafc..051219f5408 100644
--- a/shared-data/python/tests/protocol/test_protocol_schema_v6.py
+++ b/shared-data/python/tests/protocol/test_protocol_schema_v6.py
@@ -1,6 +1,7 @@
 import json
 import pytest
 from typing import Any, Dict
+from pathlib import Path
 from opentrons_shared_data import load_shared_data
 from opentrons_shared_data.protocol.models import (
     protocol_schema_v6,
@@ -16,9 +17,9 @@
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(6))
-def test_v6_types(defpath):
+def test_v6_types(defpath: Path) -> None:
     def_data = load_shared_data(defpath)
-    def_model = protocol_schema_v6.ProtocolSchemaV6.parse_raw(def_data)
+    def_model = protocol_schema_v6.ProtocolSchemaV6.model_validate_json(def_data)
     def_dict_from_model = def_model.dict(
         exclude_unset=True,
         # 'schemaVersion' in python is '$schemaVersion' in JSON
diff --git a/shared-data/python/tests/protocol/test_protocol_schema_v7.py b/shared-data/python/tests/protocol/test_protocol_schema_v7.py
index 8ccb9bd725b..4045ccf35d7 100644
--- a/shared-data/python/tests/protocol/test_protocol_schema_v7.py
+++ b/shared-data/python/tests/protocol/test_protocol_schema_v7.py
@@ -1,6 +1,7 @@
 import json
 import pytest
 from typing import Any, Dict
+from pathlib import Path
 
 from opentrons_shared_data import load_shared_data
 from opentrons_shared_data.protocol.models import protocol_schema_v7
@@ -9,9 +10,9 @@
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(7))
-def test_v7_types(defpath):
+def test_v7_types(defpath: Path) -> None:
     def_data = load_shared_data(defpath)
-    def_model = protocol_schema_v7.ProtocolSchemaV7.parse_raw(def_data)
+    def_model = protocol_schema_v7.ProtocolSchemaV7.model_validate_json(def_data)
     def_dict_from_model = def_model.dict(
         exclude_unset=True,
         # 'schemaVersion' in python is '$schemaVersion' in JSON
diff --git a/shared-data/python/tests/protocol/test_protocol_schema_v8.py b/shared-data/python/tests/protocol/test_protocol_schema_v8.py
index 63d00db571d..48c9b6d242c 100644
--- a/shared-data/python/tests/protocol/test_protocol_schema_v8.py
+++ b/shared-data/python/tests/protocol/test_protocol_schema_v8.py
@@ -1,5 +1,6 @@
 import json
 import pytest
+from pathlib import Path
 
 from opentrons_shared_data import load_shared_data
 from opentrons_shared_data.protocol.models import protocol_schema_v8
@@ -8,15 +9,9 @@
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(8))
-def test_v8_types(defpath):
+def test_v8_types(defpath: Path) -> None:
     def_data = load_shared_data(defpath)
-    def_model = protocol_schema_v8.ProtocolSchemaV8.parse_raw(def_data)
-    def_dict_from_model = json.loads(
-        def_model.json(
-            exclude_unset=True,
-            # 'schemaVersion' in python is '$schemaVersion' in JSON
-            by_alias=True,
-        )
-    )
+    def_model = protocol_schema_v8.ProtocolSchemaV8.model_validate_json(def_data)
+    def_dict_from_model = def_model.dict(by_alias=True, exclude_unset=True)
     expected_def_dict = json.loads(def_data)
     assert def_dict_from_model == expected_def_dict
diff --git a/shared-data/python/tests/protocol/test_typechecks.py b/shared-data/python/tests/protocol/test_typechecks.py
index 0b52f15c24e..0b4f20511a8 100644
--- a/shared-data/python/tests/protocol/test_typechecks.py
+++ b/shared-data/python/tests/protocol/test_typechecks.py
@@ -1,5 +1,6 @@
 import json
 import pytest
+from pathlib import Path
 import typeguard
 
 from opentrons_shared_data import load_shared_data
@@ -12,18 +13,18 @@
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(3))
-def test_v3_types(defpath):
+def test_v3_types(defpath: Path) -> None:
     defn = json.loads(load_shared_data(defpath))
     typeguard.check_type(defn, JsonProtocolV3)
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(4))
-def test_v4_types(defpath):
+def test_v4_types(defpath: Path) -> None:
     defn = json.loads(load_shared_data(defpath))
     typeguard.check_type(defn, JsonProtocolV4)
 
 
 @pytest.mark.parametrize("defpath", list_fixtures(5))
-def test_v5_types(defpath):
+def test_v5_types(defpath: Path) -> None:
     defn = json.loads(load_shared_data(defpath))
     typeguard.check_type(defn, JsonProtocolV5)
diff --git a/system-server/Pipfile b/system-server/Pipfile
index d1ce7f43f6a..7f71cb61d77 100644
--- a/system-server/Pipfile
+++ b/system-server/Pipfile
@@ -4,13 +4,14 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
-fastapi = "==0.99.1"
+fastapi = "==0.100.0"
 uvicorn = "==0.27.0.post1"
 anyio = "==3.7.1"
 typing-extensions = ">=4.0.0,<5"
 python-dotenv = "==1.0.1"
 python-multipart = "==0.0.6"
-pydantic = "==1.10.12"
+pydantic = "==2.9.0"
+pydantic-settings = "==2.4.0"
 importlib-metadata = ">=4.13.0,<5"
 sqlalchemy = "==1.4.51"
 pyjwt = "==2.6.0"
@@ -37,7 +38,7 @@ coverage = "==7.4.0"
 atomicwrites = { version = "==1.4.0", markers="sys_platform=='win32'" }
 colorama = { version = "==0.4.4", markers="sys_platform=='win32'" }
 sqlalchemy2-stubs = "==0.0.2a21"
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 black = "==22.3.0"
 decoy = "==2.1.1"
 mock = "~=5.1.0"
diff --git a/system-server/Pipfile.lock b/system-server/Pipfile.lock
index d7d315362f2..f36f806b824 100644
--- a/system-server/Pipfile.lock
+++ b/system-server/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "a0353342ca006092f2014adfa5aab4abaa720a1ddc89c0dfe34d77b72ed525b1"
+            "sha256": "b9d3786493ef92719c2aa2738e20b27d06ac68d25a0c9ae998088b8f36d98316"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -16,6 +16,14 @@
         ]
     },
     "default": {
+        "annotated-types": {
+            "hashes": [
+                "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+                "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"
+            ],
+            "markers": "python_version >= '3.8'",
+            "version": "==0.7.0"
+        },
         "anyio": {
             "hashes": [
                 "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780",
@@ -35,20 +43,20 @@
         },
         "exceptiongroup": {
             "hashes": [
-                "sha256:4bfd3996ac73b41e9b9628b04e079f193850720ea5945fc96a08633c66912f14",
-                "sha256:91f5c769735f051a4290d52edd0858999b57e5876e9f85937691bd4c9fa3ed68"
+                "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b",
+                "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"
             ],
             "markers": "python_version < '3.11'",
-            "version": "==1.2.0"
+            "version": "==1.2.2"
         },
         "fastapi": {
             "hashes": [
-                "sha256:976df7bab51ac7beda9f68c4513b8c4490b5c1135c72aafd0a5ee4023ec5282e",
-                "sha256:ac78f717cd80d657bd183f94d33b9bda84aa376a46a9dab513586b8eef1dc6fc"
+                "sha256:271662daf986da8fa98dc2b7c7f61c4abdfdccfb4786d79ed8b2878f172c6d5f",
+                "sha256:acb5f941ea8215663283c10018323ba7ea737c571b67fc7e88e9469c7eb1d12e"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.7'",
-            "version": "==0.99.1"
+            "version": "==0.100.0"
         },
         "filetype": {
             "hashes": [
@@ -68,11 +76,11 @@
         },
         "idna": {
             "hashes": [
-                "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca",
-                "sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f"
+                "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac",
+                "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603"
             ],
-            "markers": "python_version >= '3.5'",
-            "version": "==3.6"
+            "markers": "python_version >= '3.6'",
+            "version": "==3.8"
         },
         "importlib-metadata": {
             "hashes": [
@@ -85,46 +93,116 @@
         },
         "pydantic": {
             "hashes": [
-                "sha256:0fe8a415cea8f340e7a9af9c54fc71a649b43e8ca3cc732986116b3cb135d303",
-                "sha256:1289c180abd4bd4555bb927c42ee42abc3aee02b0fb2d1223fb7c6e5bef87dbe",
-                "sha256:1eb2085c13bce1612da8537b2d90f549c8cbb05c67e8f22854e201bde5d98a47",
-                "sha256:2031de0967c279df0d8a1c72b4ffc411ecd06bac607a212892757db7462fc494",
-                "sha256:2a7bac939fa326db1ab741c9d7f44c565a1d1e80908b3797f7f81a4f86bc8d33",
-                "sha256:2d5a58feb9a39f481eda4d5ca220aa8b9d4f21a41274760b9bc66bfd72595b86",
-                "sha256:2f9a6fab5f82ada41d56b0602606a5506aab165ca54e52bc4545028382ef1c5d",
-                "sha256:2fcfb5296d7877af406ba1547dfde9943b1256d8928732267e2653c26938cd9c",
-                "sha256:549a8e3d81df0a85226963611950b12d2d334f214436a19537b2efed61b7639a",
-                "sha256:598da88dfa127b666852bef6d0d796573a8cf5009ffd62104094a4fe39599565",
-                "sha256:5d1197e462e0364906cbc19681605cb7c036f2475c899b6f296104ad42b9f5fb",
-                "sha256:69328e15cfda2c392da4e713443c7dbffa1505bc9d566e71e55abe14c97ddc62",
-                "sha256:6a9dfa722316f4acf4460afdf5d41d5246a80e249c7ff475c43a3a1e9d75cf62",
-                "sha256:6b30bcb8cbfccfcf02acb8f1a261143fab622831d9c0989707e0e659f77a18e0",
-                "sha256:6c076be61cd0177a8433c0adcb03475baf4ee91edf5a4e550161ad57fc90f523",
-                "sha256:771735dc43cf8383959dc9b90aa281f0b6092321ca98677c5fb6125a6f56d58d",
-                "sha256:795e34e6cc065f8f498c89b894a3c6da294a936ee71e644e4bd44de048af1405",
-                "sha256:87afda5539d5140cb8ba9e8b8c8865cb5b1463924d38490d73d3ccfd80896b3f",
-                "sha256:8fb2aa3ab3728d950bcc885a2e9eff6c8fc40bc0b7bb434e555c215491bcf48b",
-                "sha256:a1fcb59f2f355ec350073af41d927bf83a63b50e640f4dbaa01053a28b7a7718",
-                "sha256:a5e7add47a5b5a40c49b3036d464e3c7802f8ae0d1e66035ea16aa5b7a3923ed",
-                "sha256:a73f489aebd0c2121ed974054cb2759af8a9f747de120acd2c3394cf84176ccb",
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@@ -159,11 +237,11 @@
         },
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@@ -239,12 +317,20 @@
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             "markers": "python_version >= '3.8'",
-            "version": "==4.11.0"
+            "version": "==4.12.2"
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+            "version": "==2024.1"
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@@ -265,11 +351,11 @@
         },
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     "develop": {
@@ -283,11 +369,11 @@
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-            "version": "==23.2.0"
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@@ -321,11 +407,11 @@
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-            "version": "==2024.2.2"
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@@ -430,19 +516,19 @@
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-            "version": "==1.2.0"
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-            "version": "==2.0.2"
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@@ -482,11 +568,11 @@
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-            "version": "==3.6"
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@@ -506,11 +592,11 @@
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@@ -581,11 +667,11 @@
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@@ -603,27 +689,27 @@
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@@ -750,76 +836,78 @@
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+                "sha256:89c19a494bf3ad08c1da49445cc5d13d8fefc265f48ee7e7556839acdacf69d0",
+                "sha256:8a86a9b96070674fc88b6f9f71a97d2c1d3e5165574615d1f9168ecba4cecb24",
+                "sha256:8bc7690f7caee50b04a79bf017a8d020c1f48c2a1077ffe172abec59870f1139",
+                "sha256:8d7919548df3f25374a1f5d01fbcd38dacab338ef5f33e044744b5c36729c8db",
+                "sha256:9426133526f69fcaba6e42146b4e12d6bc6c839b8b555097020e2b78ce908dcc",
+                "sha256:9824fb430c9cf9af743cf7aaf6707bf14323fb51ee74425c380f4c846ea70789",
+                "sha256:9bb4a0d90fdb03437c109a17eade42dfbf6190408f29b2744114d11586611d6f",
+                "sha256:9bc2d153989e3216b0559251b0c260cfd168ec78b1fac33dd485750a228db5a2",
+                "sha256:9d35cef91e59ebbeaa45214861874bc6f19eb35de96db73e467a8358d701a96c",
+                "sha256:a1862d2d7ce1674cffa6d186d53ca95c6e17ed2b06b3f4c476173565c862d232",
+                "sha256:a84ab91cbe7aab97f7446652d0ed37d35b68a465aeef8fc41932a9d7eee2c1a6",
+                "sha256:aa7f429242aae2947246587d2964fad750b79e8c233a2367f71b554e9447949c",
+                "sha256:aa9a0521aeca7d4941499a73ad7d4f8ffa3d1affc50b9ea11d992cd7eff18a29",
+                "sha256:ac2f4f7a98934c2ed6505aead07b979e6f999389f16b714448fb39bbaa86a489",
+                "sha256:ae94bd0b2f02c28e199e9bc51485d0c5601f58780636185660f86bf80c89af94",
+                "sha256:af0fc424a5842a11e28956e69395fbbeab2c97c42253169d87e90aac2886d751",
+                "sha256:b2a5db5397d82fa847e4c624b0c98fe59d2d9b7cf0ce6de09e4d2e80f8f5b3f2",
+                "sha256:b4c29cbbba378759ac5786730d1c3cb4ec6f8ababf5c42a9ce303dc4b3d08cda",
+                "sha256:b74b25f024b421d5859d156750ea9a65651793d51b76a2e9238c05c9d5f203a9",
+                "sha256:b7f19250ceef892adf27f0399b9e5afad019288e9be756d6919cb58892129f51",
+                "sha256:b80d4a7900cf6b66bb9cee5c352b2d708e29e5a37fe9bf784fa97fc11504bf6c",
+                "sha256:b8c00a3b1e70c1d3891f0db1b05292747f0dbcfb49c43f9244d04c70fbc40eb8",
+                "sha256:bb273176be34a746bdac0b0d7e4e2c467323d13640b736c4c477881a3220a989",
+                "sha256:c3c20f0ddeb6e29126d45f89206b8291352b8c5b44384e78a6499d68b52ae511",
+                "sha256:c3e130fd0ec56cb76eb49ef52faead8ff09d13f4527e9b0c400307ff72b408e1",
+                "sha256:c52d3f2f82b763a24ef52f5d24358553e8403ce05f893b5347098014f2d9eff2",
+                "sha256:c6377e647bbfd0a0b159fe557f2c6c602c159fc752fa316572f012fc0bf67150",
+                "sha256:c638144ce971df84650d3ed0096e2ae7af8e62ecbbb7b201c8935c370df00a2c",
+                "sha256:ce9845054c13696f7af7f2b353e6b4f676dab1b4b215d7fe5e05c6f8bb06f965",
+                "sha256:cf258ede5bc22a45c8e726b29835b9303c285ab46fc7c3a4cc770736b5304c9f",
+                "sha256:d0a26ffe9d4dd35e4dfdd1e71f46401cff0181c75ac174711ccff0459135fa58",
+                "sha256:d0b67d87bb45ed1cd020e8fbf2307d449b68abc45402fe1a4ac9e46c3c8b192b",
+                "sha256:d20277fd62e1b992a50c43f13fbe13277a31f8c9f70d59759c88f644d66c619f",
+                "sha256:d454b8749b4bd70dd0a79f428731ee263fa6995f83ccb8bada706e8d1d3ff89d",
+                "sha256:d4c7d1a051eeb39f5c9547e82ea27cbcc28338482242e3e0b7768033cb083821",
+                "sha256:d72278a30111e5b5525c1dd96120d9e958464316f55adb030433ea905866f4de",
+                "sha256:d72a210824facfdaf8768cf2d7ca25a042c30320b3020de2fa04640920d4e121",
+                "sha256:d807dc2051abe041b6649681dce568f8e10668e3c1c6543ebae58f2d7e617855",
+                "sha256:dbe982f38565bb50cb7fb061ebf762c2f254ca3d8c20d4006878766e84266272",
+                "sha256:dcedf0b42bcb4cfff4101d7771a10532415a6106062f005ab97d1d0ab5681c60",
+                "sha256:deb62214c42a261cb3eb04d474f7155279c1a8a8c30ac89b7dcb1721d92c3c02",
+                "sha256:def7400461c3a3f26e49078302e1c1b38f6752342c77e3cf72ce91ca69fb1bc1",
+                "sha256:df3de6b7726b52966edf29663e57306b23ef775faf0ac01a3e9f4012a24a4140",
+                "sha256:e1940dae14e715e2e02dfd5b0f64a52e8374a517a1e531ad9412319dc3ac7879",
+                "sha256:e4df1e3b3bec320790f699890d41c59d250f6beda159ea3c44c3f5bac1976940",
+                "sha256:e6900ecdd50ce0facf703f7a00df12374b74bbc8ad9fe0f6559947fb20f82364",
+                "sha256:ea438162a9fcbee3ecf36c23e6c68237479f89f962f82dae83dc15feeceb37e4",
+                "sha256:eb851b7df9dda52dc1415ebee12362047ce771fc36914586b2e9fcbd7d293b3e",
+                "sha256:ec31a99ca63bf3cd7f1a5ac9fe95c5e2d060d3c768a09bc1d16e235840861420",
+                "sha256:f0475242f447cc6cb8a9dd486d68b2ef7fbee84427124c232bff5f63b1fe11e5",
+                "sha256:f2fbf7db2012d4876fb0d66b5b9ba6591197b0f165db8d99371d976546472a24",
+                "sha256:f60012a73aa396be721558caa3a6fd49b3dd0033d1675c6d59c4502e870fcf0c",
+                "sha256:f8e604fe73ba048c06085beaf51147eaec7df856824bfe7b98657cf436623daf",
+                "sha256:f90a4cd061914a60bd51c68bcb4357086991bd0bb93d8aa66a6da7701370708f",
+                "sha256:f918a1a130a6dfe1d7fe0f105064141342e7dd1611f2e6a21cd2f5c8cb1cfb3e",
+                "sha256:fa518bcd7600c584bf42e6617ee8132869e877db2f76bcdc281ec6a4113a53ab",
+                "sha256:faefcc78f53a88f3076b7f8be0a8f8d35133a3ecf7f3770895c25f8813460f08",
+                "sha256:fcaeb7b57f1a1e071ebd748984359fef83ecb026325b9d4ca847c95bc7311c92",
+                "sha256:fd2d84f40633bc475ef2d5490b9c19543fbf18596dcb1b291e3a12ea5d722f7a",
+                "sha256:fdfc3a892927458d98f3d55428ae46b921d1f7543b89382fdb483f5640daaec8"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==0.17.1"
+            "version": "==0.20.0"
         },
         "ruamel.yaml": {
             "hashes": [
-                "sha256:61917e3a35a569c1133a8f772e1226961bf5a1198bea7e23f06a0841dea1ab0e",
-                "sha256:a013ac02f99a69cdd6277d9664689eb1acba07069f912823177c5eced21a6ada"
+                "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636",
+                "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==0.18.5"
+            "version": "==0.18.6"
         },
         "ruamel.yaml.clib": {
             "hashes": [
@@ -1033,12 +1125,12 @@
         },
         "tavern": {
             "hashes": [
-                "sha256:056c4c45e27c97552ae9a3eb6a249701820a09465b4131cc4e71489166d8442d",
-                "sha256:21ce0c29f9e15e4b613f5f43df6da96ed0e115e5d52b4b8c1501e898708e9d35"
+                "sha256:5a7c4234ab9e3aaaafb9b0e72c589d735d9b04cdee1fb082f6682e80f9a806f8",
+                "sha256:a3ad7e843452c84170e2865414d8629a57263100fa5875ed2414853f7720943a"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==2.9.1"
+            "version": "==2.9.3"
         },
         "tomli": {
             "hashes": [
@@ -1066,20 +1158,20 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
-                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
+                "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
+                "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "version": "==4.12.2"
         },
         "urllib3": {
             "hashes": [
-                "sha256:34b97092d7e0a3a8cf7cd10e386f401b3737364026c45e622aa02903dffe0f07",
-                "sha256:f8ecc1bba5667413457c529ab955bf8c67b45db799d159066261719e328580a0"
+                "sha256:0ed14ccfbf1c30a9072c7ca157e4319b70d65f623e91e7b32fadb2853431016e",
+                "sha256:40c2dc0c681e47eb8f90e7e27bf6ff7df2e677421fd46756da1161c39ca70d32"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4, 3.5'",
-            "version": "==1.26.18"
+            "version": "==1.26.20"
         }
     }
 }
diff --git a/system-server/setup.py b/system-server/setup.py
index 4aeed436d55..232786cca4f 100644
--- a/system-server/setup.py
+++ b/system-server/setup.py
@@ -50,6 +50,7 @@ def get_version():
     "pyjwt==2.6.0",
     "systemd-python==234; sys_platform=='linux'",
     "sqlalchemy==1.4.51",
+    "pydantic-settings==2.4.0",
 ]
 
 
diff --git a/system-server/system_server/settings/settings.py b/system-server/system_server/settings/settings.py
index 32e34079ebd..d7b90658e8f 100644
--- a/system-server/system_server/settings/settings.py
+++ b/system-server/system_server/settings/settings.py
@@ -2,8 +2,9 @@
 import typing
 from functools import lru_cache
 
-from pydantic import BaseSettings, Field
+from pydantic import Field
 from dotenv import load_dotenv, set_key
+from pydantic_settings import BaseSettings, SettingsConfigDict
 
 
 @lru_cache(maxsize=1)
@@ -23,11 +24,7 @@ class Environment(BaseSettings):
         default=None,
         description="Path to a .env file to define system server settings.",
     )
-
-    class Config:
-        """Prefix configuration for environment variables."""
-
-        env_prefix = "OT_SYSTEM_SERVER_"
+    model_config = SettingsConfigDict(env_prefix="OT_SYSTEM_SERVER_")
 
 
 # If you update this, also update the generated settings_schema.json.
@@ -69,19 +66,16 @@ class SystemServerSettings(BaseSettings):
             " the splash screen changes when the flag is enabled/disabled."
         ),
     )
-
-    class Config:
-        """Prefix configuration for environment variables."""
-
-        env_file = Environment().dot_env_path
-        env_prefix = "OT_SYSTEM_SERVER_"
+    model_config = SettingsConfigDict(
+        env_file=Environment().dot_env_path, env_prefix="OT_SYSTEM_SERVER_"
+    )
 
 
 def save_settings(settings: SystemServerSettings) -> bool:
     """Save the settings to the dotenv file."""
     env_path = Environment().dot_env_path
     env_path = env_path or f"{settings.persistence_directory}/system.env"
-    prefix = settings.Config.env_prefix
+    prefix = settings.model_config.get("env_prefix")
     try:
         for key, val in settings.dict().items():
             name = f"{prefix}{key}"
diff --git a/update-server/Pipfile b/update-server/Pipfile
index 975e075afb9..c8d57b66a99 100644
--- a/update-server/Pipfile
+++ b/update-server/Pipfile
@@ -22,7 +22,7 @@ coverage = "==7.4.1"
 # https://github.com/pypa/pipenv/issues/4408#issuecomment-668324177
 atomicwrites = {version="==1.4.0", markers="sys_platform=='win32'"}
 colorama = {version="==0.4.4", markers="sys_platform=='win32'"}
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 black = "==22.3.0"
 decoy = "~=2.1.1"
 
diff --git a/update-server/Pipfile.lock b/update-server/Pipfile.lock
index 9f26d21c134..b45abf00681 100644
--- a/update-server/Pipfile.lock
+++ b/update-server/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "115cd9d2eae2f695378fed0db8301eb63a0d84ac581e0ee0b606f0d77293206e"
+            "sha256": "125917af563c336d6ac51990931ecbc50c3da52f83b1e274290fc436da72f97c"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -116,11 +116,11 @@
         },
         "attrs": {
             "hashes": [
-                "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30",
-                "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"
+                "sha256:5cfb1b9148b5b086569baec03f20d7b6bf3bcacc9a42bebf87ffaaca362f6346",
+                "sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==23.2.0"
+            "version": "==24.2.0"
         },
         "frozenlist": {
             "hashes": [
@@ -207,11 +207,11 @@
         },
         "idna": {
             "hashes": [
-                "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca",
-                "sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f"
+                "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac",
+                "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603"
             ],
-            "markers": "python_version >= '3.5'",
-            "version": "==3.6"
+            "markers": "python_version >= '3.6'",
+            "version": "==3.8"
         },
         "multidict": {
             "hashes": [
@@ -315,111 +315,121 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
-                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
+                "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
+                "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "version": "==4.12.2"
         },
         "yarl": {
             "hashes": [
-                "sha256:008d3e808d03ef28542372d01057fd09168419cdc8f848efe2804f894ae03e51",
-                "sha256:03caa9507d3d3c83bca08650678e25364e1843b484f19986a527630ca376ecce",
-                "sha256:07574b007ee20e5c375a8fe4a0789fad26db905f9813be0f9fef5a68080de559",
-                "sha256:09efe4615ada057ba2d30df871d2f668af661e971dfeedf0c159927d48bbeff0",
-                "sha256:0d2454f0aef65ea81037759be5ca9947539667eecebca092733b2eb43c965a81",
-                "sha256:0e9d124c191d5b881060a9e5060627694c3bdd1fe24c5eecc8d5d7d0eb6faabc",
-                "sha256:18580f672e44ce1238b82f7fb87d727c4a131f3a9d33a5e0e82b793362bf18b4",
-                "sha256:1f23e4fe1e8794f74b6027d7cf19dc25f8b63af1483d91d595d4a07eca1fb26c",
-                "sha256:206a55215e6d05dbc6c98ce598a59e6fbd0c493e2de4ea6cc2f4934d5a18d130",
-                "sha256:23d32a2594cb5d565d358a92e151315d1b2268bc10f4610d098f96b147370136",
-                "sha256:26a1dc6285e03f3cc9e839a2da83bcbf31dcb0d004c72d0730e755b33466c30e",
-                "sha256:29e0f83f37610f173eb7e7b5562dd71467993495e568e708d99e9d1944f561ec",
-                "sha256:2b134fd795e2322b7684155b7855cc99409d10b2e408056db2b93b51a52accc7",
-                "sha256:2d47552b6e52c3319fede1b60b3de120fe83bde9b7bddad11a69fb0af7db32f1",
-                "sha256:357495293086c5b6d34ca9616a43d329317feab7917518bc97a08f9e55648455",
-                "sha256:35a2b9396879ce32754bd457d31a51ff0a9d426fd9e0e3c33394bf4b9036b099",
-                "sha256:3777ce5536d17989c91696db1d459574e9a9bd37660ea7ee4d3344579bb6f129",
-                "sha256:3986b6f41ad22988e53d5778f91855dc0399b043fc8946d4f2e68af22ee9ff10",
-                "sha256:44d8ffbb9c06e5a7f529f38f53eda23e50d1ed33c6c869e01481d3fafa6b8142",
-                "sha256:49a180c2e0743d5d6e0b4d1a9e5f633c62eca3f8a86ba5dd3c471060e352ca98",
-                "sha256:4aa9741085f635934f3a2583e16fcf62ba835719a8b2b28fb2917bb0537c1dfa",
-                "sha256:4b21516d181cd77ebd06ce160ef8cc2a5e9ad35fb1c5930882baff5ac865eee7",
-                "sha256:4b3c1ffe10069f655ea2d731808e76e0f452fc6c749bea04781daf18e6039525",
-                "sha256:4c7d56b293cc071e82532f70adcbd8b61909eec973ae9d2d1f9b233f3d943f2c",
-                "sha256:4e9035df8d0880b2f1c7f5031f33f69e071dfe72ee9310cfc76f7b605958ceb9",
-                "sha256:54525ae423d7b7a8ee81ba189f131054defdb122cde31ff17477951464c1691c",
-                "sha256:549d19c84c55d11687ddbd47eeb348a89df9cb30e1993f1b128f4685cd0ebbf8",
-                "sha256:54beabb809ffcacbd9d28ac57b0db46e42a6e341a030293fb3185c409e626b8b",
-                "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf",
-                "sha256:5a2e2433eb9344a163aced6a5f6c9222c0786e5a9e9cac2c89f0b28433f56e23",
-                "sha256:5aef935237d60a51a62b86249839b51345f47564208c6ee615ed2a40878dccdd",
-                "sha256:604f31d97fa493083ea21bd9b92c419012531c4e17ea6da0f65cacdcf5d0bd27",
-                "sha256:63b20738b5aac74e239622d2fe30df4fca4942a86e31bf47a81a0e94c14df94f",
-                "sha256:686a0c2f85f83463272ddffd4deb5e591c98aac1897d65e92319f729c320eece",
-                "sha256:6a962e04b8f91f8c4e5917e518d17958e3bdee71fd1d8b88cdce74dd0ebbf434",
-                "sha256:6ad6d10ed9b67a382b45f29ea028f92d25bc0bc1daf6c5b801b90b5aa70fb9ec",
-                "sha256:6f5cb257bc2ec58f437da2b37a8cd48f666db96d47b8a3115c29f316313654ff",
-                "sha256:6fe79f998a4052d79e1c30eeb7d6c1c1056ad33300f682465e1b4e9b5a188b78",
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-            "markers": "python_version >= '3.7'",
-            "version": "==1.9.4"
+            "markers": "python_version >= '3.8'",
+            "version": "==1.9.11"
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     },
     "develop": {
+        "aiohappyeyeballs": {
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@@ -528,11 +538,11 @@
         },
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-            "version": "==23.2.0"
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@@ -659,11 +669,11 @@
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@@ -786,11 +796,11 @@
         },
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-            "version": "==3.6"
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+            "version": "==3.8"
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@@ -906,37 +916,37 @@
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@@ -948,11 +958,11 @@
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@@ -964,19 +974,19 @@
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+                "sha256:21e56c30e39a1833e4e3fd0112dde98c2abcbc4c39b077e6105c76bb63d2aa04",
+                "sha256:224f8186c220ff00079e64bf193909829144d4e5174bb58665ef0da8bf6955c4",
+                "sha256:2d1c81c3b92bef0c1c180048e43a5a85754a61b4f69d6f84df8e4bd615bef25d",
+                "sha256:30f201bc65941a4aa59c1236783efe89049ec5549dafc8cd2b63cc179d3767b0",
+                "sha256:3a26a24bbd19241283d601173cea1e5b93dec361a223394e18a1e8e5b0ef20bd",
+                "sha256:3fcd056cb7dff3aea5b1ee1b425b0fbaa2fbf6a1c6003e88caf524f01de5f395",
+                "sha256:441049d3a449fb8756b0535be72c6a1a532938a33e1cf03523076700a5f87a01",
+                "sha256:4567cc08f479ad80fb07ed0c9e1bcb363a4f6e3483a490a39d57d1419bf1c4c7",
+                "sha256:475e09a67f8b09720192a170ad9021b7abf7827ffd4f3a83826317a705be06b7",
+                "sha256:47c0a3dc8076a8dd159de10628dea04215bc7ddaa46c5775bf96066a0a18f82b",
+                "sha256:4915818ac850c3b0413e953af34398775b7a337babe1e4d15f68c8f5c4872553",
+                "sha256:498439af143b43a2b2314451ffd0295410aa0dcbdac5ee18fc8633da4670b605",
+                "sha256:4ae079573efeaa54e5978ce86b77f4175cd32f42afcaf9bfb8a0677e91f84e4e",
+                "sha256:4d368e3b9ecd50fa22017a20c49e356471af6ae91c4d788c6e9297e25ddf5a62",
+                "sha256:4e4f820fde9437bb47297194f43d29086433e6467fa28fe9876366ad357bd7bb",
+                "sha256:504d19320c92532cabc3495fb7ed6bb599f3c2bfb45fed432049bf4693dbd6d0",
+                "sha256:51a6f770ac86477cd5c553f88a77a06fe1f6f3b643b053fcc7902ab55d6cbe14",
+                "sha256:545f2fbfa0c723b446e9298b5beba0999ff82ce2c126110759e8dac29b5deaf4",
+                "sha256:54cc24be98d7f4ff355ca2e725a577e19909788c0db6beead67a0dda70bd3f82",
+                "sha256:55a67dd29367ce7c08a0541bb602ec0a2c10d46c86b94830a1a665f7fd093dfa",
+                "sha256:569309a3efb8369ff5d32edb2a0520ebaf810c3059f11d34477418c90aa878fd",
+                "sha256:58081cea14b8feda57c7ce447520e9d0a96c4d010cce54373d789c13242d7083",
+                "sha256:5b593acd45cdd4cf6664d342ceacedf25cd95263b83b964fddd6c78930ea5211",
+                "sha256:5c23f6dc3d7126b4c64b80aa186ac2bb65ab104a8372c4454e462fb074197bc6",
+                "sha256:614fa50fd0db41b79f426939a413d216cdc7bab8d8c8a25844798d286a999c5a",
+                "sha256:61ec0e80970b21a8f3c4b97fa6c6d181c6c6a135dbc7b4a601a78add3feeb209",
+                "sha256:63a5dc2866791236779d99d7a422611d22bb3a3d50935bafa4e017ea13e51469",
+                "sha256:675004040f847c0284827f44a1fa92d8baf425632cc93e7e0aa38408774b07c1",
+                "sha256:67abcb7df27952864440c9c85f1c549a4ad94afe44e2655f77d74b0d25895454",
+                "sha256:6de3fa29e76fd1518a80e6af4902c44f3b1b4d7fed28eb06913bba4727443de3",
+                "sha256:6ff184002ee72e4b247240e35d5dce4c2d9a0e81fdbef715dde79ab4718aa541",
+                "sha256:70194da6e99713250aa3f335a7fa246b36adf53672a2bcd0ddaa375d04e53dc0",
+                "sha256:7230007ab67d43cf19200ec15bc6b654e6b85c402f545a6fc565d254d34ff754",
+                "sha256:735b285ea46ca7e86ad261a462a071d0968aade44e1a3ea2b7d4f3d63b5aab12",
+                "sha256:752c0d33b4aacdb147871d0754b88f53922c6dc2aff033096516b3d5f0c02a0f",
+                "sha256:752f4b5cf93268dc73c2ae994cc6d684b0dad5118bc87fbd965fd5d6dca20f45",
+                "sha256:755ae9cff06c429632d750aa8206f08df2e3d422ca67be79567aadbe74ae64cc",
+                "sha256:79e08c691deae6fcac2fdde2e0515ac561dd3630d7c8adf7b1e786e22f1e193b",
+                "sha256:7d2dee7d6485807c0f64dd5eab9262b7c0b34f760e502243dd83ec09d647d5e1",
+                "sha256:8503989860d7ac10c85cb5b607fec003a45049cf7a5b4b72451e87893c6bb990",
+                "sha256:85333d38a4fa5997fa2ff6fd169be66626d814b34fa35ec669e8c914ca50a097",
+                "sha256:8c2cf0c7ad745e1c6530fe6521dfb19ca43338239dfcc7da165d0ef2332c0882",
+                "sha256:8d6e1c1562b53bd26efd38e886fc13863b8d904d559426777990171020c478a9",
+                "sha256:8d7b717f77846a9631046899c6cc730ea469c0e2fb252ccff1cc119950dbc296",
+                "sha256:8e8ed183c7a8f75e40068333fc185566472a8f6c77a750cf7541e11810576ea5",
+                "sha256:9137975a4ccc163ad5d7a75aad966e6e4e95dedee08d7995eab896a639a0bce2",
+                "sha256:91c478741d7563a12162f7a2db96c0d23d93b0521563f1f1f0ece46ea1702d33",
+                "sha256:922ba3b74f0958a0b5b9c14ff1ef12714a381760c08018f2b9827632783a590c",
+                "sha256:94f71d54c5faf715e92c8434b4a0b968c4d1043469954d228fc031d51086f143",
+                "sha256:95adc179a02949c4560ef40f8f650a008380766eb253d74232eb9c024747c111",
+                "sha256:9636e4519f6c7558fdccf8f91e6e3b98df2340dc505c4cc3286986d33f2096c2",
+                "sha256:9e290de5db4fd4859b4ed57cddfe793fcb218504e65781854a8ac283ab8d5518",
+                "sha256:9fae7ec5c9a4fe22abb995804e6ce87067dfaf7e940272b79328ce37c8f22097",
+                "sha256:a5706821e1cf3c70dfea223e4e0958ea354f4e2af9420a1bd45c6b547297fb97",
+                "sha256:a744bdeda6c86cf3025c94eb0e01ccabe949cf385cd75b6576a3ac9669404b68",
+                "sha256:aaeffcb84faceb2923a94a8a9aaa972745d3c728ab54dd011530cc30a3d5d0c1",
+                "sha256:aeba4aaa59cb709edb824fa88a27cbbff4e0095aaf77212b652989276c493c00",
+                "sha256:afcac5bda602b74ff701e1f683feccd8cce0d5a21dbc68db81bf9bd8fd93ba56",
+                "sha256:b30703a7ade2b53f02e09a30685b70cd54f65ed314a8d9af08670c9a5391af1b",
+                "sha256:b3dfe17b4aed832c627319da22a33f27f282bd32633d6b145c726d519c89fbaf",
+                "sha256:b4a0e724a28d7447e4d549c8f40779f90e20147e94bf949d490402eee09845c6",
+                "sha256:b8f847cc092c2b85d22e527f91ea83a6cf51533e727e2461557a47a859f96734",
+                "sha256:c189bf01af155ac9882e128d9f3b3ad68a1f2c2f51404afad7201305df4e12b1",
+                "sha256:c1db9a4384694b5d20bdd9cb53f033b0831ac816416ab176c8d0997835015d22",
+                "sha256:c305c1bdf10869b5e51facf50bd5b15892884aeae81962ae4ba061fc11217103",
+                "sha256:c335342d482e66254ae94b1231b1532790afb754f89e2e0c646f7f19d09740aa",
+                "sha256:c59b23886234abeba62087fd97d10fb6b905d9e36e2f3465d1886ce5c0ca30df",
+                "sha256:c5b7b307140231ea4f7aad5b69355aba2a67f2d7bc34271cffa3c9c324d35b27",
+                "sha256:c6f6c87665a9e18a635f0545ea541d9640617832af2317d4f5ad389686b4ed3d",
+                "sha256:c7548a90cb72b67652e2cd6ae80e2683ee08fde663104528ac7df12d8ef271d2",
+                "sha256:ca35996e0a4bed28fa0640d9512d37952f6b50dea583bcc167d4f0b1e112ac7f",
+                "sha256:cc295969f8c2172b5d013c0871dccfec7a0e1186cf961e7ea575d47b4d5cbd32",
+                "sha256:ce2bd986b1e44528677c237b74d59f215c8bfcdf2d69442aa10f62fd6ab2951c",
+                "sha256:d65ad67f981e93ea11f87815f67d086c4f33da4800cf2106d650dd8a0b79dda4",
+                "sha256:d93c612b2024ac25a3dc01341fd98fdd19c8c5e2011f3dcd084b3743cba8d756",
+                "sha256:ddad5cfcda729e22422bb1c85520bdf2770ce6d975600573ac9017fe882f4b7e",
+                "sha256:dfa9b9d5c9c0dbe69670f5695264452f5e40947590ec3a38cfddc9640ae8ff89",
+                "sha256:e4a8c3dedd081cca134a21179aebe58b6e426e8d1e0202da9d1cafa56e01af3c",
+                "sha256:e5f50a2e26cc2b89186f04c97e0ec0ba107ae41f1262ad16832d46849864f914",
+                "sha256:e700eb26635ce665c018c8cfea058baff9b843ed0cc77aa61849d807bb82a64c",
+                "sha256:ef9610b2f5a73707d4d8bac040f0115ca848e510e3b1f45ca53e97f609b54130",
+                "sha256:f568d70b7187f4002b6b500c0996c37674a25ce44b20716faebe5fdb8bd356e7",
+                "sha256:fee45b3bd4d8d5786472e056aa1359cc4dc9da68aded95a10cd7929a0ec661fe",
+                "sha256:ff64f575d71eacb5a4d6f0696bfe991993d979423ea2241f23ab19ff63f0f9d1"
             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==1.9.4"
+            "markers": "python_version >= '3.8'",
+            "version": "==1.9.11"
         }
     }
 }
diff --git a/update-server/otupdate/common/update_actions.py b/update-server/otupdate/common/update_actions.py
index 56bd94f0abe..493029c066d 100644
--- a/update-server/otupdate/common/update_actions.py
+++ b/update-server/otupdate/common/update_actions.py
@@ -69,8 +69,8 @@ def write_update(
         self,
         rootfs_filepath: str,
         progress_callback: Callable[[float], None],
-        chunk_size: int,
-        file_size: Optional[int],
+        chunk_size: int = -1,
+        file_size: Optional[int] = None,
     ) -> Partition:
         """
         Write the object to a specific rootfs path
diff --git a/usb-bridge/Pipfile b/usb-bridge/Pipfile
index 2743d3ab675..f5eb483758c 100644
--- a/usb-bridge/Pipfile
+++ b/usb-bridge/Pipfile
@@ -27,7 +27,7 @@ coverage = "==7.4.1"
 # https://github.com/pypa/pipenv/issues/4408#issuecomment-668324177
 atomicwrites = {version="==1.4.0", markers="sys_platform=='win32'"}
 colorama = {version="==0.4.4", markers="sys_platform=='win32'"}
-mypy = "==1.8.0"
+mypy = "==1.11.0"
 black = "==22.3.0"
 decoy = "==2.1.1"
 mock = "~=5.1.0"
diff --git a/usb-bridge/Pipfile.lock b/usb-bridge/Pipfile.lock
index 6b7e9e62891..d67941d6143 100644
--- a/usb-bridge/Pipfile.lock
+++ b/usb-bridge/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "0b53af0693972f92ea86d9477ff4af66c57874db5089a27727368fb15b48e534"
+            "sha256": "5c727aa6b7962e7cb9abe6cc03e205b5e4fcad066e4a2fc728a99c093b7060ac"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -46,96 +46,119 @@
         },
         "typing-extensions": {
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             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==4.9.0"
+            "version": "==4.12.2"
         }
     },
     "develop": {
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+            "version": "==2.4.0"
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         "aiosignal": {
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@@ -163,11 +186,11 @@
         },
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-            "version": "==23.2.0"
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@@ -294,19 +317,19 @@
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@@ -429,11 +452,11 @@
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@@ -558,37 +581,37 @@
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@@ -600,11 +623,11 @@
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@@ -616,19 +639,19 @@
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@@ -682,12 +705,12 @@
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@@ -747,150 +770,155 @@
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             ],
-            "markers": "python_version >= '3.7'",
-            "version": "==1.9.4"
+            "markers": "python_version >= '3.8'",
+            "version": "==1.9.11"
         }
     }
 }