diff --git a/.github/workflows/pd-test-build-deploy.yaml b/.github/workflows/pd-test-build-deploy.yaml
index ce28d79e9a5..babebb5a918 100644
--- a/.github/workflows/pd-test-build-deploy.yaml
+++ b/.github/workflows/pd-test-build-deploy.yaml
@@ -164,7 +164,7 @@ jobs:
         run: |
           make -C protocol-designer NODE_ENV=development
       - name: 'upload github artifact'
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: 'pd-artifact'
           path: protocol-designer/dist
@@ -197,7 +197,7 @@ jobs:
             const { buildComplexEnvVars } = require(`${process.env.GITHUB_WORKSPACE}/.github/workflows/utils.js`)
             buildComplexEnvVars(core, context)
       - name: 'download PD build'
-        uses: 'actions/download-artifact@v3'
+        uses: 'actions/download-artifact@v4'
         with:
           name: pd-artifact
           path: ./dist
diff --git a/abr-testing/Pipfile b/abr-testing/Pipfile
index 613ca5203f7..8dd89eb5d9b 100644
--- a/abr-testing/Pipfile
+++ b/abr-testing/Pipfile
@@ -20,6 +20,7 @@ pandas = "*"
 pandas-stubs = "*"
 paramiko = "*"
 prettier = "*"
+pydantic = "==2.9.0"
 
 [dev-packages]
 atomicwrites = "==1.4.1"
diff --git a/abr-testing/Pipfile.lock b/abr-testing/Pipfile.lock
index a2f82b44925..7793a4e0e4c 100644
--- a/abr-testing/Pipfile.lock
+++ b/abr-testing/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "f773f4880fa452637eeaf5e1aebee4ca6a1dc34907f588e0c6f71f0f222dc725"
+            "sha256": "ae4207dab4efffe35a5a0ad2539aa2ee746a3c6c604f54c18ccfcd14d5425537"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -30,85 +30,85 @@
         },
         "aiohttp": {
             "hashes": [
-                "sha256:012f176945af138abc10c4a48743327a92b4ca9adc7a0e078077cdb5dbab7be0",
-                "sha256:02c13415b5732fb6ee7ff64583a5e6ed1c57aa68f17d2bda79c04888dfdc2769",
-                "sha256:03b6002e20938fc6ee0918c81d9e776bebccc84690e2b03ed132331cca065ee5",
-                "sha256:04814571cb72d65a6899db6099e377ed00710bf2e3eafd2985166f2918beaf59",
-                "sha256:0580f2e12de2138f34debcd5d88894786453a76e98febaf3e8fe5db62d01c9bf",
-                "sha256:06a8e2ee1cbac16fe61e51e0b0c269400e781b13bcfc33f5425912391a542985",
-                "sha256:076bc454a7e6fd646bc82ea7f98296be0b1219b5e3ef8a488afbdd8e81fbac50",
-                "sha256:0c9527819b29cd2b9f52033e7fb9ff08073df49b4799c89cb5754624ecd98299",
-                "sha256:0dc49f42422163efb7e6f1df2636fe3db72713f6cd94688e339dbe33fe06d61d",
-                "sha256:14cdb5a9570be5a04eec2ace174a48ae85833c2aadc86de68f55541f66ce42ab",
-                "sha256:15fccaf62a4889527539ecb86834084ecf6e9ea70588efde86e8bc775e0e7542",
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+                "sha256:ec82bf1fda6cecce7f7b915f9196601a1bd1a3079796b76d16ae4cce6d0ef89b",
+                "sha256:ed9ee95614a71e87f1a70bc81603f6c6760128b140bc4030abe6abaa988f1c3d",
+                "sha256:f047569d655f81cb70ea5be942ee5d4421b6219c3f05d131f64088c73bb0917f",
+                "sha256:ffa336210cf9cd8ed117011085817d00abe4c08f99968deef0013ea283547204",
+                "sha256:ffb3dc385f6bb1568aa974fe65da84723210e5d9707e360e9ecb51f59406cd2e"
             ],
             "markers": "python_version >= '3.9'",
-            "version": "==3.11.10"
+            "version": "==3.11.11"
         },
         "aionotify": {
             "hashes": [
@@ -120,11 +120,11 @@
         },
         "aiosignal": {
             "hashes": [
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@@ -147,16 +147,16 @@
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@@ -199,11 +199,11 @@
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@@ -435,7 +422,7 @@
                 "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b",
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@@ -546,20 +533,20 @@
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@@ -616,19 +603,11 @@
         },
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@@ -689,7 +668,7 @@
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@@ -829,7 +808,7 @@
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@@ -1049,20 +1028,20 @@
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@@ -1090,125 +1069,115 @@
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@@ -1423,11 +1313,11 @@
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@@ -1439,12 +1329,12 @@
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@@ -1472,27 +1362,27 @@
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@@ -1500,7 +1390,7 @@
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@@ -1513,11 +1403,11 @@
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@@ -1689,11 +1579,11 @@
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@@ -1982,12 +1859,12 @@
         },
         "google-api-python-client": {
             "hashes": [
-                "sha256:1b420062e03bfcaa1c79e2e00a612d29a6a934151ceb3d272fe150a656dc8f17",
-                "sha256:a521bbbb2ec0ba9d6f307cdd64ed6e21eeac372d1bd7493a4ab5022941f784ad"
+                "sha256:0b0231db106324c659bf8b85f390391c00da57a60ebc4271e33def7aac198c75",
+                "sha256:2ee342d0967ad1cedec43ccd7699671d94bff151e1f06833ea81303f9a6d86fd"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.7'",
-            "version": "==2.154.0"
+            "version": "==2.157.0"
         },
         "google-api-python-client-stubs": {
             "hashes": [
@@ -2000,11 +1877,11 @@
         },
         "google-auth": {
             "hashes": [
-                "sha256:51a15d47028b66fd36e5c64a82d2d57480075bccc7da37cde257fc94177a61fb",
-                "sha256:545e9618f2df0bcbb7dcbc45a546485b1212624716975a1ea5ae8149ce769ab1"
+                "sha256:0054623abf1f9c83492c63d3f47e77f0a544caa3d40b2d98e099a611c2dd5d00",
+                "sha256:42664f18290a6be591be5329a96fe30184be1a1badb7292a7f686a9659de9ca0"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==2.36.0"
+            "version": "==2.37.0"
         },
         "google-auth-httplib2": {
             "hashes": [
@@ -2137,20 +2014,20 @@
         },
         "protobuf": {
             "hashes": [
-                "sha256:012ce28d862ff417fd629285aca5d9772807f15ceb1a0dbd15b88f58c776c98c",
-                "sha256:027fbcc48cea65a6b17028510fdd054147057fa78f4772eb547b9274e5219331",
-                "sha256:1fc55267f086dd4050d18ef839d7bd69300d0d08c2a53ca7df3920cc271a3c34",
-                "sha256:22c1f539024241ee545cbcb00ee160ad1877975690b16656ff87dde107b5f110",
-                "sha256:32600ddb9c2a53dedc25b8581ea0f1fd8ea04956373c0c07577ce58d312522e0",
-                "sha256:50879eb0eb1246e3a5eabbbe566b44b10348939b7cc1b267567e8c3d07213853",
-                "sha256:5a41deccfa5e745cef5c65a560c76ec0ed8e70908a67cc8f4da5fce588b50d57",
-                "sha256:683be02ca21a6ffe80db6dd02c0b5b2892322c59ca57fd6c872d652cb80549cb",
-                "sha256:8ee1461b3af56145aca2800e6a3e2f928108c749ba8feccc6f5dd0062c410c0d",
-                "sha256:b5ba1d0e4c8a40ae0496d0e2ecfdbb82e1776928a205106d14ad6985a09ec155",
-                "sha256:d473655e29c0c4bbf8b69e9a8fb54645bc289dead6d753b952e7aa660254ae18"
+                "sha256:13d6d617a2a9e0e82a88113d7191a1baa1e42c2cc6f5f1398d3b054c8e7e714a",
+                "sha256:2d2e674c58a06311c8e99e74be43e7f3a8d1e2b2fdf845eaa347fbd866f23355",
+                "sha256:36000f97ea1e76e8398a3f02936aac2a5d2b111aae9920ec1b769fc4a222c4d9",
+                "sha256:494229ecd8c9009dd71eda5fd57528395d1eacdf307dbece6c12ad0dd09e912e",
+                "sha256:842de6d9241134a973aab719ab42b008a18a90f9f07f06ba480df268f86432f9",
+                "sha256:a0c53d78383c851bfa97eb42e3703aefdc96d2036a41482ffd55dc5f529466eb",
+                "sha256:b2cc8e8bb7c9326996f0e160137b0861f1a82162502658df2951209d0cb0309e",
+                "sha256:b6b0d416bbbb9d4fbf9d0561dbfc4e324fd522f61f7af0fe0f282ab67b22477e",
+                "sha256:c12ba8249f5624300cf51c3d0bfe5be71a60c63e4dcf51ffe9a68771d958c851",
+                "sha256:e621a98c0201a7c8afe89d9646859859be97cb22b8bf1d8eacfd90d5bda2eb19",
+                "sha256:fde4554c0e578a5a0bcc9a276339594848d1e89f9ea47b4427c80e5d72f90181"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==5.29.1"
+            "version": "==5.29.2"
         },
         "py": {
             "hashes": [
@@ -2202,11 +2079,11 @@
         },
         "pyparsing": {
             "hashes": [
-                "sha256:93d9577b88da0bbea8cc8334ee8b918ed014968fd2ec383e868fb8afb1ccef84",
-                "sha256:cbf74e27246d595d9a74b186b810f6fbb86726dbf3b9532efb343f6d7294fe9c"
+                "sha256:506ff4f4386c4cec0590ec19e6302d3aedb992fdc02c761e90416f158dacf8e1",
+                "sha256:61980854fd66de3a90028d679a954d5f2623e83144b5afe5ee86f43d762e5f0a"
             ],
-            "markers": "python_version >= '3.9'",
-            "version": "==3.2.0"
+            "markers": "python_version > '3.0'",
+            "version": "==3.2.1"
         },
         "pytest": {
             "hashes": [
@@ -2289,12 +2166,12 @@
         },
         "types-httplib2": {
             "hashes": [
-                "sha256:1eda99fea18ec8a1dc1a725ead35b889d0836fec1b11ae6f1fe05440724c1d15",
-                "sha256:8cd706fc81f0da32789a4373a28df6f39e9d5657d1281db4d2fd22ee29e83661"
+                "sha256:42b67f16a6b0abb337a1fcea628dcd335e1e75f32cd198a657f41a6f4d507508",
+                "sha256:b15aed53ae5430b87205b6ac270d6332cb5e28e27151e2ac4848fe417827eb54"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.8'",
-            "version": "==0.22.0.20240310"
+            "version": "==0.22.0.20241221"
         },
         "types-requests": {
             "hashes": [
@@ -2309,7 +2186,7 @@
                 "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d",
                 "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"
             ],
-            "markers": "python_version >= '3.8'",
+            "markers": "python_version < '3.13'",
             "version": "==4.12.2"
         },
         "uritemplate": {
@@ -2322,11 +2199,11 @@
         },
         "urllib3": {
             "hashes": [
-                "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac",
-                "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"
+                "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df",
+                "sha256:f8c5449b3cf0861679ce7e0503c7b44b5ec981bec0d1d3795a07f1ba96f0204d"
             ],
-            "markers": "python_version >= '3.8'",
-            "version": "==2.2.3"
+            "markers": "python_version >= '3.9'",
+            "version": "==2.3.0"
         }
     }
 }
diff --git a/abr-testing/abr_testing/data_collection/abr_robot_error.py b/abr-testing/abr_testing/data_collection/abr_robot_error.py
index c2dadaae54c..ec1dfdcadf7 100644
--- a/abr-testing/abr_testing/data_collection/abr_robot_error.py
+++ b/abr-testing/abr_testing/data_collection/abr_robot_error.py
@@ -24,10 +24,8 @@ def retrieve_protocol_file(
 ) -> Path | str:
     """Find and copy protocol file on robot with error."""
     protocol_dir = f"/var/lib/opentrons-robot-server/7.1/protocols/{protocol_id}"
-
-    print(f"FILE TO FIND: {protocol_dir}/{protocol_id}")
-    # Copy protocol file found in robot oto host computer
-    save_dir = Path(f"{storage}/protocol_errors")
+    # Copy protocol file found in robot onto host computer
+    save_dir = Path(f"{storage}")
     command = ["scp", "-r", f"root@{robot_ip}:{protocol_dir}", save_dir]
     try:
         # If file found and copied return path to file
@@ -62,7 +60,6 @@ def compare_current_trh_to_average(
     # Find average conditions of errored time period
     df_all_trh = pd.DataFrame(all_trh_data)
     # Convert timestamps to datetime objects
-    print(f'TIMESTAMP: {df_all_trh["Timestamp"]}')
     try:
         df_all_trh["Timestamp"] = pd.to_datetime(
             df_all_trh["Timestamp"], format="mixed", utc=True
@@ -196,7 +193,6 @@ def read_each_log(folder_path: str, issue_url: str) -> None:
     for file_name in os.listdir(folder_path):
         file_path = os.path.join(folder_path, file_name)
         not_found_words = []
-        print(file_path)
         if file_path.endswith(".log"):
             with open(file_path) as file:
                 lines = file.readlines()
@@ -341,11 +337,8 @@ def get_robot_state(
     if "8.2" in affects_version:
         labels.append("8_2_0")
     parent = affects_version + " Bugs"
-    print(components)
     end_time = datetime.now()
-    print(end_time)
     start_time = end_time - timedelta(hours=2)
-    print(start_time)
     # Get current temp/rh compared to historical data
     temp_rh_string = compare_current_trh_to_average(
         parent, start_time, end_time, "", storage_directory
@@ -554,11 +547,17 @@ def get_run_error_info_from_robot(
         sys.exit()
     if len(run_or_other) < 1:
         # Retrieve the most recently run protocol file
-        protocol_files_path = retrieve_protocol_file(
+        protocol_folder = retrieve_protocol_file(
             protocol_ids[-1], ip, storage_directory
         )
+        protocol_folder_path = os.path.join(protocol_folder, protocol_ids[-1])
+        # Path to protocol folder
+        list_of_files = os.listdir(protocol_folder_path)
+        for file in list_of_files:
+            if str(file).endswith(".py"):
+                protocol_file_path = os.path.join(protocol_folder_path, file)
         # Set protocol_found to true if python protocol was successfully copied over
-        if protocol_files_path:
+        if protocol_file_path:
             protocol_found = True
 
         one_run = error_runs[-1]  # Most recent run with error.
@@ -612,15 +611,13 @@ def get_run_error_info_from_robot(
     # OPEN TICKET
     issue_url = ticket.open_issue(issue_key)
     # MOVE FILES TO ERROR FOLDER.
-    print(protocol_files_path)
-    error_files = [saved_file_path_calibration, run_log_file_path] + file_paths
-
-    # Move protocol file(s) to error folder
-    if protocol_files_path:
-        for file in os.listdir(protocol_files_path):
-            error_files.append(os.path.join(protocol_files_path, file))
+    error_files = [
+        saved_file_path_calibration,
+        run_log_file_path,
+        protocol_file_path,
+    ] + file_paths
 
-    error_folder_path = os.path.join(storage_directory, "issue_key")
+    error_folder_path = os.path.join(storage_directory, issue_key)
     os.makedirs(error_folder_path, exist_ok=True)
     for source_file in error_files:
         try:
diff --git a/abr-testing/abr_testing/data_collection/read_robot_logs.py b/abr-testing/abr_testing/data_collection/read_robot_logs.py
index d4570d20110..f8d2b028525 100644
--- a/abr-testing/abr_testing/data_collection/read_robot_logs.py
+++ b/abr-testing/abr_testing/data_collection/read_robot_logs.py
@@ -638,6 +638,11 @@ def get_error_info(file_results: Dict[str, Any]) -> Dict[str, Any]:
                     recoverable_errors.get(error_type, 0) + 1
                 )
     # Get run-ending error info
+    module_dict = {
+        "heatershaker": "heaterShakerModuleV1",
+        "thermocycler": "thermocyclerModuleV2",
+        "temperature module": "temperatureModuleV2",
+    }
     try:
         run_command_error = commands_of_run[-1]["error"]
         error_type = run_command_error.get("errorType", "")
@@ -647,6 +652,17 @@ def get_error_info(file_results: Dict[str, Any]) -> Dict[str, Any]:
         error_instrument = run_command_error.get("errorInfo", {}).get(
             "node", run_command_error.get("errorInfo", {}).get("port", "")
         )
+        if "gripper" in error_instrument:
+            # get gripper serial number
+            error_instrument = file_results["extension"]
+        else:
+            # get module serial number
+            for module in module_dict.keys():
+                if module in error_instrument:
+                    for module_list in file_results["modules"]:
+                        model = module_list["model"]
+                        if model == module_dict[module]:
+                            error_instrument = module_list["serialNumber"]
     except (IndexError, KeyError):
         try:
             error_details = file_results.get("errors", [{}])[0]
diff --git a/abr-testing/abr_testing/protocols/active_protocols/6_Omega_HDQ_DNA_Cells-Flex_96_channel.py b/abr-testing/abr_testing/protocols/active_protocols/6_Omega_HDQ_DNA_Cells-Flex_96_channel.py
index 894f80dcdea..a3fd6251a43 100644
--- a/abr-testing/abr_testing/protocols/active_protocols/6_Omega_HDQ_DNA_Cells-Flex_96_channel.py
+++ b/abr-testing/abr_testing/protocols/active_protocols/6_Omega_HDQ_DNA_Cells-Flex_96_channel.py
@@ -33,7 +33,7 @@ def add_parameters(parameters: ParameterContext) -> None:
     parameters.add_int(
         variable_name="number_of_runs",
         display_name="Number of Runs",
-        default=2,
+        default=4,
         minimum=1,
         maximum=4,
     )
@@ -53,7 +53,7 @@ def run(protocol: ProtocolContext) -> None:
     bind_vol = 300.0
     sample_vol = 180.0
     elution_vol = 100.0
-    helpers.comment_protocol_version(protocol, "01")
+    helpers.comment_protocol_version(protocol, "02")
     # Same for all HDQ Extractions
     deepwell_type = "nest_96_wellplate_2ml_deep"
     if not dry_run:
@@ -87,7 +87,7 @@ def run(protocol: ProtocolContext) -> None:
     magblock: MagneticBlockContext = protocol.load_module(
         "magneticBlockV1", "C1"
     )  # type: ignore[assignment]
-    liquid_waste = protocol.load_labware("nest_1_reservoir_195ml", "B3", "Liquid Waste")
+    liquid_waste = protocol.load_labware("nest_1_reservoir_290ml", "B3", "Liquid Waste")
     waste = liquid_waste.wells()[0].top()
 
     lysis_reservoir = protocol.load_labware(deepwell_type, "D2", "Lysis reservoir")
@@ -417,7 +417,6 @@ def clean() -> None:
             elutionplate,
             wash2_reservoir,
             wash1_reservoir,
-            liquid_waste,
         ]
         helpers.clean_up_plates(pip, plates_to_clean, liquid_waste["A1"], 1000)
 
diff --git a/analyses-snapshot-testing/README.md b/analyses-snapshot-testing/README.md
index 03ce1d87518..e38df61b4d5 100644
--- a/analyses-snapshot-testing/README.md
+++ b/analyses-snapshot-testing/README.md
@@ -86,3 +86,20 @@ You have the option to specify one or many protocols to run the analyses on. Thi
 ### Updating the snapshots locally
 
 - `make snapshot-test-update-local` - this target builds the base image, builds the local code into the base image, then runs the analyses battery against the image you just created, updating the snapshots by passing the `--update-snapshots` flag to the test
+
+### Add some protocols to the analyses battery
+
+> The below instructions avoid needing docker and executing snapshot tests locally.
+
+1. create new protocol file(s) in the [files/protocols](./files/protocols) directory following the naming convention in [files/README.md](./files/README.md)
+1. add the protocol(s) to the [protocols.py](./automation/data/protocols.py)
+1. `make format` (make sure you have followed setup instructions)
+1. commit and push your branch
+1. open a PR and add the label `gen-analyses-snapshot-pr`
+1. when the snapshot fails because your new protocols don't have snapshots a PR will be created that heals.
+1. merge the healing PR if the snapshots are as expected
+1. get a review and merge! 🎉 now your protocols are a part of the test
+
+### Add a protocol with overrides to the analyses battery
+
+> TODO when we have a more straight forward example
diff --git a/analyses-snapshot-testing/automation/data/protocols.py b/analyses-snapshot-testing/automation/data/protocols.py
index ada74a736e0..8e19251d49e 100644
--- a/analyses-snapshot-testing/automation/data/protocols.py
+++ b/analyses-snapshot-testing/automation/data/protocols.py
@@ -708,6 +708,48 @@ class Protocols:
         file_extension="py",
         robot="Flex",
     )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_trash.py
+    Flex_X_v2_21_plate_reader_no_trash: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_plate_reader_no_trash",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate.py
+    Flex_X_v2_21_plate_reader_wrong_plate: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_plate_reader_wrong_plate",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate2.py
+    Flex_X_v2_21_plate_reader_wrong_plate2: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_plate_reader_wrong_plate2",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_bad_slot.py
+    Flex_X_v2_21_plate_reader_bad_slot: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_plate_reader_bad_slot",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_close_lid.py
+    Flex_X_v2_21_plate_reader_no_close_lid: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_plate_reader_no_close_lid",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_S_v2_21_tc_lids_happy_path.py
+    Flex_S_v2_21_tc_lids_happy_path: Protocol = Protocol(
+        file_stem="Flex_S_v2_21_tc_lids_happy_path",
+        file_extension="py",
+        robot="Flex",
+    )
+    # analyses-snapshot-testing/files/protocols/Flex_X_v2_21_tc_lids_wrong_target.py
+    Flex_X_v2_21_tc_lids_wrong_target: Protocol = Protocol(
+        file_stem="Flex_X_v2_21_tc_lids_wrong_target",
+        file_extension="py",
+        robot="Flex",
+    )
 
     OT2_X_v2_18_None_None_duplicateRTPVariableName: Protocol = Protocol(
         file_stem="OT2_X_v2_18_None_None_duplicateRTPVariableName",
diff --git a/analyses-snapshot-testing/files/protocols/README.md b/analyses-snapshot-testing/files/README.md
similarity index 100%
rename from analyses-snapshot-testing/files/protocols/README.md
rename to analyses-snapshot-testing/files/README.md
diff --git a/analyses-snapshot-testing/files/protocols/Flex_S_v2_21_tc_lids_happy_path.py b/analyses-snapshot-testing/files/protocols/Flex_S_v2_21_tc_lids_happy_path.py
new file mode 100644
index 00000000000..41adb0c122d
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_S_v2_21_tc_lids_happy_path.py
@@ -0,0 +1,99 @@
+from typing import List, Dict, Any, Optional
+from opentrons.protocol_api import ProtocolContext, Labware
+
+metadata = {"protocolName": "Opentrons Flex Deck Riser with TC Lids Test"}
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+
+
+"""
+Setup:
+ - 1-5x lids are stacked in deck D2
+ - Thermocycler installed
+
+Run:
+ - For each lid in the stack (1-5x)
+   - Move lid in D2 to Thermocycler
+     - Remove top-most lid
+     - PAUSE, wait for tester to press continue
+   - Move lid from Thermocycler to new slot C2
+     - Stacked onto any previously placed lids
+"""
+
+LID_STARTING_SLOT = "B2"
+LID_ENDING_SLOT = "C2"
+LID_COUNT = 3
+LID_DEFINITION = "opentrons_tough_pcr_auto_sealing_lid"
+LID_BOTTOM_DEFINITION = "opentrons_tough_pcr_auto_sealing_lid"
+DECK_RISER_NAME = "opentrons_flex_deck_riser"
+USING_THERMOCYCLER = True
+
+OFFSET_DECK = {
+    "pick-up": {"x": 0, "y": 0, "z": 0},
+    "drop": {"x": 0, "y": 0, "z": 0},
+}
+OFFSET_THERMOCYCLER = {
+    "pick-up": {"x": 0, "y": 0, "z": 0},
+    "drop": {"x": 0, "y": 0, "z": 0},
+}
+
+
+def _move_labware_with_offset_and_pause(
+    protocol: ProtocolContext,
+    labware: Labware,
+    destination: Any,
+    pick_up_offset: Optional[Dict[str, float]] = None,
+    drop_offset: Optional[Dict[str, float]] = None,
+) -> None:
+    protocol.move_labware(
+        labware,
+        destination,
+        use_gripper=True,
+        pick_up_offset=pick_up_offset,
+        drop_offset=drop_offset,
+    )
+
+
+def run(protocol: ProtocolContext):
+    # SETUP
+    deck_riser_adapter = protocol.load_adapter(DECK_RISER_NAME, "B2")
+
+    lids: List[Labware] = [deck_riser_adapter.load_labware(LID_BOTTOM_DEFINITION)]
+    for i in range(LID_COUNT - 1):
+        lids.append(lids[-1].load_labware(LID_DEFINITION))
+    lids.reverse()  # NOTE: reversing to more easily loop through lids from top-to-bottom
+    if USING_THERMOCYCLER:
+        # TODO: confirm if we need to load 96-well adapter onto Thermocycler
+        thermocycler = protocol.load_module("thermocyclerModuleV2")
+        thermocycler.open_lid()
+        plate_in_cycler = thermocycler.load_labware("armadillo_96_wellplate_200ul_pcr_full_skirt")
+    else:
+        plate_in_cycler = None
+
+    # RUN
+    prev_moved_lid: Optional[Labware] = None
+    for lid in lids:
+
+        if USING_THERMOCYCLER:
+            _move_labware_with_offset_and_pause(
+                protocol,
+                lid,
+                plate_in_cycler,
+                pick_up_offset=OFFSET_DECK["pick-up"],
+                drop_offset=OFFSET_THERMOCYCLER["drop"],
+            )
+            _move_labware_with_offset_and_pause(
+                protocol,
+                lid,
+                prev_moved_lid if prev_moved_lid else LID_ENDING_SLOT,
+                pick_up_offset=OFFSET_THERMOCYCLER["pick-up"],
+                drop_offset=OFFSET_DECK["drop"],
+            )
+        else:
+            _move_labware_with_offset_and_pause(
+                protocol,
+                lid,
+                prev_moved_lid if prev_moved_lid else LID_ENDING_SLOT,
+                pick_up_offset=OFFSET_DECK["pick-up"],
+                drop_offset=OFFSET_DECK["drop"],
+            )
+        prev_moved_lid = lid
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_bad_slot.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_bad_slot.py
new file mode 100644
index 00000000000..ad6d96be786
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_bad_slot.py
@@ -0,0 +1,22 @@
+from typing import cast
+from opentrons import protocol_api
+from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext
+
+from opentrons import protocol_api
+from opentrons.protocol_api import SINGLE, ALL
+
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+metadata = {"protocolName": "plate_reader bad slot"}
+
+
+def run(protocol: protocol_api.ProtocolContext):
+    partial_rack = protocol.load_labware(load_name="opentrons_flex_96_tiprack_1000ul", location="D3")
+    trash = protocol.load_trash_bin("A3")
+    instrument = protocol.load_instrument(instrument_name="flex_8channel_1000", mount="right")
+    instrument.configure_nozzle_layout(style=SINGLE, start="H1", tip_racks=[partial_rack])
+
+    plate_1 = protocol.load_labware("nest_96_wellplate_200ul_flat", "D1")
+    mod = protocol.load_module("absorbanceReaderV1", "C1")
+    mod.open_lid()
+    protocol.move_labware(plate_1, mod, use_gripper=True)
+    mod.close_lid()
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_close_lid.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_close_lid.py
new file mode 100644
index 00000000000..e231b4d0e1f
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_close_lid.py
@@ -0,0 +1,88 @@
+from typing import cast
+from opentrons import protocol_api
+from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext
+
+# metadata
+metadata = {
+    "protocolName": "Absorbance Reader no close lid",
+    "author": "Platform Expansion",
+}
+
+requirements = {
+    "robotType": "Flex",
+    "apiLevel": "2.21",
+}
+
+
+# protocol run function
+def run(protocol: protocol_api.ProtocolContext):
+    mod = cast(AbsorbanceReaderContext, protocol.load_module("absorbanceReaderV1", "D3"))
+    plate = protocol.load_labware("nest_96_wellplate_200ul_flat", "C2")
+    tiprack_1000 = protocol.load_labware(load_name="opentrons_flex_96_tiprack_50ul", location="B2")
+    trash_labware = protocol.load_trash_bin("B3")
+    instrument = protocol.load_instrument("flex_8channel_50", "right", tip_racks=[tiprack_1000])
+
+    # pick up tip and perform action
+    instrument.pick_up_tip(tiprack_1000.wells_by_name()["A1"])
+    instrument.aspirate(30, plate.wells_by_name()["A1"])
+    instrument.dispense(30, plate.wells_by_name()["B1"])
+    instrument.return_tip()
+
+    # Initialize to a single wavelength with reference wavelength
+    # Issue: Make sure there is no labware here or youll get an error
+    # mod.close_lid()
+    mod.initialize("single", [600], 450)
+
+    # NOTE: CANNOT INITIALIZE WITH THE LID OPEN
+
+    # Remove the Plate Reader lid using the Gripper.
+    mod.open_lid()
+    protocol.move_labware(plate, mod, use_gripper=True)
+    mod.close_lid()
+
+    # Take a reading and show the resulting absorbance values.
+    # Issue: cant read before you initialize or you an get an error
+    result = mod.read()
+    msg = f"single: {result}"
+    protocol.comment(msg=msg)
+    protocol.pause(msg=msg)
+
+    # Initialize to multiple wavelengths
+    protocol.pause(msg="Perform Multi Read")
+    mod.open_lid()
+    protocol.move_labware(plate, "C2", use_gripper=True)
+
+    mod.close_lid()
+
+    # mod.initialize('multi', [450, 570, 600])
+    mod.initialize("multi", [450, 600])
+    # Open the lid and move the labware into the reader
+    mod.open_lid()
+    protocol.move_labware(plate, mod, use_gripper=True)
+
+    # pick up tip and perform action on labware inside plate reader
+    instrument.pick_up_tip(tiprack_1000.wells_by_name()["A1"])
+    instrument.aspirate(30, plate.wells_by_name()["A1"])
+    instrument.dispense(30, plate.wells_by_name()["B1"])
+    instrument.return_tip()
+
+    mod.close_lid()
+
+    # Take reading
+    result = mod.read()
+    msg = f"multi: {result}"
+    protocol.comment(msg=msg)
+    protocol.pause(msg=msg)
+
+    # Take a reading and save to csv
+    protocol.pause(msg="Perform Read and Save to CSV")
+    result = mod.read(export_filename="plate_reader_csv.csv")
+    msg = f"csv: {result}"
+    protocol.pause(msg=msg)
+
+    # Place the Plate Reader lid back on using the Gripper.
+    mod.open_lid()
+    protocol.move_labware(plate, "C2", use_gripper=True)
+    mod.close_lid()
+
+    mod.read(export_filename="csv_name.csv")
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_trash.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_trash.py
new file mode 100644
index 00000000000..8c839a54ff9
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_no_trash.py
@@ -0,0 +1,24 @@
+from typing import cast
+from opentrons import protocol_api
+from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext
+
+from opentrons import protocol_api
+from opentrons.protocol_api import SINGLE, ALL
+
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+metadata = {"protocolName": "plate_reader no trash"}
+
+
+def run(protocol: protocol_api.ProtocolContext):
+    partial_rack = protocol.load_labware(load_name="opentrons_flex_96_tiprack_1000ul", location="D2")
+    trash = protocol.load_trash_bin("A3")
+    instrument = protocol.load_instrument(instrument_name="flex_8channel_1000", mount="right")
+    instrument.configure_nozzle_layout(style=SINGLE, start="H1", tip_racks=[partial_rack])
+
+    plate_1 = protocol.load_labware("nest_96_wellplate_200ul_flat", "C1")
+
+    mod = protocol.load_module("absorbanceReaderV1", "B3")
+
+    mod.open_lid()
+    protocol.move_labware(plate_1, mod, use_gripper=True)
+    protocol.move_labware(plate_1, trash, use_gripper=True)
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate.py
new file mode 100644
index 00000000000..bb3811a1631
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate.py
@@ -0,0 +1,24 @@
+from typing import cast
+from opentrons import protocol_api
+from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext
+
+from opentrons import protocol_api
+from opentrons.protocol_api import SINGLE, ALL
+
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+metadata = {"protocolName": "plate_reader wrong plate"}
+
+
+def run(protocol: protocol_api.ProtocolContext):
+    partial_rack = protocol.load_labware(load_name="opentrons_flex_96_tiprack_1000ul", location="D2")
+    trash = protocol.load_trash_bin("A3")
+    instrument = protocol.load_instrument(instrument_name="flex_8channel_1000", mount="right")
+    instrument.configure_nozzle_layout(style=SINGLE, start="H1", tip_racks=[partial_rack])
+
+    plate_1 = protocol.load_labware("corning_12_wellplate_6.9ml_flat", "C2")
+
+    mod = protocol.load_module("absorbanceReaderV1", "B3")
+
+    mod.open_lid()
+    protocol.move_labware(plate_1, mod, use_gripper=True)
+    protocol.move_labware(plate_1, trash, use_gripper=True)
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate2.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate2.py
new file mode 100644
index 00000000000..cf6d0aefee9
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_plate_reader_wrong_plate2.py
@@ -0,0 +1,24 @@
+from typing import cast
+from opentrons import protocol_api
+from opentrons.protocol_api.module_contexts import AbsorbanceReaderContext
+
+from opentrons import protocol_api
+from opentrons.protocol_api import SINGLE, ALL
+
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+metadata = {"protocolName": "plate_reader wrong plate"}
+
+
+def run(protocol: protocol_api.ProtocolContext):
+    partial_rack = protocol.load_labware(load_name="opentrons_flex_96_tiprack_1000ul", location="D2")
+    trash = protocol.load_trash_bin("A3")
+    instrument = protocol.load_instrument(instrument_name="flex_8channel_1000", mount="right")
+    instrument.configure_nozzle_layout(style=SINGLE, start="H1", tip_racks=[partial_rack])
+
+    plate_1 = protocol.load_labware("thermoscientificnunc_96_wellplate_2000ul", "C2")
+
+    mod = protocol.load_module("absorbanceReaderV1", "B3")
+
+    mod.open_lid()
+    protocol.move_labware(plate_1, mod, use_gripper=True)
+    protocol.move_labware(plate_1, trash, use_gripper=True)
diff --git a/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_tc_lids_wrong_target.py b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_tc_lids_wrong_target.py
new file mode 100644
index 00000000000..bf6ca7f7c89
--- /dev/null
+++ b/analyses-snapshot-testing/files/protocols/Flex_X_v2_21_tc_lids_wrong_target.py
@@ -0,0 +1,26 @@
+from typing import List, Dict, Any, Optional
+from opentrons.protocol_api import ProtocolContext, Labware
+
+metadata = {"Stacking a deep well plate on its adapter "}
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+
+
+def run(protocol: ProtocolContext):
+    temp_mod = protocol.load_module(module_name="temperature module gen2", location="D1")
+    LID_COUNT = 5
+    LID_DEFINITION = "opentrons_tough_pcr_auto_sealing_lid"
+    LID_BOTTOM_DEFINITION = "opentrons_tough_pcr_auto_sealing_lid"
+    adapter = temp_mod.load_adapter("opentrons_96_deep_well_temp_mod_adapter")
+    stack = protocol.load_labware("nest_96_wellplate_2ml_deep", "A1")
+    deck_riser_adapter = protocol.load_adapter("opentrons_flex_deck_riser", "B2")
+    protocol.move_labware(stack, adapter)
+    lids = [deck_riser_adapter.load_labware(LID_BOTTOM_DEFINITION, "D2")]
+    for i in range(LID_COUNT - 1):
+        lids.append(lids[-1].load_labware(LID_DEFINITION))
+    lids.reverse()  # NOTE: reversing to more easily loop through lids from top-to-bottom
+
+    protocol.move_labware(
+        lids[0],
+        stack,
+        use_gripper=True,
+    )
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[34f32336bc][Flex_X_v2_21_plate_reader_wrong_plate2].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[34f32336bc][Flex_X_v2_21_plate_reader_wrong_plate2].json
new file mode 100644
index 00000000000..7f50cfdd654
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[34f32336bc][Flex_X_v2_21_plate_reader_wrong_plate2].json
@@ -0,0 +1,2558 @@
+{
+  "commandAnnotations": [],
+  "commands": [
+    {
+      "commandType": "home",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
+      "params": {},
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "73d9d4d55ae8466f3a793ceb70545fa5",
+      "notes": [],
+      "params": {
+        "loadName": "opentrons_flex_96_tiprack_1000ul",
+        "location": {
+          "slotName": "D2"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [],
+          "brand": {
+            "brand": "Opentrons",
+            "brandId": []
+          },
+          "cornerOffsetFromSlot": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 127.75,
+            "yDimension": 85.75,
+            "zDimension": 99
+          },
+          "gripForce": 16.0,
+          "gripHeightFromLabwareBottom": 23.9,
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {},
+              "wells": [
+                "A1",
+                "A10",
+                "A11",
+                "A12",
+                "A2",
+                "A3",
+                "A4",
+                "A5",
+                "A6",
+                "A7",
+                "A8",
+                "A9",
+                "B1",
+                "B10",
+                "B11",
+                "B12",
+                "B2",
+                "B3",
+                "B4",
+                "B5",
+                "B6",
+                "B7",
+                "B8",
+                "B9",
+                "C1",
+                "C10",
+                "C11",
+                "C12",
+                "C2",
+                "C3",
+                "C4",
+                "C5",
+                "C6",
+                "C7",
+                "C8",
+                "C9",
+                "D1",
+                "D10",
+                "D11",
+                "D12",
+                "D2",
+                "D3",
+                "D4",
+                "D5",
+                "D6",
+                "D7",
+                "D8",
+                "D9",
+                "E1",
+                "E10",
+                "E11",
+                "E12",
+                "E2",
+                "E3",
+                "E4",
+                "E5",
+                "E6",
+                "E7",
+                "E8",
+                "E9",
+                "F1",
+                "F10",
+                "F11",
+                "F12",
+                "F2",
+                "F3",
+                "F4",
+                "F5",
+                "F6",
+                "F7",
+                "F8",
+                "F9",
+                "G1",
+                "G10",
+                "G11",
+                "G12",
+                "G2",
+                "G3",
+                "G4",
+                "G5",
+                "G6",
+                "G7",
+                "G8",
+                "G9",
+                "H1",
+                "H10",
+                "H11",
+                "H12",
+                "H2",
+                "H3",
+                "H4",
+                "H5",
+                "H6",
+                "H7",
+                "H8",
+                "H9"
+              ]
+            }
+          ],
+          "metadata": {
+            "displayCategory": "tipRack",
+            "displayName": "Opentrons Flex 96 Tip Rack 1000 µL",
+            "displayVolumeUnits": "µL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [
+            [
+              "A1",
+              "B1",
+              "C1",
+              "D1",
+              "E1",
+              "F1",
+              "G1",
+              "H1"
+            ],
+            [
+              "A10",
+              "B10",
+              "C10",
+              "D10",
+              "E10",
+              "F10",
+              "G10",
+              "H10"
+            ],
+            [
+              "A11",
+              "B11",
+              "C11",
+              "D11",
+              "E11",
+              "F11",
+              "G11",
+              "H11"
+            ],
+            [
+              "A12",
+              "B12",
+              "C12",
+              "D12",
+              "E12",
+              "F12",
+              "G12",
+              "H12"
+            ],
+            [
+              "A2",
+              "B2",
+              "C2",
+              "D2",
+              "E2",
+              "F2",
+              "G2",
+              "H2"
+            ],
+            [
+              "A3",
+              "B3",
+              "C3",
+              "D3",
+              "E3",
+              "F3",
+              "G3",
+              "H3"
+            ],
+            [
+              "A4",
+              "B4",
+              "C4",
+              "D4",
+              "E4",
+              "F4",
+              "G4",
+              "H4"
+            ],
+            [
+              "A5",
+              "B5",
+              "C5",
+              "D5",
+              "E5",
+              "F5",
+              "G5",
+              "H5"
+            ],
+            [
+              "A6",
+              "B6",
+              "C6",
+              "D6",
+              "E6",
+              "F6",
+              "G6",
+              "H6"
+            ],
+            [
+              "A7",
+              "B7",
+              "C7",
+              "D7",
+              "E7",
+              "F7",
+              "G7",
+              "H7"
+            ],
+            [
+              "A8",
+              "B8",
+              "C8",
+              "D8",
+              "E8",
+              "F8",
+              "G8",
+              "H8"
+            ],
+            [
+              "A9",
+              "B9",
+              "C9",
+              "D9",
+              "E9",
+              "F9",
+              "G9",
+              "H9"
+            ]
+          ],
+          "parameters": {
+            "format": "96Standard",
+            "isMagneticModuleCompatible": false,
+            "isTiprack": true,
+            "loadName": "opentrons_flex_96_tiprack_1000ul",
+            "quirks": [],
+            "tipLength": 95.6,
+            "tipOverlap": 10.5
+          },
+          "schemaVersion": 2,
+          "stackingOffsetWithLabware": {
+            "opentrons_flex_96_tiprack_adapter": {
+              "x": 0,
+              "y": 0,
+              "z": 121
+            }
+          },
+          "stackingOffsetWithModule": {},
+          "version": 1,
+          "wells": {
+            "A1": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 14.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A10": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 95.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A11": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 104.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A12": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 113.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A2": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 23.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A3": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 32.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A4": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 41.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A5": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 50.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A6": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 59.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A7": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 68.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A8": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 77.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A9": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 86.38,
+              "y": 74.38,
+              "z": 1.5
+            },
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+        "serialNumber": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
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+    },
+    {
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+      "status": "succeeded"
+    },
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+      "error": {
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+        "detail": "Cannot move 'thermoscientificnunc_96_wellplate_2000ul' into plate reader because the maximum allowed labware height is 16mm.",
+        "errorCode": "4000",
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+      "key": "02138c5885d43cc1dbadfd58415510c4",
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+          "noteKind": "debugErrorRecovery",
+          "shortMessage": "Handling this command failure with FAIL_RUN.",
+          "source": "execution"
+        }
+      ],
+      "params": {
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+        "newLocation": {
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+        "strategy": "usingGripper"
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+      "status": "failed"
+    }
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+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ProtocolCommandFailedError [line 23]: Error 4000 GENERAL_ERROR (ProtocolCommandFailedError): LabwareMovementNotAllowedError: Cannot move 'thermoscientificnunc_96_wellplate_2000ul' into plate reader because the maximum allowed labware height is 16mm.",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "LabwareMovementNotAllowedError: Cannot move 'thermoscientificnunc_96_wellplate_2000ul' into plate reader because the maximum allowed labware height is 16mm.",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "ProtocolCommandFailedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": [
+            {
+              "createdAt": "TIMESTAMP",
+              "detail": "Cannot move 'thermoscientificnunc_96_wellplate_2000ul' into plate reader because the maximum allowed labware height is 16mm.",
+              "errorCode": "4000",
+              "errorInfo": {},
+              "errorType": "LabwareMovementNotAllowedError",
+              "id": "UUID",
+              "isDefined": false,
+              "wrappedErrors": []
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_X_v2_21_plate_reader_wrong_plate2.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_96_tiprack_1000ul",
+      "location": {
+        "slotName": "D2"
+      }
+    },
+    {
+      "definitionUri": "opentrons/thermoscientificnunc_96_wellplate_2000ul/1",
+      "id": "UUID",
+      "loadName": "thermoscientificnunc_96_wellplate_2000ul",
+      "location": {
+        "slotName": "C2"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {
+    "protocolName": "plate_reader wrong plate"
+  },
+  "modules": [
+    {
+      "id": "UUID",
+      "location": {
+        "slotName": "B3"
+      },
+      "model": "absorbanceReaderV1",
+      "serialNumber": "UUID"
+    }
+  ],
+  "pipettes": [
+    {
+      "id": "UUID",
+      "mount": "right",
+      "pipetteName": "p1000_multi_flex"
+    }
+  ],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[718c468b7d][Flex_X_v2_21_plate_reader_no_close_lid].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[718c468b7d][Flex_X_v2_21_plate_reader_no_close_lid].json
new file mode 100644
index 00000000000..3375ed2fadd
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[718c468b7d][Flex_X_v2_21_plate_reader_no_close_lid].json
@@ -0,0 +1,2624 @@
+{
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+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
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+      "status": "succeeded"
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+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "8511b05ba5565bf0e6dcccd800e2ee23",
+      "notes": [],
+      "params": {
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+        },
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+      },
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+            "y": 64.93,
+            "z": 97.8
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+          "gripperOffsets": {},
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+            "y": 0.0,
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+          },
+          "model": "absorbanceReaderV1",
+          "moduleType": "absorbanceReaderType",
+          "otSharedSchema": "module/schemas/2",
+          "quirks": [],
+          "slotTransforms": {
+            "ot2_short_trash": {},
+            "ot2_standard": {},
+            "ot3_standard": {}
+          }
+        },
+        "model": "absorbanceReaderV1",
+        "moduleId": "UUID",
+        "serialNumber": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "b9563ff54d4bfe61c469a7da06e79f42",
+      "notes": [],
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+          "brand": {
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+            "brandId": [
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+            ],
+            "links": [
+              "https://www.nest-biotech.com/cell-culture-plates/59415537.html"
+            ]
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+            "y": 0,
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+            "zDimension": 14.3
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+          "gripHeightFromLabwareBottom": 11.8,
+          "gripperOffsets": {},
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+                "H5",
+                "H6",
+                "H7",
+                "H8",
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+            }
+          ],
+          "metadata": {
+            "displayCategory": "wellPlate",
+            "displayName": "NEST 96 Well Plate 200 µL Flat",
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+              "E10",
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+            ],
+            [
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+              "B11",
+              "C11",
+              "D11",
+              "E11",
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+              "C2",
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+            [
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+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[7d16d5dbf0][Flex_X_v2_21_tc_lids_wrong_target].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[7d16d5dbf0][Flex_X_v2_21_tc_lids_wrong_target].json
new file mode 100644
index 00000000000..a5d33bd3325
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[7d16d5dbf0][Flex_X_v2_21_tc_lids_wrong_target].json
@@ -0,0 +1,2041 @@
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+        "detail": "ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+        "errorCode": "4000",
+        "errorInfo": {
+          "args": "('Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.',)",
+          "class": "ValueError",
+          "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_labware.py\", line N, in execute\n    raise ValueError(\n"
+        },
+        "errorType": "PythonException",
+        "id": "UUID",
+        "isDefined": false,
+        "wrappedErrors": []
+      },
+      "id": "UUID",
+      "key": "48dfe520259476c2688c469837455156",
+      "notes": [
+        {
+          "longMessage": "Handling this command failure with FAIL_RUN.",
+          "noteKind": "debugErrorRecovery",
+          "shortMessage": "Handling this command failure with FAIL_RUN.",
+          "source": "execution"
+        }
+      ],
+      "params": {
+        "displayName": "D2",
+        "loadName": "opentrons_tough_pcr_auto_sealing_lid",
+        "location": {
+          "labwareId": "UUID"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "failed"
+    }
+  ],
+  "config": {
+    "apiVersion": [
+      2,
+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ProtocolCommandFailedError [line 17]: Error 4000 GENERAL_ERROR (ProtocolCommandFailedError): PythonException: ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "PythonException: ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "ProtocolCommandFailedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": [
+            {
+              "createdAt": "TIMESTAMP",
+              "detail": "ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+              "errorCode": "4000",
+              "errorInfo": {
+                "args": "('Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.',)",
+                "class": "ValueError",
+                "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_labware.py\", line N, in execute\n    raise ValueError(\n"
+              },
+              "errorType": "PythonException",
+              "id": "UUID",
+              "isDefined": false,
+              "wrappedErrors": []
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_X_v2_21_tc_lids_wrong_target.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_96_deep_well_temp_mod_adapter/1",
+      "id": "UUID",
+      "loadName": "opentrons_96_deep_well_temp_mod_adapter",
+      "location": {
+        "moduleId": "UUID"
+      }
+    },
+    {
+      "definitionUri": "opentrons/nest_96_wellplate_2ml_deep/2",
+      "id": "UUID",
+      "loadName": "nest_96_wellplate_2ml_deep",
+      "location": {
+        "labwareId": "UUID"
+      }
+    },
+    {
+      "definitionUri": "opentrons/opentrons_flex_deck_riser/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_deck_riser",
+      "location": {
+        "slotName": "B2"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {},
+  "modules": [
+    {
+      "id": "UUID",
+      "location": {
+        "slotName": "D1"
+      },
+      "model": "temperatureModuleV2",
+      "serialNumber": "UUID"
+    }
+  ],
+  "pipettes": [],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[99c15c6c62][Flex_S_v2_21_tc_lids_happy_path].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[99c15c6c62][Flex_S_v2_21_tc_lids_happy_path].json
new file mode 100644
index 00000000000..8644d850edb
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[99c15c6c62][Flex_S_v2_21_tc_lids_happy_path].json
@@ -0,0 +1,195 @@
+{
+  "commandAnnotations": [],
+  "commands": [
+    {
+      "commandType": "home",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
+      "params": {},
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "73d9d4d55ae8466f3a793ceb70545fa5",
+      "notes": [],
+      "params": {
+        "loadName": "opentrons_flex_deck_riser",
+        "location": {
+          "slotName": "B2"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [
+            "adapter"
+          ],
+          "brand": {
+            "brand": "Opentrons",
+            "brandId": []
+          },
+          "cornerOffsetFromSlot": {
+            "x": -6.125,
+            "y": -6.125,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 140,
+            "yDimension": 98,
+            "zDimension": 55
+          },
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {},
+              "wells": []
+            }
+          ],
+          "metadata": {
+            "displayCategory": "adapter",
+            "displayName": "Opentrons Flex Deck Riser",
+            "displayVolumeUnits": "µL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [],
+          "parameters": {
+            "format": "96Standard",
+            "isMagneticModuleCompatible": false,
+            "isTiprack": false,
+            "loadName": "opentrons_flex_deck_riser",
+            "quirks": []
+          },
+          "schemaVersion": 2,
+          "stackingOffsetWithLabware": {},
+          "stackingOffsetWithModule": {},
+          "version": 1,
+          "wells": {}
+        },
+        "labwareId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "error": {
+        "createdAt": "TIMESTAMP",
+        "detail": "ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+        "errorCode": "4000",
+        "errorInfo": {
+          "args": "('Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.',)",
+          "class": "ValueError",
+          "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_labware.py\", line N, in execute\n    raise ValueError(\n"
+        },
+        "errorType": "PythonException",
+        "id": "UUID",
+        "isDefined": false,
+        "wrappedErrors": []
+      },
+      "id": "UUID",
+      "key": "50de88d471ad3910c29207fb6df4502e",
+      "notes": [
+        {
+          "longMessage": "Handling this command failure with FAIL_RUN.",
+          "noteKind": "debugErrorRecovery",
+          "shortMessage": "Handling this command failure with FAIL_RUN.",
+          "source": "execution"
+        }
+      ],
+      "params": {
+        "loadName": "opentrons_tough_pcr_auto_sealing_lid",
+        "location": {
+          "labwareId": "UUID"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "failed"
+    }
+  ],
+  "config": {
+    "apiVersion": [
+      2,
+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ProtocolCommandFailedError [line 60]: Error 4000 GENERAL_ERROR (ProtocolCommandFailedError): PythonException: ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "PythonException: ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "ProtocolCommandFailedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": [
+            {
+              "createdAt": "TIMESTAMP",
+              "detail": "ValueError: Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.",
+              "errorCode": "4000",
+              "errorInfo": {
+                "args": "('Labware Lid opentrons_tough_pcr_auto_sealing_lid may not be loaded on parent labware Opentrons Flex Deck Riser.',)",
+                "class": "ValueError",
+                "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_labware.py\", line N, in execute\n    raise ValueError(\n"
+              },
+              "errorType": "PythonException",
+              "id": "UUID",
+              "isDefined": false,
+              "wrappedErrors": []
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_S_v2_21_tc_lids_happy_path.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_flex_deck_riser/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_deck_riser",
+      "location": {
+        "slotName": "B2"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {
+    "protocolName": "Opentrons Flex Deck Riser with TC Lids Test"
+  },
+  "modules": [],
+  "pipettes": [],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a5ba8297e3][Flex_X_v2_21_plate_reader_no_trash].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a5ba8297e3][Flex_X_v2_21_plate_reader_no_trash].json
new file mode 100644
index 00000000000..f10341a2a2a
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[a5ba8297e3][Flex_X_v2_21_plate_reader_no_trash].json
@@ -0,0 +1,2541 @@
+{
+  "commandAnnotations": [],
+  "commands": [
+    {
+      "commandType": "home",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
+      "params": {},
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "73d9d4d55ae8466f3a793ceb70545fa5",
+      "notes": [],
+      "params": {
+        "loadName": "opentrons_flex_96_tiprack_1000ul",
+        "location": {
+          "slotName": "D2"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [],
+          "brand": {
+            "brand": "Opentrons",
+            "brandId": []
+          },
+          "cornerOffsetFromSlot": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 127.75,
+            "yDimension": 85.75,
+            "zDimension": 99
+          },
+          "gripForce": 16.0,
+          "gripHeightFromLabwareBottom": 23.9,
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {},
+              "wells": [
+                "A1",
+                "A10",
+                "A11",
+                "A12",
+                "A2",
+                "A3",
+                "A4",
+                "A5",
+                "A6",
+                "A7",
+                "A8",
+                "A9",
+                "B1",
+                "B10",
+                "B11",
+                "B12",
+                "B2",
+                "B3",
+                "B4",
+                "B5",
+                "B6",
+                "B7",
+                "B8",
+                "B9",
+                "C1",
+                "C10",
+                "C11",
+                "C12",
+                "C2",
+                "C3",
+                "C4",
+                "C5",
+                "C6",
+                "C7",
+                "C8",
+                "C9",
+                "D1",
+                "D10",
+                "D11",
+                "D12",
+                "D2",
+                "D3",
+                "D4",
+                "D5",
+                "D6",
+                "D7",
+                "D8",
+                "D9",
+                "E1",
+                "E10",
+                "E11",
+                "E12",
+                "E2",
+                "E3",
+                "E4",
+                "E5",
+                "E6",
+                "E7",
+                "E8",
+                "E9",
+                "F1",
+                "F10",
+                "F11",
+                "F12",
+                "F2",
+                "F3",
+                "F4",
+                "F5",
+                "F6",
+                "F7",
+                "F8",
+                "F9",
+                "G1",
+                "G10",
+                "G11",
+                "G12",
+                "G2",
+                "G3",
+                "G4",
+                "G5",
+                "G6",
+                "G7",
+                "G8",
+                "G9",
+                "H1",
+                "H10",
+                "H11",
+                "H12",
+                "H2",
+                "H3",
+                "H4",
+                "H5",
+                "H6",
+                "H7",
+                "H8",
+                "H9"
+              ]
+            }
+          ],
+          "metadata": {
+            "displayCategory": "tipRack",
+            "displayName": "Opentrons Flex 96 Tip Rack 1000 µL",
+            "displayVolumeUnits": "µL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [
+            [
+              "A1",
+              "B1",
+              "C1",
+              "D1",
+              "E1",
+              "F1",
+              "G1",
+              "H1"
+            ],
+            [
+              "A10",
+              "B10",
+              "C10",
+              "D10",
+              "E10",
+              "F10",
+              "G10",
+              "H10"
+            ],
+            [
+              "A11",
+              "B11",
+              "C11",
+              "D11",
+              "E11",
+              "F11",
+              "G11",
+              "H11"
+            ],
+            [
+              "A12",
+              "B12",
+              "C12",
+              "D12",
+              "E12",
+              "F12",
+              "G12",
+              "H12"
+            ],
+            [
+              "A2",
+              "B2",
+              "C2",
+              "D2",
+              "E2",
+              "F2",
+              "G2",
+              "H2"
+            ],
+            [
+              "A3",
+              "B3",
+              "C3",
+              "D3",
+              "E3",
+              "F3",
+              "G3",
+              "H3"
+            ],
+            [
+              "A4",
+              "B4",
+              "C4",
+              "D4",
+              "E4",
+              "F4",
+              "G4",
+              "H4"
+            ],
+            [
+              "A5",
+              "B5",
+              "C5",
+              "D5",
+              "E5",
+              "F5",
+              "G5",
+              "H5"
+            ],
+            [
+              "A6",
+              "B6",
+              "C6",
+              "D6",
+              "E6",
+              "F6",
+              "G6",
+              "H6"
+            ],
+            [
+              "A7",
+              "B7",
+              "C7",
+              "D7",
+              "E7",
+              "F7",
+              "G7",
+              "H7"
+            ],
+            [
+              "A8",
+              "B8",
+              "C8",
+              "D8",
+              "E8",
+              "F8",
+              "G8",
+              "H8"
+            ],
+            [
+              "A9",
+              "B9",
+              "C9",
+              "D9",
+              "E9",
+              "F9",
+              "G9",
+              "H9"
+            ]
+          ],
+          "parameters": {
+            "format": "96Standard",
+            "isMagneticModuleCompatible": false,
+            "isTiprack": true,
+            "loadName": "opentrons_flex_96_tiprack_1000ul",
+            "quirks": [],
+            "tipLength": 95.6,
+            "tipOverlap": 10.5
+          },
+          "schemaVersion": 2,
+          "stackingOffsetWithLabware": {
+            "opentrons_flex_96_tiprack_adapter": {
+              "x": 0,
+              "y": 0,
+              "z": 121
+            }
+          },
+          "stackingOffsetWithModule": {},
+          "version": 1,
+          "wells": {
+            "A1": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 14.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A10": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 95.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A11": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 104.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A12": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 113.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A2": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 23.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A3": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 32.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A4": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 41.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A5": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 50.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A6": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 59.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A7": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 68.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A8": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 77.38,
+              "y": 74.38,
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+            "H12": {
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+            },
+            "H3": {
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+            },
+            "H4": {
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+            },
+            "H5": {
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+              "x": 50.28,
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+            },
+            "H6": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 59.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H7": {
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+              "shape": "circular",
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+            },
+            "H8": {
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+              "shape": "circular",
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+              "x": 77.28,
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+            },
+            "H9": {
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+              "diameter": 6.85,
+              "shape": "circular",
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+              "x": 86.28,
+              "y": 11.18,
+              "z": 3.5
+            }
+          }
+        },
+        "labwareId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadModule",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "dd0dee2da1b0019f4d98d523b981fabe",
+      "notes": [],
+      "params": {
+        "location": {
+          "slotName": "B3"
+        },
+        "model": "absorbanceReaderV1"
+      },
+      "result": {
+        "definition": {
+          "calibrationPoint": {
+            "x": 14.4,
+            "y": 64.93,
+            "z": 97.8
+          },
+          "compatibleWith": [],
+          "dimensions": {
+            "bareOverallHeight": 18.5,
+            "lidHeight": 60.0,
+            "overLabwareHeight": 0.0
+          },
+          "displayName": "Absorbance Plate Reader Module GEN1",
+          "gripperOffsets": {},
+          "labwareOffset": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.65
+          },
+          "model": "absorbanceReaderV1",
+          "moduleType": "absorbanceReaderType",
+          "otSharedSchema": "module/schemas/2",
+          "quirks": [],
+          "slotTransforms": {
+            "ot2_short_trash": {},
+            "ot2_standard": {},
+            "ot3_standard": {}
+          }
+        },
+        "model": "absorbanceReaderV1",
+        "moduleId": "UUID",
+        "serialNumber": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "absorbanceReader/openLid",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "0fdcfee21f87b074844138ffaeaa61ee",
+      "notes": [],
+      "params": {
+        "moduleId": "UUID"
+      },
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "moveLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "02138c5885d43cc1dbadfd58415510c4",
+      "notes": [],
+      "params": {
+        "labwareId": "UUID",
+        "newLocation": {
+          "moduleId": "UUID"
+        },
+        "strategy": "usingGripper"
+      },
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    }
+  ],
+  "config": {
+    "apiVersion": [
+      2,
+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "LabwareMovementNotAllowedError [line 24]: Error 4000 GENERAL_ERROR (LabwareMovementNotAllowedError): Can only dispose of tips and Lid-type labware in a Trash Bin. Did you mean to use a Waste Chute?",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "Can only dispose of tips and Lid-type labware in a Trash Bin. Did you mean to use a Waste Chute?",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "LabwareMovementNotAllowedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": []
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_X_v2_21_plate_reader_no_trash.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_96_tiprack_1000ul",
+      "location": {
+        "slotName": "D2"
+      }
+    },
+    {
+      "definitionUri": "opentrons/nest_96_wellplate_200ul_flat/2",
+      "id": "UUID",
+      "loadName": "nest_96_wellplate_200ul_flat",
+      "location": {
+        "moduleId": "UUID"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {
+    "protocolName": "plate_reader no trash"
+  },
+  "modules": [
+    {
+      "id": "UUID",
+      "location": {
+        "slotName": "B3"
+      },
+      "model": "absorbanceReaderV1",
+      "serialNumber": "UUID"
+    }
+  ],
+  "pipettes": [
+    {
+      "id": "UUID",
+      "mount": "right",
+      "pipetteName": "p1000_multi_flex"
+    }
+  ],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ba14bd77a8][Flex_X_v2_21_plate_reader_bad_slot].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ba14bd77a8][Flex_X_v2_21_plate_reader_bad_slot].json
new file mode 100644
index 00000000000..d9a486fcf9a
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[ba14bd77a8][Flex_X_v2_21_plate_reader_bad_slot].json
@@ -0,0 +1,2502 @@
+{
+  "commandAnnotations": [],
+  "commands": [
+    {
+      "commandType": "home",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
+      "params": {},
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "73d9d4d55ae8466f3a793ceb70545fa5",
+      "notes": [],
+      "params": {
+        "loadName": "opentrons_flex_96_tiprack_1000ul",
+        "location": {
+          "slotName": "D3"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [],
+          "brand": {
+            "brand": "Opentrons",
+            "brandId": []
+          },
+          "cornerOffsetFromSlot": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 127.75,
+            "yDimension": 85.75,
+            "zDimension": 99
+          },
+          "gripForce": 16.0,
+          "gripHeightFromLabwareBottom": 23.9,
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {},
+              "wells": [
+                "A1",
+                "A10",
+                "A11",
+                "A12",
+                "A2",
+                "A3",
+                "A4",
+                "A5",
+                "A6",
+                "A7",
+                "A8",
+                "A9",
+                "B1",
+                "B10",
+                "B11",
+                "B12",
+                "B2",
+                "B3",
+                "B4",
+                "B5",
+                "B6",
+                "B7",
+                "B8",
+                "B9",
+                "C1",
+                "C10",
+                "C11",
+                "C12",
+                "C2",
+                "C3",
+                "C4",
+                "C5",
+                "C6",
+                "C7",
+                "C8",
+                "C9",
+                "D1",
+                "D10",
+                "D11",
+                "D12",
+                "D2",
+                "D3",
+                "D4",
+                "D5",
+                "D6",
+                "D7",
+                "D8",
+                "D9",
+                "E1",
+                "E10",
+                "E11",
+                "E12",
+                "E2",
+                "E3",
+                "E4",
+                "E5",
+                "E6",
+                "E7",
+                "E8",
+                "E9",
+                "F1",
+                "F10",
+                "F11",
+                "F12",
+                "F2",
+                "F3",
+                "F4",
+                "F5",
+                "F6",
+                "F7",
+                "F8",
+                "F9",
+                "G1",
+                "G10",
+                "G11",
+                "G12",
+                "G2",
+                "G3",
+                "G4",
+                "G5",
+                "G6",
+                "G7",
+                "G8",
+                "G9",
+                "H1",
+                "H10",
+                "H11",
+                "H12",
+                "H2",
+                "H3",
+                "H4",
+                "H5",
+                "H6",
+                "H7",
+                "H8",
+                "H9"
+              ]
+            }
+          ],
+          "metadata": {
+            "displayCategory": "tipRack",
+            "displayName": "Opentrons Flex 96 Tip Rack 1000 µL",
+            "displayVolumeUnits": "µL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [
+            [
+              "A1",
+              "B1",
+              "C1",
+              "D1",
+              "E1",
+              "F1",
+              "G1",
+              "H1"
+            ],
+            [
+              "A10",
+              "B10",
+              "C10",
+              "D10",
+              "E10",
+              "F10",
+              "G10",
+              "H10"
+            ],
+            [
+              "A11",
+              "B11",
+              "C11",
+              "D11",
+              "E11",
+              "F11",
+              "G11",
+              "H11"
+            ],
+            [
+              "A12",
+              "B12",
+              "C12",
+              "D12",
+              "E12",
+              "F12",
+              "G12",
+              "H12"
+            ],
+            [
+              "A2",
+              "B2",
+              "C2",
+              "D2",
+              "E2",
+              "F2",
+              "G2",
+              "H2"
+            ],
+            [
+              "A3",
+              "B3",
+              "C3",
+              "D3",
+              "E3",
+              "F3",
+              "G3",
+              "H3"
+            ],
+            [
+              "A4",
+              "B4",
+              "C4",
+              "D4",
+              "E4",
+              "F4",
+              "G4",
+              "H4"
+            ],
+            [
+              "A5",
+              "B5",
+              "C5",
+              "D5",
+              "E5",
+              "F5",
+              "G5",
+              "H5"
+            ],
+            [
+              "A6",
+              "B6",
+              "C6",
+              "D6",
+              "E6",
+              "F6",
+              "G6",
+              "H6"
+            ],
+            [
+              "A7",
+              "B7",
+              "C7",
+              "D7",
+              "E7",
+              "F7",
+              "G7",
+              "H7"
+            ],
+            [
+              "A8",
+              "B8",
+              "C8",
+              "D8",
+              "E8",
+              "F8",
+              "G8",
+              "H8"
+            ],
+            [
+              "A9",
+              "B9",
+              "C9",
+              "D9",
+              "E9",
+              "F9",
+              "G9",
+              "H9"
+            ]
+          ],
+          "parameters": {
+            "format": "96Standard",
+            "isMagneticModuleCompatible": false,
+            "isTiprack": true,
+            "loadName": "opentrons_flex_96_tiprack_1000ul",
+            "quirks": [],
+            "tipLength": 95.6,
+            "tipOverlap": 10.5
+          },
+          "schemaVersion": 2,
+          "stackingOffsetWithLabware": {
+            "opentrons_flex_96_tiprack_adapter": {
+              "x": 0,
+              "y": 0,
+              "z": 121
+            }
+          },
+          "stackingOffsetWithModule": {},
+          "version": 1,
+          "wells": {
+            "A1": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 14.38,
+              "y": 74.38,
+              "z": 1.5
+            },
+            "A10": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 95.38,
+              "y": 74.38,
+              "z": 1.5
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+              "totalLiquidVolume": 200,
+              "x": 104.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E12": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 113.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E2": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 23.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E3": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 32.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E4": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 41.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E5": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 50.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E6": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 59.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E7": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 68.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E8": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 77.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "E9": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 86.28,
+              "y": 38.18,
+              "z": 3.5
+            },
+            "F1": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 14.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F10": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 95.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F11": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 104.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F12": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 113.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F2": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 23.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F3": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 32.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F4": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 41.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F5": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 50.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F6": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 59.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F7": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 68.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F8": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 77.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "F9": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 86.28,
+              "y": 29.18,
+              "z": 3.5
+            },
+            "G1": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 14.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G10": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 95.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G11": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 104.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G12": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 113.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G2": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 23.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G3": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 32.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G4": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 41.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G5": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 50.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G6": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 59.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G7": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 68.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G8": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 77.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "G9": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 86.28,
+              "y": 20.18,
+              "z": 3.5
+            },
+            "H1": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 14.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H10": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 95.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H11": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 104.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H12": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 113.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H2": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 23.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H3": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 32.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H4": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 41.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H5": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 50.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H6": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 59.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H7": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 68.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H8": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 77.28,
+              "y": 11.18,
+              "z": 3.5
+            },
+            "H9": {
+              "depth": 10.8,
+              "diameter": 6.85,
+              "shape": "circular",
+              "totalLiquidVolume": 200,
+              "x": 86.28,
+              "y": 11.18,
+              "z": 3.5
+            }
+          }
+        },
+        "labwareId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadModule",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "error": {
+        "createdAt": "TIMESTAMP",
+        "detail": "ValueError: A absorbanceReaderType cannot be loaded into slot C1",
+        "errorCode": "4000",
+        "errorInfo": {
+          "args": "('A absorbanceReaderType cannot be loaded into slot C1',)",
+          "class": "ValueError",
+          "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_module.py\", line N, in execute\n    self._ensure_module_location(params.location.slotName, module_type)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_module.py\", line N, in _ensure_module_location\n    raise ValueError(\n"
+        },
+        "errorType": "PythonException",
+        "id": "UUID",
+        "isDefined": false,
+        "wrappedErrors": []
+      },
+      "id": "UUID",
+      "key": "dd0dee2da1b0019f4d98d523b981fabe",
+      "notes": [
+        {
+          "longMessage": "Handling this command failure with FAIL_RUN.",
+          "noteKind": "debugErrorRecovery",
+          "shortMessage": "Handling this command failure with FAIL_RUN.",
+          "source": "execution"
+        }
+      ],
+      "params": {
+        "location": {
+          "slotName": "C1"
+        },
+        "model": "absorbanceReaderV1"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "failed"
+    }
+  ],
+  "config": {
+    "apiVersion": [
+      2,
+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ProtocolCommandFailedError [line 19]: Error 4000 GENERAL_ERROR (ProtocolCommandFailedError): PythonException: ValueError: A absorbanceReaderType cannot be loaded into slot C1",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "PythonException: ValueError: A absorbanceReaderType cannot be loaded into slot C1",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "ProtocolCommandFailedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": [
+            {
+              "createdAt": "TIMESTAMP",
+              "detail": "ValueError: A absorbanceReaderType cannot be loaded into slot C1",
+              "errorCode": "4000",
+              "errorInfo": {
+                "args": "('A absorbanceReaderType cannot be loaded into slot C1',)",
+                "class": "ValueError",
+                "traceback": "  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/execution/command_executor.py\", line N, in execute\n    result = await command_impl.execute(\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_module.py\", line N, in execute\n    self._ensure_module_location(params.location.slotName, module_type)\n\n  File \"/usr/local/lib/python3.10/site-packages/opentrons/protocol_engine/commands/load_module.py\", line N, in _ensure_module_location\n    raise ValueError(\n"
+              },
+              "errorType": "PythonException",
+              "id": "UUID",
+              "isDefined": false,
+              "wrappedErrors": []
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_X_v2_21_plate_reader_bad_slot.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_96_tiprack_1000ul",
+      "location": {
+        "slotName": "D3"
+      }
+    },
+    {
+      "definitionUri": "opentrons/nest_96_wellplate_200ul_flat/2",
+      "id": "UUID",
+      "loadName": "nest_96_wellplate_200ul_flat",
+      "location": {
+        "slotName": "D1"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {
+    "protocolName": "plate_reader bad slot"
+  },
+  "modules": [],
+  "pipettes": [
+    {
+      "id": "UUID",
+      "mount": "right",
+      "pipetteName": "p1000_multi_flex"
+    }
+  ],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[fd26a20b4c][Flex_X_v2_21_plate_reader_wrong_plate].json b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[fd26a20b4c][Flex_X_v2_21_plate_reader_wrong_plate].json
new file mode 100644
index 00000000000..39c5598de8b
--- /dev/null
+++ b/analyses-snapshot-testing/tests/__snapshots__/analyses_snapshot_test/test_analysis_snapshot[fd26a20b4c][Flex_X_v2_21_plate_reader_wrong_plate].json
@@ -0,0 +1,1625 @@
+{
+  "commandAnnotations": [],
+  "commands": [
+    {
+      "commandType": "home",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "50c7ae73a4e3f7129874f39dfb514803",
+      "notes": [],
+      "params": {},
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "73d9d4d55ae8466f3a793ceb70545fa5",
+      "notes": [],
+      "params": {
+        "loadName": "opentrons_flex_96_tiprack_1000ul",
+        "location": {
+          "slotName": "D2"
+        },
+        "namespace": "opentrons",
+        "version": 1
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [],
+          "brand": {
+            "brand": "Opentrons",
+            "brandId": []
+          },
+          "cornerOffsetFromSlot": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 127.75,
+            "yDimension": 85.75,
+            "zDimension": 99
+          },
+          "gripForce": 16.0,
+          "gripHeightFromLabwareBottom": 23.9,
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {},
+              "wells": [
+                "A1",
+                "A10",
+                "A11",
+                "A12",
+                "A2",
+                "A3",
+                "A4",
+                "A5",
+                "A6",
+                "A7",
+                "A8",
+                "A9",
+                "B1",
+                "B10",
+                "B11",
+                "B12",
+                "B2",
+                "B3",
+                "B4",
+                "B5",
+                "B6",
+                "B7",
+                "B8",
+                "B9",
+                "C1",
+                "C10",
+                "C11",
+                "C12",
+                "C2",
+                "C3",
+                "C4",
+                "C5",
+                "C6",
+                "C7",
+                "C8",
+                "C9",
+                "D1",
+                "D10",
+                "D11",
+                "D12",
+                "D2",
+                "D3",
+                "D4",
+                "D5",
+                "D6",
+                "D7",
+                "D8",
+                "D9",
+                "E1",
+                "E10",
+                "E11",
+                "E12",
+                "E2",
+                "E3",
+                "E4",
+                "E5",
+                "E6",
+                "E7",
+                "E8",
+                "E9",
+                "F1",
+                "F10",
+                "F11",
+                "F12",
+                "F2",
+                "F3",
+                "F4",
+                "F5",
+                "F6",
+                "F7",
+                "F8",
+                "F9",
+                "G1",
+                "G10",
+                "G11",
+                "G12",
+                "G2",
+                "G3",
+                "G4",
+                "G5",
+                "G6",
+                "G7",
+                "G8",
+                "G9",
+                "H1",
+                "H10",
+                "H11",
+                "H12",
+                "H2",
+                "H3",
+                "H4",
+                "H5",
+                "H6",
+                "H7",
+                "H8",
+                "H9"
+              ]
+            }
+          ],
+          "metadata": {
+            "displayCategory": "tipRack",
+            "displayName": "Opentrons Flex 96 Tip Rack 1000 µL",
+            "displayVolumeUnits": "µL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [
+            [
+              "A1",
+              "B1",
+              "C1",
+              "D1",
+              "E1",
+              "F1",
+              "G1",
+              "H1"
+            ],
+            [
+              "A10",
+              "B10",
+              "C10",
+              "D10",
+              "E10",
+              "F10",
+              "G10",
+              "H10"
+            ],
+            [
+              "A11",
+              "B11",
+              "C11",
+              "D11",
+              "E11",
+              "F11",
+              "G11",
+              "H11"
+            ],
+            [
+              "A12",
+              "B12",
+              "C12",
+              "D12",
+              "E12",
+              "F12",
+              "G12",
+              "H12"
+            ],
+            [
+              "A2",
+              "B2",
+              "C2",
+              "D2",
+              "E2",
+              "F2",
+              "G2",
+              "H2"
+            ],
+            [
+              "A3",
+              "B3",
+              "C3",
+              "D3",
+              "E3",
+              "F3",
+              "G3",
+              "H3"
+            ],
+            [
+              "A4",
+              "B4",
+              "C4",
+              "D4",
+              "E4",
+              "F4",
+              "G4",
+              "H4"
+            ],
+            [
+              "A5",
+              "B5",
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+            },
+            "G8": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 77.38,
+              "y": 20.38,
+              "z": 1.5
+            },
+            "G9": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 86.38,
+              "y": 20.38,
+              "z": 1.5
+            },
+            "H1": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 14.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H10": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 95.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H11": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 104.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H12": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 113.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H2": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 23.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H3": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 32.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H4": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 41.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H5": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 50.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H6": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 59.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H7": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 68.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H8": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 77.38,
+              "y": 11.38,
+              "z": 1.5
+            },
+            "H9": {
+              "depth": 97.5,
+              "diameter": 5.47,
+              "shape": "circular",
+              "totalLiquidVolume": 1000,
+              "x": 86.38,
+              "y": 11.38,
+              "z": 1.5
+            }
+          }
+        },
+        "labwareId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadPipette",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "bd403a1c851a75b4b68ce34796d713fa",
+      "notes": [],
+      "params": {
+        "liquidPresenceDetection": false,
+        "mount": "right",
+        "pipetteName": "p1000_multi_flex",
+        "tipOverlapNotAfterVersion": "v3"
+      },
+      "result": {
+        "pipetteId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "configureNozzleLayout",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "2c37ad797da7df791b57a7843a203e88",
+      "notes": [],
+      "params": {
+        "configurationParams": {
+          "primaryNozzle": "H1",
+          "style": "SINGLE"
+        },
+        "pipetteId": "UUID"
+      },
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "691afd54dfa7982fb89e5f77c763bfd4",
+      "notes": [],
+      "params": {
+        "loadName": "corning_12_wellplate_6.9ml_flat",
+        "location": {
+          "slotName": "C2"
+        },
+        "namespace": "opentrons",
+        "version": 2
+      },
+      "result": {
+        "definition": {
+          "allowedRoles": [],
+          "brand": {
+            "brand": "Corning",
+            "brandId": [
+              "3336",
+              "3512",
+              "3513"
+            ],
+            "links": [
+              "https://ecatalog.corning.com/life-sciences/b2c/US/en/Microplates/Assay-Microplates/96-Well-Microplates/Costar%C2%AE-Multiple-Well-Cell-Culture-Plates/p/3513?clear=true"
+            ]
+          },
+          "cornerOffsetFromSlot": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "dimensions": {
+            "xDimension": 127.89,
+            "yDimension": 85.6,
+            "zDimension": 20.02
+          },
+          "gripForce": 16.0,
+          "gripHeightFromLabwareBottom": 18.3,
+          "gripperOffsets": {},
+          "groups": [
+            {
+              "metadata": {
+                "wellBottomShape": "flat"
+              },
+              "wells": [
+                "A1",
+                "A2",
+                "A3",
+                "A4",
+                "B1",
+                "B2",
+                "B3",
+                "B4",
+                "C1",
+                "C2",
+                "C3",
+                "C4"
+              ]
+            }
+          ],
+          "metadata": {
+            "displayCategory": "wellPlate",
+            "displayName": "Corning 12 Well Plate 6.9 mL Flat",
+            "displayVolumeUnits": "mL",
+            "tags": []
+          },
+          "namespace": "opentrons",
+          "ordering": [
+            [
+              "A1",
+              "B1",
+              "C1"
+            ],
+            [
+              "A2",
+              "B2",
+              "C2"
+            ],
+            [
+              "A3",
+              "B3",
+              "C3"
+            ],
+            [
+              "A4",
+              "B4",
+              "C4"
+            ]
+          ],
+          "parameters": {
+            "format": "irregular",
+            "isMagneticModuleCompatible": false,
+            "isTiprack": false,
+            "loadName": "corning_12_wellplate_6.9ml_flat"
+          },
+          "schemaVersion": 2,
+          "stackingOffsetWithLabware": {
+            "opentrons_aluminum_flat_bottom_plate": {
+              "x": 0,
+              "y": 0,
+              "z": 4.5
+            }
+          },
+          "stackingOffsetWithModule": {},
+          "version": 2,
+          "wells": {
+            "A1": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 24.94,
+              "y": 68.81,
+              "z": 2.49
+            },
+            "A2": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 50.95,
+              "y": 68.81,
+              "z": 2.49
+            },
+            "A3": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 76.96,
+              "y": 68.81,
+              "z": 2.49
+            },
+            "A4": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 102.97,
+              "y": 68.81,
+              "z": 2.49
+            },
+            "B1": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 24.94,
+              "y": 42.8,
+              "z": 2.49
+            },
+            "B2": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 50.95,
+              "y": 42.8,
+              "z": 2.49
+            },
+            "B3": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 76.96,
+              "y": 42.8,
+              "z": 2.49
+            },
+            "B4": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 102.97,
+              "y": 42.8,
+              "z": 2.49
+            },
+            "C1": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 24.94,
+              "y": 16.79,
+              "z": 2.49
+            },
+            "C2": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 50.95,
+              "y": 16.79,
+              "z": 2.49
+            },
+            "C3": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 76.96,
+              "y": 16.79,
+              "z": 2.49
+            },
+            "C4": {
+              "depth": 17.53,
+              "diameter": 22.73,
+              "shape": "circular",
+              "totalLiquidVolume": 6900,
+              "x": 102.97,
+              "y": 16.79,
+              "z": 2.49
+            }
+          }
+        },
+        "labwareId": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "loadModule",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "dd0dee2da1b0019f4d98d523b981fabe",
+      "notes": [],
+      "params": {
+        "location": {
+          "slotName": "B3"
+        },
+        "model": "absorbanceReaderV1"
+      },
+      "result": {
+        "definition": {
+          "calibrationPoint": {
+            "x": 14.4,
+            "y": 64.93,
+            "z": 97.8
+          },
+          "compatibleWith": [],
+          "dimensions": {
+            "bareOverallHeight": 18.5,
+            "lidHeight": 60.0,
+            "overLabwareHeight": 0.0
+          },
+          "displayName": "Absorbance Plate Reader Module GEN1",
+          "gripperOffsets": {},
+          "labwareOffset": {
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.65
+          },
+          "model": "absorbanceReaderV1",
+          "moduleType": "absorbanceReaderType",
+          "otSharedSchema": "module/schemas/2",
+          "quirks": [],
+          "slotTransforms": {
+            "ot2_short_trash": {},
+            "ot2_standard": {},
+            "ot3_standard": {}
+          }
+        },
+        "model": "absorbanceReaderV1",
+        "moduleId": "UUID",
+        "serialNumber": "UUID"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "absorbanceReader/openLid",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "id": "UUID",
+      "key": "0fdcfee21f87b074844138ffaeaa61ee",
+      "notes": [],
+      "params": {
+        "moduleId": "UUID"
+      },
+      "result": {},
+      "startedAt": "TIMESTAMP",
+      "status": "succeeded"
+    },
+    {
+      "commandType": "moveLabware",
+      "completedAt": "TIMESTAMP",
+      "createdAt": "TIMESTAMP",
+      "error": {
+        "createdAt": "TIMESTAMP",
+        "detail": "Cannot move 'corning_12_wellplate_6.9ml_flat' into plate reader because the labware contains 12 wells where 96 wells is expected.",
+        "errorCode": "4000",
+        "errorInfo": {},
+        "errorType": "LabwareMovementNotAllowedError",
+        "id": "UUID",
+        "isDefined": false,
+        "wrappedErrors": []
+      },
+      "id": "UUID",
+      "key": "02138c5885d43cc1dbadfd58415510c4",
+      "notes": [
+        {
+          "longMessage": "Handling this command failure with FAIL_RUN.",
+          "noteKind": "debugErrorRecovery",
+          "shortMessage": "Handling this command failure with FAIL_RUN.",
+          "source": "execution"
+        }
+      ],
+      "params": {
+        "labwareId": "UUID",
+        "newLocation": {
+          "moduleId": "UUID"
+        },
+        "strategy": "usingGripper"
+      },
+      "startedAt": "TIMESTAMP",
+      "status": "failed"
+    }
+  ],
+  "config": {
+    "apiVersion": [
+      2,
+      21
+    ],
+    "protocolType": "python"
+  },
+  "createdAt": "TIMESTAMP",
+  "errors": [
+    {
+      "createdAt": "TIMESTAMP",
+      "detail": "ProtocolCommandFailedError [line 23]: Error 4000 GENERAL_ERROR (ProtocolCommandFailedError): LabwareMovementNotAllowedError: Cannot move 'corning_12_wellplate_6.9ml_flat' into plate reader because the labware contains 12 wells where 96 wells is expected.",
+      "errorCode": "4000",
+      "errorInfo": {},
+      "errorType": "ExceptionInProtocolError",
+      "id": "UUID",
+      "isDefined": false,
+      "wrappedErrors": [
+        {
+          "createdAt": "TIMESTAMP",
+          "detail": "LabwareMovementNotAllowedError: Cannot move 'corning_12_wellplate_6.9ml_flat' into plate reader because the labware contains 12 wells where 96 wells is expected.",
+          "errorCode": "4000",
+          "errorInfo": {},
+          "errorType": "ProtocolCommandFailedError",
+          "id": "UUID",
+          "isDefined": false,
+          "wrappedErrors": [
+            {
+              "createdAt": "TIMESTAMP",
+              "detail": "Cannot move 'corning_12_wellplate_6.9ml_flat' into plate reader because the labware contains 12 wells where 96 wells is expected.",
+              "errorCode": "4000",
+              "errorInfo": {},
+              "errorType": "LabwareMovementNotAllowedError",
+              "id": "UUID",
+              "isDefined": false,
+              "wrappedErrors": []
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "files": [
+    {
+      "name": "Flex_X_v2_21_plate_reader_wrong_plate.py",
+      "role": "main"
+    }
+  ],
+  "labware": [
+    {
+      "definitionUri": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
+      "id": "UUID",
+      "loadName": "opentrons_flex_96_tiprack_1000ul",
+      "location": {
+        "slotName": "D2"
+      }
+    },
+    {
+      "definitionUri": "opentrons/corning_12_wellplate_6.9ml_flat/2",
+      "id": "UUID",
+      "loadName": "corning_12_wellplate_6.9ml_flat",
+      "location": {
+        "slotName": "C2"
+      }
+    }
+  ],
+  "liquidClasses": [],
+  "liquids": [],
+  "metadata": {
+    "protocolName": "plate_reader wrong plate"
+  },
+  "modules": [
+    {
+      "id": "UUID",
+      "location": {
+        "slotName": "B3"
+      },
+      "model": "absorbanceReaderV1",
+      "serialNumber": "UUID"
+    }
+  ],
+  "pipettes": [
+    {
+      "id": "UUID",
+      "mount": "right",
+      "pipetteName": "p1000_multi_flex"
+    }
+  ],
+  "result": "not-ok",
+  "robotType": "OT-3 Standard",
+  "runTimeParameters": []
+}
diff --git a/api/src/opentrons/drivers/flex_stacker/__init__.py b/api/src/opentrons/drivers/flex_stacker/__init__.py
index cd4866c179a..66b4cda546b 100644
--- a/api/src/opentrons/drivers/flex_stacker/__init__.py
+++ b/api/src/opentrons/drivers/flex_stacker/__init__.py
@@ -1,9 +1,12 @@
-from .abstract import AbstractStackerDriver
-from .driver import FlexStackerDriver
+from .abstract import AbstractFlexStackerDriver
+from .driver import FlexStackerDriver, STACKER_MOTION_CONFIG
 from .simulator import SimulatingDriver
+from . import types as FlexStackerTypes
 
 __all__ = [
-    "AbstractStackerDriver",
+    "AbstractFlexStackerDriver",
     "FlexStackerDriver",
     "SimulatingDriver",
+    "FlexStackerTypes",
+    "STACKER_MOTION_CONFIG",
 ]
diff --git a/api/src/opentrons/drivers/flex_stacker/abstract.py b/api/src/opentrons/drivers/flex_stacker/abstract.py
index 5ba3cdcb026..222e6715086 100644
--- a/api/src/opentrons/drivers/flex_stacker/abstract.py
+++ b/api/src/opentrons/drivers/flex_stacker/abstract.py
@@ -1,6 +1,8 @@
-from typing import Protocol
+from typing import List, Protocol
 
 from .types import (
+    LimitSwitchStatus,
+    MoveResult,
     StackerAxis,
     PlatformStatus,
     Direction,
@@ -10,7 +12,7 @@
 )
 
 
-class AbstractStackerDriver(Protocol):
+class AbstractFlexStackerDriver(Protocol):
     """Protocol for the Stacker driver."""
 
     async def connect(self) -> None:
@@ -25,10 +27,6 @@ async def is_connected(self) -> bool:
         """Check connection to stacker."""
         ...
 
-    async def update_firmware(self, firmware_file_path: str) -> None:
-        """Updates the firmware on the device."""
-        ...
-
     async def get_device_info(self) -> StackerInfo:
         """Get Device Info."""
         ...
@@ -37,10 +35,26 @@ async def set_serial_number(self, sn: str) -> bool:
         """Set Serial Number."""
         ...
 
+    async def enable_motors(self, axis: List[StackerAxis]) -> bool:
+        """Enables the axis motor if present, disables it otherwise."""
+        ...
+
     async def stop_motors(self) -> bool:
         """Stop all motor movement."""
         ...
 
+    async def set_run_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis peak run current in amps."""
+        ...
+
+    async def set_ihold_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis hold current in amps."""
+        ...
+
+    async def get_motion_params(self, axis: StackerAxis) -> MoveParams:
+        """Get the motion parameters used by the given axis motor."""
+        ...
+
     async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
 
@@ -48,6 +62,10 @@ async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> boo
         """
         ...
 
+    async def get_limit_switches_status(self) -> LimitSwitchStatus:
+        """Get limit switch statuses for all axes."""
+        ...
+
     async def get_platform_sensor(self, direction: Direction) -> bool:
         """Get platform sensor status.
 
@@ -68,13 +86,13 @@ async def get_hopper_door_closed(self) -> bool:
 
     async def move_in_mm(
         self, axis: StackerAxis, distance: float, params: MoveParams | None = None
-    ) -> bool:
-        """Move axis."""
+    ) -> MoveResult:
+        """Move axis by the given distance in mm."""
         ...
 
     async def move_to_limit_switch(
         self, axis: StackerAxis, direction: Direction, params: MoveParams | None = None
-    ) -> bool:
+    ) -> MoveResult:
         """Move until limit switch is triggered."""
         ...
 
@@ -87,3 +105,7 @@ async def set_led(
     ) -> bool:
         """Set LED color of status bar."""
         ...
+
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        ...
diff --git a/api/src/opentrons/drivers/flex_stacker/driver.py b/api/src/opentrons/drivers/flex_stacker/driver.py
index 83671023772..366ea08b5f5 100644
--- a/api/src/opentrons/drivers/flex_stacker/driver.py
+++ b/api/src/opentrons/drivers/flex_stacker/driver.py
@@ -1,13 +1,14 @@
 import asyncio
 import re
-from typing import Optional
+from typing import List, Optional
 
 from opentrons.drivers.command_builder import CommandBuilder
 from opentrons.drivers.asyncio.communication import AsyncResponseSerialConnection
 
-from .abstract import AbstractStackerDriver
+from .abstract import AbstractFlexStackerDriver
 from .types import (
     GCODE,
+    MoveResult,
     StackerAxis,
     PlatformStatus,
     Direction,
@@ -28,7 +29,59 @@
 GCODE_ROUNDING_PRECISION = 2
 
 
-class FlexStackerDriver(AbstractStackerDriver):
+STACKER_MOTION_CONFIG = {
+    StackerAxis.X: {
+        "home": MoveParams(
+            StackerAxis.X,
+            max_speed=10.0,
+            acceleration=100.0,
+            max_speed_discont=40,
+            current=1.5,
+        ),
+        "move": MoveParams(
+            StackerAxis.X,
+            max_speed=200.0,
+            acceleration=1500.0,
+            max_speed_discont=40,
+            current=1.0,
+        ),
+    },
+    StackerAxis.Z: {
+        "home": MoveParams(
+            StackerAxis.Z,
+            max_speed=10.0,
+            acceleration=100.0,
+            max_speed_discont=40,
+            current=1.5,
+        ),
+        "move": MoveParams(
+            StackerAxis.Z,
+            max_speed=200.0,
+            acceleration=500.0,
+            max_speed_discont=40,
+            current=1.5,
+        ),
+    },
+    StackerAxis.L: {
+        "home": MoveParams(
+            StackerAxis.L,
+            max_speed=100.0,
+            acceleration=800.0,
+            max_speed_discont=40,
+            current=0.8,
+        ),
+        "move": MoveParams(
+            StackerAxis.L,
+            max_speed=100.0,
+            acceleration=800.0,
+            max_speed_discont=40,
+            current=0.6,
+        ),
+    },
+}
+
+
+class FlexStackerDriver(AbstractFlexStackerDriver):
     """FLEX Stacker driver."""
 
     @classmethod
@@ -76,6 +129,27 @@ def parse_door_closed(cls, response: str) -> bool:
             raise ValueError(f"Incorrect Response for door closed: {response}")
         return bool(int(match.group(1)))
 
+    @classmethod
+    def parse_move_params(cls, response: str) -> MoveParams:
+        """Parse move params."""
+        field_names = MoveParams.get_fields()
+        pattern = r"\s".join(
+            [
+                rf"{f}:(?P<{f}>(\d*\.)?\d+)" if f != "M" else rf"{f}:(?P<{f}>[X,Z,L])"
+                for f in field_names
+            ]
+        )
+        _RE = re.compile(f"^{GCODE.GET_MOVE_PARAMS} {pattern}$")
+        m = _RE.match(response)
+        if not m:
+            raise ValueError(f"Incorrect Response for move params: {response}")
+        return MoveParams(
+            axis=StackerAxis(m.group("M")),
+            max_speed=float(m.group("V")),
+            acceleration=float(m.group("A")),
+            max_speed_discont=float(m.group("D")),
+        )
+
     @classmethod
     def append_move_params(
         cls, command: CommandBuilder, params: MoveParams | None
@@ -148,6 +222,16 @@ async def set_serial_number(self, sn: str) -> bool:
             raise ValueError(f"Incorrect Response for set serial number: {resp}")
         return True
 
+    async def enable_motors(self, axis: List[StackerAxis]) -> bool:
+        """Enables the axis motor if present, disables it otherwise."""
+        command = GCODE.ENABLE_MOTORS.build_command()
+        for a in axis:
+            command.add_element(a.name)
+        resp = await self._connection.send_command(command)
+        if not re.match(rf"^{GCODE.ENABLE_MOTORS}$", resp):
+            raise ValueError(f"Incorrect Response for enable motors: {resp}")
+        return True
+
     async def stop_motors(self) -> bool:
         """Stop all motor movement."""
         resp = await self._connection.send_command(GCODE.STOP_MOTORS.build_command())
@@ -155,6 +239,31 @@ async def stop_motors(self) -> bool:
             raise ValueError(f"Incorrect Response for stop motors: {resp}")
         return True
 
+    async def set_run_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis peak run current in amps."""
+        resp = await self._connection.send_command(
+            GCODE.SET_RUN_CURRENT.build_command().add_float(axis.name, current)
+        )
+        if not re.match(rf"^{GCODE.SET_RUN_CURRENT}$", resp):
+            raise ValueError(f"Incorrect Response for set run current: {resp}")
+        return True
+
+    async def set_ihold_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis hold current in amps."""
+        resp = await self._connection.send_command(
+            GCODE.SET_IHOLD_CURRENT.build_command().add_float(axis.name, current)
+        )
+        if not re.match(rf"^{GCODE.SET_IHOLD_CURRENT}$", resp):
+            raise ValueError(f"Incorrect Response for set ihold current: {resp}")
+        return True
+
+    async def get_motion_params(self, axis: StackerAxis) -> MoveParams:
+        """Get the motion parameters used by the given axis motor."""
+        response = await self._connection.send_command(
+            GCODE.GET_MOVE_PARAMS.build_command().add_element(axis.name)
+        )
+        return self.parse_move_params(response)
+
     async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
 
@@ -197,8 +306,8 @@ async def get_hopper_door_closed(self) -> bool:
 
     async def move_in_mm(
         self, axis: StackerAxis, distance: float, params: MoveParams | None = None
-    ) -> bool:
-        """Move axis."""
+    ) -> MoveResult:
+        """Move axis by the given distance in mm."""
         command = self.append_move_params(
             GCODE.MOVE_TO.build_command().add_float(
                 axis.name, distance, GCODE_ROUNDING_PRECISION
@@ -208,11 +317,12 @@ async def move_in_mm(
         resp = await self._connection.send_command(command)
         if not re.match(rf"^{GCODE.MOVE_TO}$", resp):
             raise ValueError(f"Incorrect Response for move to: {resp}")
-        return True
+        # TODO: handle STALL_ERROR
+        return MoveResult.NO_ERROR
 
     async def move_to_limit_switch(
         self, axis: StackerAxis, direction: Direction, params: MoveParams | None = None
-    ) -> bool:
+    ) -> MoveResult:
         """Move until limit switch is triggered."""
         command = self.append_move_params(
             GCODE.MOVE_TO_SWITCH.build_command().add_int(axis.name, direction.value),
@@ -221,7 +331,8 @@ async def move_to_limit_switch(
         resp = await self._connection.send_command(command)
         if not re.match(rf"^{GCODE.MOVE_TO_SWITCH}$", resp):
             raise ValueError(f"Incorrect Response for move to switch: {resp}")
-        return True
+        # TODO: handle STALL_ERROR
+        return MoveResult.NO_ERROR
 
     async def home_axis(self, axis: StackerAxis, direction: Direction) -> bool:
         """Home axis."""
@@ -254,7 +365,8 @@ async def set_led(
             raise ValueError(f"Incorrect Response for set led: {resp}")
         return True
 
-    async def update_firmware(self, firmware_file_path: str) -> None:
-        """Updates the firmware on the device."""
-        # TODO: Implement firmware update
-        pass
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        command = GCODE.ENTER_BOOTLOADER.build_command()
+        await self._connection.send_dfu_command(command)
+        await self._connection.close()
diff --git a/api/src/opentrons/drivers/flex_stacker/simulator.py b/api/src/opentrons/drivers/flex_stacker/simulator.py
index 1e0b59b19de..1ceedabf146 100644
--- a/api/src/opentrons/drivers/flex_stacker/simulator.py
+++ b/api/src/opentrons/drivers/flex_stacker/simulator.py
@@ -1,9 +1,11 @@
-from typing import Optional
+from typing import List, Optional
 
 from opentrons.util.async_helpers import ensure_yield
 
-from .abstract import AbstractStackerDriver
+from .abstract import AbstractFlexStackerDriver
 from .types import (
+    LEDColor,
+    MoveResult,
     StackerAxis,
     PlatformStatus,
     Direction,
@@ -14,7 +16,7 @@
 )
 
 
-class SimulatingDriver(AbstractStackerDriver):
+class SimulatingDriver(AbstractFlexStackerDriver):
     """FLEX Stacker driver simulator."""
 
     def __init__(self, serial_number: Optional[str] = None) -> None:
@@ -60,11 +62,27 @@ async def set_serial_number(self, sn: str) -> bool:
         """Set Serial Number."""
         return True
 
+    async def enable_motors(self, axis: List[StackerAxis]) -> bool:
+        """Enables the axis motor if present, disables it otherwise."""
+        return True
+
     @ensure_yield
-    async def stop_motor(self) -> bool:
-        """Stop motor movement."""
+    async def stop_motors(self) -> bool:
+        """Stop all motor movement."""
+        return True
+
+    async def set_run_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis peak run current in amps."""
+        return True
+
+    async def set_ihold_current(self, axis: StackerAxis, current: float) -> bool:
+        """Set axis hold current in amps."""
         return True
 
+    async def get_motion_params(self, axis: StackerAxis) -> MoveParams:
+        """Get the motion parameters used by the given axis motor."""
+        return MoveParams(axis, 1, 1, 1)
+
     @ensure_yield
     async def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
@@ -78,12 +96,15 @@ async def get_limit_switches_status(self) -> LimitSwitchStatus:
         """Get limit switch statuses for all axes."""
         return self._limit_switch_status
 
-    @ensure_yield
-    async def get_platform_sensor_status(self) -> PlatformStatus:
+    async def get_platform_sensor(self, direction: Direction) -> bool:
         """Get platform sensor status.
 
-        :return: True if platform is detected, False otherwise
+        :return: True if platform is present, False otherwise
         """
+        return True
+
+    async def get_platform_status(self) -> PlatformStatus:
+        """Get platform status."""
         return self._platform_sensor_status
 
     @ensure_yield
@@ -97,13 +118,27 @@ async def get_hopper_door_closed(self) -> bool:
     @ensure_yield
     async def move_in_mm(
         self, axis: StackerAxis, distance: float, params: MoveParams | None = None
-    ) -> bool:
-        """Move axis."""
-        return True
+    ) -> MoveResult:
+        """Move axis by the given distance in mm."""
+        return MoveResult.NO_ERROR
 
     @ensure_yield
     async def move_to_limit_switch(
         self, axis: StackerAxis, direction: Direction, params: MoveParams | None = None
-    ) -> bool:
+    ) -> MoveResult:
         """Move until limit switch is triggered."""
+        return MoveResult.NO_ERROR
+
+    async def home_axis(self, axis: StackerAxis, direction: Direction) -> bool:
+        """Home axis."""
         return True
+
+    async def set_led(
+        self, power: float, color: LEDColor | None = None, external: bool | None = None
+    ) -> bool:
+        """Set LED color."""
+        return True
+
+    async def enter_programming_mode(self) -> None:
+        """Reboot into programming mode"""
+        pass
diff --git a/api/src/opentrons/drivers/flex_stacker/types.py b/api/src/opentrons/drivers/flex_stacker/types.py
index 4035aaaa755..9f8e8825b93 100644
--- a/api/src/opentrons/drivers/flex_stacker/types.py
+++ b/api/src/opentrons/drivers/flex_stacker/types.py
@@ -1,6 +1,6 @@
 from enum import Enum
 from dataclasses import dataclass, fields
-from typing import List
+from typing import List, Dict, Optional
 
 from opentrons.drivers.command_builder import CommandBuilder
 
@@ -11,13 +11,17 @@ class GCODE(str, Enum):
     MOVE_TO_SWITCH = "G5"
     HOME_AXIS = "G28"
     STOP_MOTORS = "M0"
+    ENABLE_MOTORS = "M17"
     GET_RESET_REASON = "M114"
     DEVICE_INFO = "M115"
     GET_LIMIT_SWITCH = "M119"
-    SET_LED = "M200"
+    GET_MOVE_PARAMS = "M120"
     GET_PLATFORM_SENSOR = "M121"
     GET_DOOR_SWITCH = "M122"
+    SET_LED = "M200"
     SET_SERIAL_NUMBER = "M996"
+    SET_RUN_CURRENT = "M906"
+    SET_IHOLD_CURRENT = "M907"
     ENTER_BOOTLOADER = "dfu"
 
     def build_command(self) -> CommandBuilder:
@@ -45,6 +49,14 @@ class StackerInfo:
     hw: HardwareRevision
     sn: str
 
+    def to_dict(self) -> Dict[str, str]:
+        """Build command."""
+        return {
+            "serial": self.sn,
+            "version": self.fw,
+            "model": self.hw.value,
+        }
+
 
 class StackerAxis(Enum):
     """Stacker Axis."""
@@ -128,11 +140,33 @@ def get(self, direction: Direction) -> bool:
         """Get platform status."""
         return self.E if direction == Direction.EXTENT else self.R
 
+    def to_dict(self) -> Dict[str, bool]:
+        """Dict of the data."""
+        return {
+            "extent": self.E,
+            "retract": self.R,
+        }
+
 
 @dataclass
 class MoveParams:
     """Move Parameters."""
 
-    max_speed: float | None = None
-    acceleration: float | None = None
-    max_speed_discont: float | None = None
+    axis: Optional[StackerAxis] = None
+    max_speed: Optional[float] = None
+    acceleration: Optional[float] = None
+    max_speed_discont: Optional[float] = None
+    current: Optional[float] = 0
+
+    @classmethod
+    def get_fields(cls) -> List[str]:
+        """Get parsing fields."""
+        return ["M", "V", "A", "D"]
+
+
+class MoveResult(str, Enum):
+    """The result of a move command."""
+
+    NO_ERROR = "ok"
+    STALL_ERROR = "stall"
+    UNKNOWN_ERROR = "unknown"
diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
index 84ffbffd8da..70d895560ee 100644
--- a/api/src/opentrons/hardware_control/backends/ot3controller.py
+++ b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -1397,7 +1397,11 @@ async def clean_up(self) -> None:
             return
 
         if hasattr(self, "_event_watcher"):
-            if loop.is_running() and self._event_watcher:
+            if (
+                loop.is_running()
+                and self._event_watcher
+                and not self._event_watcher.closed
+            ):
                 self._event_watcher.close()
 
         messenger = getattr(self, "_messenger", None)
diff --git a/api/src/opentrons/hardware_control/modules/__init__.py b/api/src/opentrons/hardware_control/modules/__init__.py
index 67a6c442f39..985b5970fec 100644
--- a/api/src/opentrons/hardware_control/modules/__init__.py
+++ b/api/src/opentrons/hardware_control/modules/__init__.py
@@ -4,6 +4,7 @@
 from .thermocycler import Thermocycler
 from .heater_shaker import HeaterShaker
 from .absorbance_reader import AbsorbanceReader
+from .flex_stacker import FlexStacker
 from .update import update_firmware
 from .utils import MODULE_TYPE_BY_NAME, build
 from .types import (
@@ -19,8 +20,13 @@
     MagneticStatus,
     HeaterShakerStatus,
     AbsorbanceReaderStatus,
+    PlatformState,
+    StackerAxisState,
+    FlexStackerStatus,
     SpeedStatus,
     LiveData,
+    ModuleData,
+    ModuleDataValidator,
 )
 from .errors import (
     UpdateError,
@@ -51,8 +57,13 @@
     "HeaterShakerStatus",
     "SpeedStatus",
     "LiveData",
+    "ModuleData",
+    "ModuleDataValidator",
     "AbsorbanceReader",
     "AbsorbanceReaderStatus",
     "AbsorbanceReaderDisconnectedError",
-    "ModuleDisconnectedCallback",
+    "FlexStacker",
+    "FlexStackerStatus",
+    "PlatformState",
+    "StackerAxisState",
 ]
diff --git a/api/src/opentrons/hardware_control/modules/absorbance_reader.py b/api/src/opentrons/hardware_control/modules/absorbance_reader.py
index ec4a80b7f60..a12548ef6ed 100644
--- a/api/src/opentrons/hardware_control/modules/absorbance_reader.py
+++ b/api/src/opentrons/hardware_control/modules/absorbance_reader.py
@@ -24,6 +24,7 @@
     ModuleType,
     AbsorbanceReaderStatus,
     LiveData,
+    AbsorbanceReaderData,
     UploadFunction,
 )
 from opentrons.hardware_control.modules.errors import AbsorbanceReaderDisconnectedError
@@ -243,17 +244,18 @@ def device_info(self) -> Mapping[str, str]:
     def live_data(self) -> LiveData:
         """Return a dict of the module's dynamic information"""
         conf = self._measurement_config.data if self._measurement_config else dict()
+        data: AbsorbanceReaderData = {
+            "uptime": self.uptime,
+            "deviceStatus": self.status.value,
+            "lidStatus": self.lid_status.value,
+            "platePresence": self.plate_presence.value,
+            "measureMode": conf.get("measureMode", ""),
+            "sampleWavelengths": conf.get("sampleWavelengths", []),
+            "referenceWavelength": conf.get("referenceWavelength", 0),
+        }
         return {
             "status": self.status.value,
-            "data": {
-                "uptime": self.uptime,
-                "deviceStatus": self.status.value,
-                "lidStatus": self.lid_status.value,
-                "platePresence": self.plate_presence.value,
-                "measureMode": conf.get("measureMode", ""),
-                "sampleWavelengths": conf.get("sampleWavelengths", []),
-                "referenceWavelength": conf.get("referenceWavelength", 0),
-            },
+            "data": data,
         }
 
     @property
diff --git a/api/src/opentrons/hardware_control/modules/flex_stacker.py b/api/src/opentrons/hardware_control/modules/flex_stacker.py
new file mode 100644
index 00000000000..295311e05ca
--- /dev/null
+++ b/api/src/opentrons/hardware_control/modules/flex_stacker.py
@@ -0,0 +1,435 @@
+from __future__ import annotations
+
+import asyncio
+import logging
+from typing import Dict, Optional, Mapping
+
+from opentrons.drivers.flex_stacker.types import (
+    Direction,
+    MoveParams,
+    MoveResult,
+    StackerAxis,
+)
+from opentrons.drivers.rpi_drivers.types import USBPort
+from opentrons.drivers.flex_stacker.driver import (
+    STACKER_MOTION_CONFIG,
+    FlexStackerDriver,
+)
+from opentrons.drivers.flex_stacker.abstract import AbstractFlexStackerDriver
+from opentrons.drivers.flex_stacker.simulator import SimulatingDriver
+from opentrons.hardware_control.execution_manager import ExecutionManager
+from opentrons.hardware_control.poller import Reader, Poller
+from opentrons.hardware_control.modules import mod_abc, update
+from opentrons.hardware_control.modules.types import (
+    FlexStackerStatus,
+    HopperDoorState,
+    LatchState,
+    ModuleDisconnectedCallback,
+    ModuleType,
+    PlatformState,
+    StackerAxisState,
+    UploadFunction,
+    LiveData,
+    FlexStackerData,
+)
+
+log = logging.getLogger(__name__)
+
+POLL_PERIOD = 1.0
+SIMULATING_POLL_PERIOD = POLL_PERIOD / 20.0
+
+DFU_PID = "df11"
+
+# Maximum distance in mm the axis can travel.
+MAX_TRAVEL = {
+    StackerAxis.X: 192.5,
+    StackerAxis.Z: 136.0,
+    StackerAxis.L: 23.0,
+}
+
+# The offset in mm to subtract from MAX_TRAVEL when moving an axis before we home.
+# This lets us use `move_axis` to move fast, leaving the axis OFFSET mm
+# from the limit switch. Then we can use `home_axis` to move the axis the rest
+# of the way until we trigger the expected limit switch.
+OFFSET_SM = 5.0
+OFFSET_MD = 10.0
+OFFSET_LG = 20.0
+
+
+class FlexStacker(mod_abc.AbstractModule):
+    """Hardware control interface for an attached Flex-Stacker module."""
+
+    MODULE_TYPE = ModuleType.FLEX_STACKER
+
+    @classmethod
+    async def build(
+        cls,
+        port: str,
+        usb_port: USBPort,
+        execution_manager: ExecutionManager,
+        hw_control_loop: asyncio.AbstractEventLoop,
+        poll_interval_seconds: Optional[float] = None,
+        simulating: bool = False,
+        sim_model: Optional[str] = None,
+        sim_serial_number: Optional[str] = None,
+        disconnected_callback: ModuleDisconnectedCallback = None,
+    ) -> "FlexStacker":
+        """
+        Build a FlexStacker
+
+        Args:
+            port: The port to connect to
+            usb_port: USB Port
+            execution_manager: Execution manager.
+            hw_control_loop: The event loop running in the hardware control thread.
+            poll_interval_seconds: Poll interval override.
+            simulating: whether to build a simulating driver
+            loop: Loop
+            sim_model: The model name used by simulator
+            disconnected_callback: Callback to inform the module controller that the device was disconnected
+
+        Returns:
+            FlexStacker instance
+        """
+        driver: AbstractFlexStackerDriver
+        if not simulating:
+            driver = await FlexStackerDriver.create(port=port, loop=hw_control_loop)
+            poll_interval_seconds = poll_interval_seconds or POLL_PERIOD
+        else:
+            driver = SimulatingDriver(serial_number=sim_serial_number)
+            poll_interval_seconds = poll_interval_seconds or SIMULATING_POLL_PERIOD
+
+        reader = FlexStackerReader(driver=driver)
+        poller = Poller(reader=reader, interval=poll_interval_seconds)
+        module = cls(
+            port=port,
+            usb_port=usb_port,
+            driver=driver,
+            reader=reader,
+            poller=poller,
+            device_info=(await driver.get_device_info()).to_dict(),
+            hw_control_loop=hw_control_loop,
+            execution_manager=execution_manager,
+            disconnected_callback=disconnected_callback,
+        )
+
+        try:
+            await poller.start()
+        except Exception:
+            log.exception(f"First read of Flex-Stacker on port {port} failed")
+
+        return module
+
+    def __init__(
+        self,
+        port: str,
+        usb_port: USBPort,
+        execution_manager: ExecutionManager,
+        driver: AbstractFlexStackerDriver,
+        reader: FlexStackerReader,
+        poller: Poller,
+        device_info: Mapping[str, str],
+        hw_control_loop: asyncio.AbstractEventLoop,
+        disconnected_callback: ModuleDisconnectedCallback = None,
+    ):
+        super().__init__(
+            port=port,
+            usb_port=usb_port,
+            hw_control_loop=hw_control_loop,
+            execution_manager=execution_manager,
+            disconnected_callback=disconnected_callback,
+        )
+        self._device_info = device_info
+        self._driver = driver
+        self._reader = reader
+        self._poller = poller
+        self._stacker_status = FlexStackerStatus.IDLE
+
+    async def cleanup(self) -> None:
+        """Stop the poller task"""
+        await self._poller.stop()
+        await self._driver.disconnect()
+
+    @classmethod
+    def name(cls) -> str:
+        """Used for picking up serial port symlinks"""
+        return "flexstacker"
+
+    def firmware_prefix(self) -> str:
+        """The prefix used for looking up firmware"""
+        return "flex-stacker"
+
+    @staticmethod
+    def _model_from_revision(revision: Optional[str]) -> str:
+        """Defines the revision -> model mapping"""
+        return "flexStackerModuleV1"
+
+    def model(self) -> str:
+        return self._model_from_revision(self._device_info.get("model"))
+
+    @property
+    def latch_state(self) -> LatchState:
+        """The state of the latch."""
+        return LatchState.from_state(self.limit_switch_status[StackerAxis.L])
+
+    @property
+    def platform_state(self) -> PlatformState:
+        """The state of the platform."""
+        return self._reader.platform_state
+
+    @property
+    def hopper_door_state(self) -> HopperDoorState:
+        """The status of the hopper door."""
+        return HopperDoorState.from_state(self._reader.hopper_door_closed)
+
+    @property
+    def limit_switch_status(self) -> Dict[StackerAxis, StackerAxisState]:
+        """The status of the Limit switches."""
+        return self._reader.limit_switch_status
+
+    @property
+    def device_info(self) -> Mapping[str, str]:
+        return self._device_info
+
+    @property
+    def status(self) -> FlexStackerStatus:
+        """Module status or error state details."""
+        return self._stacker_status
+
+    @property
+    def is_simulated(self) -> bool:
+        return isinstance(self._driver, SimulatingDriver)
+
+    @property
+    def live_data(self) -> LiveData:
+        data: FlexStackerData = {
+            "latchState": self.latch_state.value,
+            "platformState": self.platform_state.value,
+            "hopperDoorState": self.hopper_door_state.value,
+            "axisStateX": self.limit_switch_status[StackerAxis.X].value,
+            "axisStateZ": self.limit_switch_status[StackerAxis.Z].value,
+            "errorDetails": self._reader.error,
+        }
+        return {"status": self.status.value, "data": data}
+
+    async def prep_for_update(self) -> str:
+        await self._poller.stop()
+        await self._driver.stop_motors()
+        await self._driver.enter_programming_mode()
+        # flex stacker has three unique "devices" over DFU
+        dfu_info = await update.find_dfu_device(pid=DFU_PID, expected_device_count=3)
+        return dfu_info
+
+    def bootloader(self) -> UploadFunction:
+        return update.upload_via_dfu
+
+    async def deactivate(self, must_be_running: bool = True) -> None:
+        await self._driver.stop_motors()
+
+    async def move_axis(
+        self,
+        axis: StackerAxis,
+        direction: Direction,
+        distance: float,
+        speed: Optional[float] = None,
+        acceleration: Optional[float] = None,
+        current: Optional[float] = None,
+    ) -> bool:
+        """Move the axis in a direction by the given distance in mm."""
+        motion_params = STACKER_MOTION_CONFIG[axis]["move"]
+        await self._driver.set_run_current(axis, current or motion_params.current or 0)
+        if any([speed, acceleration]):
+            motion_params.max_speed = speed or motion_params.max_speed
+            motion_params.acceleration = acceleration or motion_params.acceleration
+        distance = direction.distance(distance)
+        success = await self._driver.move_in_mm(axis, distance, params=motion_params)
+        # TODO: This can return a stall, handle that here
+        return success == MoveResult.NO_ERROR
+
+    async def home_axis(
+        self,
+        axis: StackerAxis,
+        direction: Direction,
+        speed: Optional[float] = None,
+        acceleration: Optional[float] = None,
+        current: Optional[float] = None,
+    ) -> bool:
+        motion_params = STACKER_MOTION_CONFIG[axis]["home"]
+        await self._driver.set_run_current(axis, current or motion_params.current or 0)
+        # Set the max hold current for the Z axis
+        if axis == StackerAxis.Z:
+            await self._driver.set_ihold_current(axis, 1.8)
+        if any([speed, acceleration]):
+            motion_params.max_speed = speed or motion_params.max_speed
+            motion_params.acceleration = acceleration or motion_params.acceleration
+        success = await self._driver.move_to_limit_switch(
+            axis=axis, direction=direction, params=motion_params
+        )
+        # TODO: This can return a stall, handle that here
+        return success == MoveResult.NO_ERROR
+
+    async def close_latch(
+        self,
+        velocity: Optional[float] = None,
+        acceleration: Optional[float] = None,
+    ) -> bool:
+        """Close the latch, dropping any labware its holding."""
+        # Dont move the latch if its already closed.
+        if self.limit_switch_status[StackerAxis.L] == StackerAxisState.EXTENDED:
+            return True
+        motion_params = STACKER_MOTION_CONFIG[StackerAxis.L]["move"]
+        speed = velocity or motion_params.max_speed
+        accel = acceleration or motion_params.acceleration
+        success = await self.home_axis(
+            StackerAxis.L,
+            Direction.RETRACT,
+            speed=speed,
+            acceleration=accel,
+        )
+        # Check that the latch is closed.
+        await self._reader.get_limit_switch_status()
+        return (
+            success
+            and self.limit_switch_status[StackerAxis.L] == StackerAxisState.EXTENDED
+        )
+
+    async def open_latch(
+        self,
+        velocity: Optional[float] = None,
+        acceleration: Optional[float] = None,
+    ) -> bool:
+        """Open the latch."""
+        # Dont move the latch if its already opened.
+        if self.limit_switch_status[StackerAxis.L] == StackerAxisState.RETRACTED:
+            return True
+        motion_params = STACKER_MOTION_CONFIG[StackerAxis.L]["move"]
+        speed = velocity or motion_params.max_speed
+        accel = acceleration or motion_params.acceleration
+        distance = MAX_TRAVEL[StackerAxis.L]
+        # The latch only has one limit switch, so we have to travel a fixed distance
+        # to open the latch.
+        success = await self.move_axis(
+            StackerAxis.L,
+            Direction.EXTENT,
+            distance=distance,
+            speed=speed,
+            acceleration=accel,
+        )
+        # Check that the latch is opened.
+        await self._reader.get_limit_switch_status()
+        axis_state = self.limit_switch_status[StackerAxis.L]
+        return success and axis_state == StackerAxisState.RETRACTED
+
+    async def dispense_labware(self, labware_height: float) -> bool:
+        """Dispenses the next labware in the stacker."""
+        await self._prepare_for_action()
+
+        # Move platform along the X then Z axis
+        await self._move_and_home_axis(StackerAxis.X, Direction.RETRACT, OFFSET_SM)
+        await self._move_and_home_axis(StackerAxis.Z, Direction.EXTENT, OFFSET_SM)
+
+        # Transfer
+        await self.open_latch()
+        await self.move_axis(StackerAxis.Z, Direction.RETRACT, (labware_height / 2) + 2)
+        await self.close_latch()
+
+        # Move platform along the Z then X axis
+        offset = labware_height / 2 + OFFSET_MD
+        await self._move_and_home_axis(StackerAxis.Z, Direction.RETRACT, offset)
+        await self._move_and_home_axis(StackerAxis.X, Direction.EXTENT, OFFSET_SM)
+        return True
+
+    async def store_labware(self, labware_height: float) -> bool:
+        """Stores a labware in the stacker."""
+        await self._prepare_for_action()
+
+        # Move X then Z axis
+        distance = MAX_TRAVEL[StackerAxis.Z] - (labware_height / 2) - OFFSET_MD
+        await self._move_and_home_axis(StackerAxis.X, Direction.RETRACT, OFFSET_SM)
+        await self.move_axis(StackerAxis.Z, Direction.EXTENT, distance)
+
+        # Transfer
+        await self.open_latch()
+        await self.move_axis(StackerAxis.Z, Direction.EXTENT, (labware_height / 2))
+        await self.home_axis(StackerAxis.Z, Direction.EXTENT)
+        await self.close_latch()
+
+        # Move Z then X axis
+        await self._move_and_home_axis(StackerAxis.Z, Direction.RETRACT, OFFSET_LG)
+        await self._move_and_home_axis(StackerAxis.X, Direction.EXTENT, OFFSET_SM)
+        return True
+
+    async def _move_and_home_axis(
+        self, axis: StackerAxis, direction: Direction, offset: float = 0
+    ) -> bool:
+        distance = MAX_TRAVEL[axis] - offset
+        await self.move_axis(axis, direction, distance)
+        return await self.home_axis(axis, direction)
+
+    async def _prepare_for_action(self) -> bool:
+        """Helper to prepare axis for dispensing or storing labware."""
+        # TODO: check if we need to home first
+        await self.home_axis(StackerAxis.X, Direction.EXTENT)
+        await self.home_axis(StackerAxis.Z, Direction.RETRACT)
+        await self.close_latch()
+        return True
+
+
+class FlexStackerReader(Reader):
+    error: Optional[str]
+
+    def __init__(self, driver: AbstractFlexStackerDriver) -> None:
+        self.error: Optional[str] = None
+        self._driver = driver
+        self.limit_switch_status = {
+            axis: StackerAxisState.UNKNOWN for axis in StackerAxis
+        }
+        self.platform_state = PlatformState.UNKNOWN
+        self.hopper_door_closed = False
+        self.motion_params = {axis: MoveParams(axis=axis) for axis in StackerAxis}
+        self.get_config = True
+
+    async def read(self) -> None:
+        await self.get_limit_switch_status()
+        await self.get_platform_sensor_state()
+        await self.get_door_closed()
+        if self.get_config:
+            await self.get_motion_parameters()
+            self.get_config = False
+        self._set_error(None)
+
+    async def get_limit_switch_status(self) -> None:
+        """Get the limit switch status."""
+        status = await self._driver.get_limit_switches_status()
+        self.limit_switch_status = {
+            StackerAxis.X: StackerAxisState.from_status(status, StackerAxis.X),
+            StackerAxis.Z: StackerAxisState.from_status(status, StackerAxis.Z),
+            StackerAxis.L: StackerAxisState.from_status(status, StackerAxis.L),
+        }
+
+    async def get_motion_parameters(self) -> None:
+        """Get the motion parameters used by the axis motors."""
+        self.move_params = {
+            axis: self._driver.get_motion_params(axis) for axis in StackerAxis
+        }
+
+    async def get_platform_sensor_state(self) -> None:
+        """Get the platform state."""
+        status = await self._driver.get_platform_status()
+        self.platform_state = PlatformState.from_status(status)
+
+    async def get_door_closed(self) -> None:
+        """Check if the hopper door is closed."""
+        self.hopper_door_closed = await self._driver.get_hopper_door_closed()
+
+    def on_error(self, exception: Exception) -> None:
+        self._set_error(exception)
+
+    def _set_error(self, exception: Optional[Exception]) -> None:
+        if exception is None:
+            self.error = None
+        else:
+            try:
+                self.error = str(exception.args[0])
+            except Exception:
+                self.error = repr(exception)
diff --git a/api/src/opentrons/hardware_control/modules/heater_shaker.py b/api/src/opentrons/hardware_control/modules/heater_shaker.py
index cc592d3c514..2de119ab4ec 100644
--- a/api/src/opentrons/hardware_control/modules/heater_shaker.py
+++ b/api/src/opentrons/hardware_control/modules/heater_shaker.py
@@ -21,6 +21,7 @@
     HeaterShakerStatus,
     UploadFunction,
     LiveData,
+    HeaterShakerData,
 )
 
 log = logging.getLogger(__name__)
@@ -200,18 +201,19 @@ def device_info(self) -> Mapping[str, str]:
 
     @property
     def live_data(self) -> LiveData:
+        data: HeaterShakerData = {
+            "temperatureStatus": self.temperature_status,
+            "speedStatus": self.speed_status,
+            "labwareLatchStatus": self.labware_latch_status,
+            "currentTemp": self.temperature,
+            "targetTemp": self.target_temperature,
+            "currentSpeed": self.speed,
+            "targetSpeed": self.target_speed,
+            "errorDetails": self._reader.error,
+        }
         return {
             "status": self.status.value,
-            "data": {
-                "temperatureStatus": self.temperature_status.value,
-                "speedStatus": self.speed_status.value,
-                "labwareLatchStatus": self.labware_latch_status.value,
-                "currentTemp": self.temperature,
-                "targetTemp": self.target_temperature,
-                "currentSpeed": self.speed,
-                "targetSpeed": self.target_speed,
-                "errorDetails": self._reader.error,
-            },
+            "data": data,
         }
 
     @property
diff --git a/api/src/opentrons/hardware_control/modules/magdeck.py b/api/src/opentrons/hardware_control/modules/magdeck.py
index a97afde77b6..a551421e288 100644
--- a/api/src/opentrons/hardware_control/modules/magdeck.py
+++ b/api/src/opentrons/hardware_control/modules/magdeck.py
@@ -196,9 +196,13 @@ def engaged(self) -> bool:
 
     @property
     def live_data(self) -> types.LiveData:
+        data: types.MagneticModuleData = {
+            "engaged": self.engaged,
+            "height": self.current_height,
+        }
         return {
             "status": self.status,
-            "data": {"engaged": self.engaged, "height": self.current_height},
+            "data": data,
         }
 
     @property
diff --git a/api/src/opentrons/hardware_control/modules/tempdeck.py b/api/src/opentrons/hardware_control/modules/tempdeck.py
index 1e3b4bba2d5..8e3271d604b 100644
--- a/api/src/opentrons/hardware_control/modules/tempdeck.py
+++ b/api/src/opentrons/hardware_control/modules/tempdeck.py
@@ -195,9 +195,13 @@ def device_info(self) -> Dict[str, str]:
 
     @property
     def live_data(self) -> types.LiveData:
+        data: types.TemperatureModuleData = {
+            "currentTemp": self.temperature,
+            "targetTemp": self.target,
+        }
         return {
             "status": self.status,
-            "data": {"currentTemp": self.temperature, "targetTemp": self.target},
+            "data": data,
         }
 
     @property
diff --git a/api/src/opentrons/hardware_control/modules/thermocycler.py b/api/src/opentrons/hardware_control/modules/thermocycler.py
index 4a1b2fe038b..73ab01a4fa8 100644
--- a/api/src/opentrons/hardware_control/modules/thermocycler.py
+++ b/api/src/opentrons/hardware_control/modules/thermocycler.py
@@ -544,22 +544,23 @@ def current_step_index(self) -> Optional[int]:
 
     @property
     def live_data(self) -> types.LiveData:
+        data: types.ThermocyclerData = {
+            "lid": self.lid_status,
+            "lidTarget": self.lid_target,
+            "lidTemp": self.lid_temp,
+            "lidTempStatus": self.lid_temp_status,
+            "currentTemp": self.temperature,
+            "targetTemp": self.target,
+            "holdTime": self.hold_time,
+            "rampRate": self.ramp_rate,
+            "currentCycleIndex": self.current_cycle_index,
+            "totalCycleCount": self.total_cycle_count,
+            "currentStepIndex": self.current_step_index,
+            "totalStepCount": self.total_step_count,
+        }
         return {
             "status": self.status,
-            "data": {
-                "lid": self.lid_status,
-                "lidTarget": self.lid_target,
-                "lidTemp": self.lid_temp,
-                "lidTempStatus": self.lid_temp_status,
-                "currentTemp": self.temperature,
-                "targetTemp": self.target,
-                "holdTime": self.hold_time,
-                "rampRate": self.ramp_rate,
-                "currentCycleIndex": self.current_cycle_index,
-                "totalCycleCount": self.total_cycle_count,
-                "currentStepIndex": self.current_step_index,
-                "totalStepCount": self.total_step_count,
-            },
+            "data": data,
         }
 
     @property
diff --git a/api/src/opentrons/hardware_control/modules/types.py b/api/src/opentrons/hardware_control/modules/types.py
index 9b7c33058d4..00924ad50af 100644
--- a/api/src/opentrons/hardware_control/modules/types.py
+++ b/api/src/opentrons/hardware_control/modules/types.py
@@ -13,10 +13,16 @@
     Optional,
     cast,
     TYPE_CHECKING,
+    TypeGuard,
 )
 from typing_extensions import TypedDict
 from pathlib import Path
 
+from opentrons.drivers.flex_stacker.types import (
+    LimitSwitchStatus,
+    PlatformStatus,
+    StackerAxis,
+)
 from opentrons.drivers.rpi_drivers.types import USBPort
 
 if TYPE_CHECKING:
@@ -27,6 +33,7 @@
         HeaterShakerModuleType,
         MagneticBlockType,
         AbsorbanceReaderType,
+        FlexStackerModuleType,
     )
 
 
@@ -50,9 +57,113 @@ class ThermocyclerCycle(TypedDict):
 ModuleDisconnectedCallback = Optional[Callable[[str, str | None], None]]
 
 
+class MagneticModuleData(TypedDict):
+    engaged: bool
+    height: float
+
+
+class TemperatureModuleData(TypedDict):
+    currentTemp: float
+    targetTemp: float | None
+
+
+class HeaterShakerData(TypedDict):
+    temperatureStatus: str
+    speedStatus: str
+    labwareLatchStatus: str
+    currentTemp: float
+    targetTemp: float | None
+    currentSpeed: int
+    targetSpeed: int | None
+    errorDetails: str | None
+
+
+class ThermocyclerData(TypedDict):
+    lid: str
+    lidTarget: float | None
+    lidTemp: float
+    lidTempStatus: str
+    currentTemp: float | None
+    targetTemp: float | None
+    holdTime: float | None
+    rampRate: float | None
+    currentCycleIndex: int | None
+    totalCycleCount: int | None
+    currentStepIndex: int | None
+    totalStepCount: int | None
+
+
+class AbsorbanceReaderData(TypedDict):
+    uptime: int
+    deviceStatus: str
+    lidStatus: str
+    platePresence: str
+    measureMode: str
+    sampleWavelengths: List[int]
+    referenceWavelength: int
+
+
+class FlexStackerData(TypedDict):
+    latchState: str
+    platformState: str
+    hopperDoorState: str
+    axisStateX: str
+    axisStateZ: str
+    errorDetails: str | None
+
+
+ModuleData = Union[
+    Dict[Any, Any],  # This allows an empty dict as module data
+    MagneticModuleData,
+    TemperatureModuleData,
+    HeaterShakerData,
+    ThermocyclerData,
+    AbsorbanceReaderData,
+    FlexStackerData,
+]
+
+
+class ModuleDataValidator:
+    @classmethod
+    def is_magnetic_module_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[MagneticModuleData]:
+        return data is not None and "engaged" in data.keys()
+
+    @classmethod
+    def is_temperature_module_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[TemperatureModuleData]:
+        return data is not None and "targetTemp" in data.keys()
+
+    @classmethod
+    def is_heater_shaker_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[HeaterShakerData]:
+        return data is not None and "labwareLatchStatus" in data.keys()
+
+    @classmethod
+    def is_thermocycler_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[ThermocyclerData]:
+        return data is not None and "lid" in data.keys()
+
+    @classmethod
+    def is_absorbance_reader_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[AbsorbanceReaderData]:
+        return data is not None and "uptime" in data.keys()
+
+    @classmethod
+    def is_flex_stacker_data(
+        cls, data: ModuleData | None
+    ) -> TypeGuard[FlexStackerData]:
+        return data is not None and "platformState" in data.keys()
+
+
 class LiveData(TypedDict):
     status: str
-    data: Dict[str, Union[float, str, bool, List[int], None]]
+    data: ModuleData | None
 
 
 class ModuleType(str, Enum):
@@ -62,6 +173,7 @@ class ModuleType(str, Enum):
     HEATER_SHAKER: HeaterShakerModuleType = "heaterShakerModuleType"
     MAGNETIC_BLOCK: MagneticBlockType = "magneticBlockType"
     ABSORBANCE_READER: AbsorbanceReaderType = "absorbanceReaderType"
+    FLEX_STACKER: FlexStackerModuleType = "flexStackerModuleType"
 
     @classmethod
     def from_model(cls, model: ModuleModel) -> ModuleType:
@@ -77,6 +189,8 @@ def from_model(cls, model: ModuleModel) -> ModuleType:
             return cls.MAGNETIC_BLOCK
         if isinstance(model, AbsorbanceReaderModel):
             return cls.ABSORBANCE_READER
+        if isinstance(model, FlexStackerModuleModel):
+            return cls.FLEX_STACKER
 
     @classmethod
     def to_module_fixture_id(cls, module_type: ModuleType) -> str:
@@ -91,6 +205,8 @@ def to_module_fixture_id(cls, module_type: ModuleType) -> str:
             return "magneticBlockV1"
         if module_type == ModuleType.ABSORBANCE_READER:
             return "absorbanceReaderV1"
+        if module_type == ModuleType.FLEX_STACKER:
+            return "flexStackerModuleV1"
         else:
             raise ValueError(
                 f"Module Type {module_type} does not have a related fixture ID."
@@ -124,6 +240,10 @@ class AbsorbanceReaderModel(str, Enum):
     ABSORBANCE_READER_V1: str = "absorbanceReaderV1"
 
 
+class FlexStackerModuleModel(str, Enum):
+    FLEX_STACKER_V1: str = "flexStackerModuleV1"
+
+
 def module_model_from_string(model_string: str) -> ModuleModel:
     for model_enum in {
         MagneticModuleModel,
@@ -132,6 +252,7 @@ def module_model_from_string(model_string: str) -> ModuleModel:
         HeaterShakerModuleModel,
         MagneticBlockModel,
         AbsorbanceReaderModel,
+        FlexStackerModuleModel,
     }:
         try:
             return cast(ModuleModel, model_enum(model_string))
@@ -184,6 +305,7 @@ class ModuleInfo(NamedTuple):
     HeaterShakerModuleModel,
     MagneticBlockModel,
     AbsorbanceReaderModel,
+    FlexStackerModuleModel,
 ]
 
 
@@ -225,3 +347,71 @@ class LidStatus(str, Enum):
     OFF = "off"
     UNKNOWN = "unknown"
     ERROR = "error"
+
+
+class FlexStackerStatus(str, Enum):
+    IDLE = "idle"
+    DISPENSING = "dispensing"
+    STORING = "storing"
+    ERROR = "error"
+
+
+class PlatformState(str, Enum):
+    UNKNOWN = "unknown"
+    EXTENDED = "extended"
+    RETRACTED = "retracted"
+
+    @classmethod
+    def from_status(cls, status: PlatformStatus) -> "PlatformState":
+        """Get the state from the platform status."""
+        if status.E and not status.R:
+            return cls.EXTENDED
+        if status.R and not status.E:
+            return cls.RETRACTED
+        return cls.UNKNOWN
+
+
+class StackerAxisState(str, Enum):
+    UNKNOWN = "unknown"
+    EXTENDED = "extended"
+    RETRACTED = "retracted"
+
+    @classmethod
+    def from_status(
+        cls, status: LimitSwitchStatus, axis: StackerAxis
+    ) -> "StackerAxisState":
+        """Get the axis state from the limit switch status."""
+        match axis:
+            case StackerAxis.X:
+                if status.XE and not status.XR:
+                    return cls.EXTENDED
+                if status.XR and not status.XE:
+                    return cls.RETRACTED
+            case StackerAxis.Z:
+                if status.ZE and not status.ZR:
+                    return cls.EXTENDED
+                if status.ZR and not status.ZE:
+                    return cls.RETRACTED
+            case StackerAxis.L:
+                return cls.EXTENDED if status.LR else cls.RETRACTED
+        return cls.UNKNOWN
+
+
+class LatchState(str, Enum):
+    CLOSED = "closed"
+    OPENED = "opened"
+
+    @classmethod
+    def from_state(cls, state: StackerAxisState) -> "LatchState":
+        """Get the latch state from the axis state."""
+        return cls.CLOSED if state == StackerAxisState.EXTENDED else cls.OPENED
+
+
+class HopperDoorState(str, Enum):
+    CLOSED = "closed"
+    OPENED = "opened"
+
+    @classmethod
+    def from_state(cls, state: bool) -> "HopperDoorState":
+        """Get the hopper door state from the door state boolean."""
+        return cls.CLOSED if state else cls.OPENED
diff --git a/api/src/opentrons/hardware_control/modules/utils.py b/api/src/opentrons/hardware_control/modules/utils.py
index 296c89a1311..481d0366324 100644
--- a/api/src/opentrons/hardware_control/modules/utils.py
+++ b/api/src/opentrons/hardware_control/modules/utils.py
@@ -13,6 +13,7 @@
 from .thermocycler import Thermocycler
 from .heater_shaker import HeaterShaker
 from .absorbance_reader import AbsorbanceReader
+from .flex_stacker import FlexStacker
 
 
 log = logging.getLogger(__name__)
@@ -26,6 +27,7 @@
     Thermocycler.name(): Thermocycler.MODULE_TYPE,
     HeaterShaker.name(): HeaterShaker.MODULE_TYPE,
     AbsorbanceReader.name(): AbsorbanceReader.MODULE_TYPE,
+    FlexStacker.name(): FlexStacker.MODULE_TYPE,
 }
 
 _MODULE_CLS_BY_TYPE: Dict[ModuleType, Type[AbstractModule]] = {
@@ -34,6 +36,7 @@
     Thermocycler.MODULE_TYPE: Thermocycler,
     HeaterShaker.MODULE_TYPE: HeaterShaker,
     AbsorbanceReader.MODULE_TYPE: AbsorbanceReader,
+    FlexStacker.MODULE_TYPE: FlexStacker,
 }
 
 
diff --git a/api/src/opentrons/protocol_api/_liquid_properties.py b/api/src/opentrons/protocol_api/_liquid_properties.py
index dc848cfb7e2..ebb903591ea 100644
--- a/api/src/opentrons/protocol_api/_liquid_properties.py
+++ b/api/src/opentrons/protocol_api/_liquid_properties.py
@@ -83,7 +83,10 @@ def _sort_volume_and_values(self) -> None:
         )
 
 
-@dataclass
+# We use slots for this dataclass (and the rest of liquid properties) to prevent dynamic creation of attributes
+# not defined in the class, not for any performance reasons. This is so that mistyping properties when overriding
+# values will cause the protocol to fail analysis, rather than silently passing.
+@dataclass(slots=True)
 class DelayProperties:
 
     _enabled: bool
@@ -118,7 +121,7 @@ def as_shared_data_model(self) -> SharedDataDelayProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class TouchTipProperties:
 
     _enabled: bool
@@ -157,7 +160,7 @@ def mm_to_edge(self) -> Optional[float]:
     @mm_to_edge.setter
     def mm_to_edge(self, new_mm: float) -> None:
         validated_mm = validation.ensure_float(new_mm)
-        self._z_offset = validated_mm
+        self._mm_to_edge = validated_mm
 
     @property
     def speed(self) -> Optional[float]:
@@ -190,7 +193,7 @@ def as_shared_data_model(self) -> SharedDataTouchTipProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class MixProperties:
 
     _enabled: bool
@@ -243,7 +246,7 @@ def as_shared_data_model(self) -> SharedDataMixProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class BlowoutProperties:
 
     _enabled: bool
@@ -297,7 +300,7 @@ def as_shared_data_model(self) -> SharedDataBlowoutProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class SubmergeRetractCommon:
 
     _position_reference: PositionReference
@@ -336,10 +339,8 @@ def delay(self) -> DelayProperties:
         return self._delay
 
 
-@dataclass
+@dataclass(slots=True)
 class Submerge(SubmergeRetractCommon):
-    ...
-
     def as_shared_data_model(self) -> SharedDataSubmerge:
         return SharedDataSubmerge(
             positionReference=self._position_reference,
@@ -349,7 +350,7 @@ def as_shared_data_model(self) -> SharedDataSubmerge:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class RetractAspirate(SubmergeRetractCommon):
 
     _air_gap_by_volume: LiquidHandlingPropertyByVolume
@@ -374,7 +375,7 @@ def as_shared_data_model(self) -> SharedDataRetractAspirate:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class RetractDispense(SubmergeRetractCommon):
 
     _air_gap_by_volume: LiquidHandlingPropertyByVolume
@@ -405,7 +406,7 @@ def as_shared_data_model(self) -> SharedDataRetractDispense:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class BaseLiquidHandlingProperties:
 
     _submerge: Submerge
@@ -449,7 +450,7 @@ def delay(self) -> DelayProperties:
         return self._delay
 
 
-@dataclass
+@dataclass(slots=True)
 class AspirateProperties(BaseLiquidHandlingProperties):
 
     _retract: RetractAspirate
@@ -487,7 +488,7 @@ def as_shared_data_model(self) -> SharedDataAspirateProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class SingleDispenseProperties(BaseLiquidHandlingProperties):
 
     _retract: RetractDispense
@@ -520,7 +521,7 @@ def as_shared_data_model(self) -> SharedDataSingleDispenseProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class MultiDispenseProperties(BaseLiquidHandlingProperties):
 
     _retract: RetractDispense
@@ -553,7 +554,7 @@ def as_shared_data_model(self) -> SharedDataMultiDispenseProperties:
         )
 
 
-@dataclass
+@dataclass(slots=True)
 class TransferProperties:
     _aspirate: AspirateProperties
     _dispense: SingleDispenseProperties
diff --git a/api/src/opentrons/protocol_api/core/common.py b/api/src/opentrons/protocol_api/core/common.py
index 3aff2523a1f..b1eeca1bd56 100644
--- a/api/src/opentrons/protocol_api/core/common.py
+++ b/api/src/opentrons/protocol_api/core/common.py
@@ -11,6 +11,7 @@
     AbstractHeaterShakerCore,
     AbstractMagneticBlockCore,
     AbstractAbsorbanceReaderCore,
+    AbstractFlexStackerCore,
 )
 from .protocol import AbstractProtocol
 from .well import AbstractWellCore
@@ -19,7 +20,7 @@
 
 WellCore = AbstractWellCore
 LabwareCore = AbstractLabware[WellCore]
-InstrumentCore = AbstractInstrument[WellCore]
+InstrumentCore = AbstractInstrument[WellCore, LabwareCore]
 ModuleCore = AbstractModuleCore
 TemperatureModuleCore = AbstractTemperatureModuleCore
 MagneticModuleCore = AbstractMagneticModuleCore
@@ -27,5 +28,6 @@
 HeaterShakerCore = AbstractHeaterShakerCore
 MagneticBlockCore = AbstractMagneticBlockCore
 AbsorbanceReaderCore = AbstractAbsorbanceReaderCore
+FlexStackerCore = AbstractFlexStackerCore
 RobotCore = AbstractRobot
 ProtocolCore = AbstractProtocol[InstrumentCore, LabwareCore, ModuleCore]
diff --git a/api/src/opentrons/protocol_api/core/engine/instrument.py b/api/src/opentrons/protocol_api/core/engine/instrument.py
index 010f3110fdb..6f9fed991f9 100644
--- a/api/src/opentrons/protocol_api/core/engine/instrument.py
+++ b/api/src/opentrons/protocol_api/core/engine/instrument.py
@@ -2,13 +2,22 @@
 
 from __future__ import annotations
 
-from typing import Optional, TYPE_CHECKING, cast, Union, List
+from typing import (
+    Optional,
+    TYPE_CHECKING,
+    cast,
+    Union,
+    List,
+    Tuple,
+    NamedTuple,
+)
 from opentrons.types import Location, Mount, NozzleConfigurationType, NozzleMapInterface
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocols.api_support.util import FlowRates, find_value_for_api_version
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
+from opentrons.protocols.advanced_control.transfers import common as tx_commons
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine import (
     DeckPoint,
@@ -28,29 +37,33 @@
     NozzleLayoutConfigurationType,
     AddressableOffsetVector,
     LiquidClassRecord,
+    NextTipInfo,
 )
 from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
-from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.pipette.types import PipetteNameType, PIPETTE_API_NAMES_MAP
 from opentrons_shared_data.errors.exceptions import (
     UnsupportedHardwareCommand,
 )
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from . import overlap_versions, pipette_movement_conflict
+from . import transfer_components_executor as tx_comps_executor
 
 from .well import WellCore
+from .labware import LabwareCore
 from ..instrument import AbstractInstrument
 from ...disposal_locations import TrashBin, WasteChute
 
 if TYPE_CHECKING:
     from .protocol import ProtocolCore
     from opentrons.protocol_api._liquid import LiquidClass
+    from opentrons.protocol_api._liquid_properties import TransferProperties
 
 _DISPENSE_VOLUME_VALIDATION_ADDED_IN = APIVersion(2, 17)
 
 
-class InstrumentCore(AbstractInstrument[WellCore]):
+class InstrumentCore(AbstractInstrument[WellCore, LabwareCore]):
     """Instrument API core using a ProtocolEngine.
 
     Args:
@@ -685,7 +698,7 @@ def get_mount(self) -> Mount:
         ).mount.to_hw_mount()
 
     def get_pipette_name(self) -> str:
-        """Get the pipette's load name as a string.
+        """Get the pipette's name as a string.
 
         Will match the load name of the actually loaded pipette,
         which may differ from the requested load name.
@@ -699,6 +712,24 @@ def get_pipette_name(self) -> str:
             else pipette.pipetteName
         )
 
+    def get_load_name(self) -> str:
+        """Get the pipette's requested API load name.
+
+        This is the load name that is specified in the `ProtocolContext.load_instrument()`
+        method. This name might differ from the engine-specific pipette name.
+        """
+        pipette = self._engine_client.state.pipettes.get(self._pipette_id)
+        load_name = next(
+            (
+                pip_api_name
+                for pip_api_name, pip_name in PIPETTE_API_NAMES_MAP.items()
+                if pip_name == pipette.pipetteName
+            ),
+            None,
+        )
+        assert load_name, "Load name not found."
+        return load_name
+
     def get_model(self) -> str:
         return self._engine_client.state.pipettes.get_model_name(self._pipette_id)
 
@@ -866,23 +897,28 @@ def configure_nozzle_layout(
 
     def load_liquid_class(
         self,
-        liquid_class: LiquidClass,
-        pipette_load_name: str,
+        name: str,
+        transfer_properties: TransferProperties,
         tiprack_uri: str,
     ) -> str:
-        """Load a liquid class into the engine and return its ID."""
-        transfer_props = liquid_class.get_for(
-            pipette=pipette_load_name, tiprack=tiprack_uri
-        )
+        """Load a liquid class into the engine and return its ID.
 
+        Args:
+            name: Name of the liquid class
+            transfer_properties: Liquid class properties for a specific pipette & tiprack combination
+            tiprack_uri: URI of the tiprack whose transfer properties we will be using.
+
+        Returns:
+            Liquid class record's ID, as generated by the protocol engine.
+        """
         liquid_class_record = LiquidClassRecord(
-            liquidClassName=liquid_class.name,
-            pipetteModel=self.get_model(),  # TODO: verify this is the correct 'model' to use
+            liquidClassName=name,
+            pipetteModel=self.get_load_name(),
             tiprack=tiprack_uri,
-            aspirate=transfer_props.aspirate.as_shared_data_model(),
-            singleDispense=transfer_props.dispense.as_shared_data_model(),
-            multiDispense=transfer_props.multi_dispense.as_shared_data_model()
-            if transfer_props.multi_dispense
+            aspirate=transfer_properties.aspirate.as_shared_data_model(),
+            singleDispense=transfer_properties.dispense.as_shared_data_model(),
+            multiDispense=transfer_properties.multi_dispense.as_shared_data_model()
+            if transfer_properties.multi_dispense
             else None,
         )
         result = self._engine_client.execute_command_without_recovery(
@@ -892,16 +928,351 @@ def load_liquid_class(
         )
         return result.liquidClassId
 
-    def transfer_liquid(
+    def get_next_tip(
+        self, tip_racks: List[LabwareCore], starting_well: Optional[str]
+    ) -> Optional[NextTipInfo]:
+        """Get the next tip to pick up."""
+        result = self._engine_client.execute_command_without_recovery(
+            cmd.GetNextTipParams(
+                pipetteId=self._pipette_id,
+                labwareIds=[tip_rack.labware_id for tip_rack in tip_racks],
+                startingTipWell=starting_well,
+            )
+        )
+        return (
+            result.nextTipInfo if isinstance(result.nextTipInfo, NextTipInfo) else None
+        )
+
+    def transfer_liquid(  # noqa: C901
         self,
-        liquid_class_id: str,
+        liquid_class: LiquidClass,
         volume: float,
-        source: List[WellCore],
-        dest: List[WellCore],
+        source: List[Tuple[Location, WellCore]],
+        dest: List[Tuple[Location, WellCore]],
         new_tip: TransferTipPolicyV2,
-        trash_location: Union[WellCore, Location, TrashBin, WasteChute],
+        tip_racks: List[Tuple[Location, LabwareCore]],
+        trash_location: Union[Location, TrashBin, WasteChute],
     ) -> None:
-        """Execute transfer using liquid class properties."""
+        """Execute transfer using liquid class properties.
+
+        Args:
+            liquid_class: The liquid class to use for transfer properties.
+            volume: Volume to transfer per well.
+            source: List of source wells, with each well represented as a tuple of
+                    types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            dest: List of destination wells, with each well represented as a tuple of
+                    types.Location and WellCore.
+                    types.Location is only necessary for saving the last accessed location.
+            new_tip: Whether the transfer should use a new tip 'once', 'never', 'always',
+                     or 'per source'.
+            tiprack_uri: The URI of the tiprack that the transfer settings are for.
+            tip_drop_location: Location where the tip will be dropped (if appropriate).
+        """
+        if not tip_racks:
+            raise RuntimeError(
+                "No tipracks found for pipette in order to perform transfer"
+            )
+        tiprack_uri_for_transfer_props = tip_racks[0][1].get_uri()
+        transfer_props = liquid_class.get_for(
+            pipette=self.get_load_name(),
+            tiprack=tiprack_uri_for_transfer_props,
+        )
+        # TODO: use the ID returned by load_liquid_class in command annotations
+        self.load_liquid_class(
+            name=liquid_class.name,
+            transfer_properties=transfer_props,
+            tiprack_uri=tiprack_uri_for_transfer_props,
+        )
+
+        # TODO: add multi-channel pipette handling here
+        source_dest_per_volume_step = tx_commons.expand_for_volume_constraints(
+            volumes=[volume for _ in range(len(source))],
+            targets=zip(source, dest),
+            max_volume=self.get_max_volume(),
+        )
+
+        def _drop_tip() -> None:
+            if isinstance(trash_location, (TrashBin, WasteChute)):
+                self.drop_tip_in_disposal_location(
+                    disposal_location=trash_location,
+                    home_after=False,
+                    alternate_tip_drop=True,
+                )
+            elif isinstance(trash_location, Location):
+                self.drop_tip(
+                    location=trash_location,
+                    well_core=trash_location.labware.as_well()._core,  # type: ignore[arg-type]
+                    home_after=False,
+                    alternate_drop_location=True,
+                )
+
+        def _pick_up_tip() -> None:
+            next_tip = self.get_next_tip(
+                tip_racks=[core for loc, core in tip_racks],
+                starting_well=None,
+            )
+            if next_tip is None:
+                raise RuntimeError(
+                    f"No tip available among {tip_racks} for this transfer."
+                )
+            (
+                tiprack_loc,
+                tiprack_uri,
+                tip_well,
+            ) = self._get_location_and_well_core_from_next_tip_info(next_tip, tip_racks)
+            if tiprack_uri != tiprack_uri_for_transfer_props:
+                raise RuntimeError(
+                    f"Tiprack {tiprack_uri} does not match the tiprack designated "
+                    f"for this transfer- {tiprack_uri_for_transfer_props}."
+                )
+            self.pick_up_tip(
+                location=tiprack_loc,
+                well_core=tip_well,
+                presses=None,
+                increment=None,
+            )
+
+        if new_tip == TransferTipPolicyV2.ONCE:
+            _pick_up_tip()
+
+        prev_src: Optional[Tuple[Location, WellCore]] = None
+        post_disp_tip_contents = [
+            tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        ]
+        next_step_volume, next_src_dest_combo = next(source_dest_per_volume_step)
+        is_last_step = False
+        while not is_last_step:
+            step_volume = next_step_volume
+            src_dest_combo = next_src_dest_combo
+            step_source, step_destination = src_dest_combo
+            try:
+                next_step_volume, next_src_dest_combo = next(
+                    source_dest_per_volume_step
+                )
+            except StopIteration:
+                is_last_step = True
+
+            if new_tip == TransferTipPolicyV2.ALWAYS or (
+                new_tip == TransferTipPolicyV2.PER_SOURCE and step_source != prev_src
+            ):
+                if prev_src is not None:
+                    _drop_tip()
+                _pick_up_tip()
+                post_disp_tip_contents = [
+                    tx_comps_executor.LiquidAndAirGapPair(
+                        liquid=0,
+                        air_gap=0,
+                    )
+                ]
+
+            post_asp_tip_contents = self.aspirate_liquid_class(
+                volume=step_volume,
+                source=step_source,
+                transfer_properties=transfer_props,
+                transfer_type=tx_comps_executor.TransferType.ONE_TO_ONE,
+                tip_contents=post_disp_tip_contents,
+            )
+            post_disp_tip_contents = self.dispense_liquid_class(
+                volume=step_volume,
+                dest=step_destination,
+                source=step_source,
+                transfer_properties=transfer_props,
+                transfer_type=tx_comps_executor.TransferType.ONE_TO_ONE,
+                tip_contents=post_asp_tip_contents,
+                add_final_air_gap=False
+                if is_last_step and new_tip == TransferTipPolicyV2.NEVER
+                else True,
+                trash_location=trash_location,
+            )
+            prev_src = step_source
+        if new_tip != TransferTipPolicyV2.NEVER:
+            _drop_tip()
+
+    def _get_location_and_well_core_from_next_tip_info(
+        self,
+        tip_info: NextTipInfo,
+        tip_racks: List[Tuple[Location, LabwareCore]],
+    ) -> _TipInfo:
+        tiprack_labware_core = self._protocol_core._labware_cores_by_id[
+            tip_info.labwareId
+        ]
+        tip_well = tiprack_labware_core.get_well_core(tip_info.tipStartingWell)
+
+        tiprack_loc = [
+            loc for loc, lw_core in tip_racks if lw_core == tiprack_labware_core
+        ]
+
+        return _TipInfo(
+            Location(tip_well.get_top(0), tiprack_loc[0].labware),
+            tiprack_labware_core.get_uri(),
+            tip_well,
+        )
+
+    def aspirate_liquid_class(
+        self,
+        volume: float,
+        source: Tuple[Location, WellCore],
+        transfer_properties: TransferProperties,
+        transfer_type: tx_comps_executor.TransferType,
+        tip_contents: List[tx_comps_executor.LiquidAndAirGapPair],
+    ) -> List[tx_comps_executor.LiquidAndAirGapPair]:
+        """Execute aspiration steps.
+
+        1. Submerge
+        2. Mix
+        3. pre-wet
+        4. Aspirate
+        5. Delay- wait inside the liquid
+        6. Aspirate retract
+
+        Return: List of liquid and air gap pairs in tip.
+        """
+        aspirate_props = transfer_properties.aspirate
+        tx_commons.check_valid_volume_parameters(
+            disposal_volume=0,  # No disposal volume for 1-to-1 transfer
+            air_gap=aspirate_props.retract.air_gap_by_volume.get_for_volume(volume),
+            max_volume=self.get_max_volume(),
+        )
+        source_loc, source_well = source
+        aspirate_point = (
+            tx_comps_executor.absolute_point_from_position_reference_and_offset(
+                well=source_well,
+                position_reference=aspirate_props.position_reference,
+                offset=aspirate_props.offset,
+            )
+        )
+        aspirate_location = Location(aspirate_point, labware=source_loc.labware)
+        last_liquid_and_airgap_in_tip = (
+            tip_contents[-1]
+            if tip_contents
+            else tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        )
+        components_executor = tx_comps_executor.TransferComponentsExecutor(
+            instrument_core=self,
+            transfer_properties=transfer_properties,
+            target_location=aspirate_location,
+            target_well=source_well,
+            transfer_type=transfer_type,
+            tip_state=tx_comps_executor.TipState(
+                last_liquid_and_air_gap_in_tip=last_liquid_and_airgap_in_tip
+            ),
+        )
+        components_executor.submerge(submerge_properties=aspirate_props.submerge)
+        # TODO: when aspirating for consolidation, do not perform mix
+        components_executor.mix(
+            mix_properties=aspirate_props.mix, last_dispense_push_out=False
+        )
+        # TODO: when aspirating for consolidation, do not preform pre-wet
+        components_executor.pre_wet(
+            volume=volume,
+        )
+        components_executor.aspirate_and_wait(volume=volume)
+        components_executor.retract_after_aspiration(volume=volume)
+
+        # return copy of tip_contents with last entry replaced by tip state from executor
+        last_contents = components_executor.tip_state.last_liquid_and_air_gap_in_tip
+        new_tip_contents = tip_contents[0:-1] + [last_contents]
+        return new_tip_contents
+
+    def dispense_liquid_class(
+        self,
+        volume: float,
+        dest: Tuple[Location, WellCore],
+        source: Optional[Tuple[Location, WellCore]],
+        transfer_properties: TransferProperties,
+        transfer_type: tx_comps_executor.TransferType,
+        tip_contents: List[tx_comps_executor.LiquidAndAirGapPair],
+        add_final_air_gap: bool,
+        trash_location: Union[Location, TrashBin, WasteChute],
+    ) -> List[tx_comps_executor.LiquidAndAirGapPair]:
+        """Execute single-dispense steps.
+        1. Move pipette to the ‘submerge’ position with normal speed.
+            - The pipette will move in an arc- move to max z height of labware
+              (if asp & disp are in same labware)
+              or max z height of all labware (if asp & disp are in separate labware)
+        2. Air gap removal:
+            - If dispense location is above the meniscus, DO NOT remove air gap
+              (it will be dispensed along with rest of the liquid later).
+              All other scenarios, remove the air gap by doing a dispense
+            - Flow rate = min(dispenseFlowRate, (airGapByVolume)/sec)
+            - Use the post-dispense delay
+        4. Move to the dispense position at the specified ‘submerge’ speed
+           (even if we might not be moving into the liquid)
+           - Do a delay (submerge delay)
+        6. Dispense:
+            - Dispense at the specified flow rate.
+            - Do a push out as specified ONLY IF there is no mix following the dispense AND the tip is empty.
+            Volume for push out is the volume being dispensed. So if we are dispensing 50uL, use pushOutByVolume[50] as push out volume.
+        7. Delay
+        8. Mix using the same flow rate and delays as specified for asp+disp,
+           with the volume and the number of repetitions specified. Use the delays in asp & disp.
+            - If the dispense position is outside the liquid, then raise error if mix is enabled.
+              Can only be checked if using liquid level detection/ meniscus-based positioning.
+            - If the user wants to perform a mix then they should specify a dispense position that’s inside the liquid OR do mix() on the wells after transfer.
+            - Do push out at the last dispense.
+        9. Retract
+
+        Return:
+            List of liquid and air gap pairs in tip.
+        """
+        dispense_props = transfer_properties.dispense
+        dest_loc, dest_well = dest
+        dispense_point = (
+            tx_comps_executor.absolute_point_from_position_reference_and_offset(
+                well=dest_well,
+                position_reference=dispense_props.position_reference,
+                offset=dispense_props.offset,
+            )
+        )
+        dispense_location = Location(dispense_point, labware=dest_loc.labware)
+        last_liquid_and_airgap_in_tip = (
+            tip_contents[-1]
+            if tip_contents
+            else tx_comps_executor.LiquidAndAirGapPair(
+                liquid=0,
+                air_gap=0,
+            )
+        )
+        components_executor = tx_comps_executor.TransferComponentsExecutor(
+            instrument_core=self,
+            transfer_properties=transfer_properties,
+            target_location=dispense_location,
+            target_well=dest_well,
+            transfer_type=transfer_type,
+            tip_state=tx_comps_executor.TipState(
+                last_liquid_and_air_gap_in_tip=last_liquid_and_airgap_in_tip
+            ),
+        )
+        components_executor.submerge(submerge_properties=dispense_props.submerge)
+        if dispense_props.mix.enabled:
+            push_out_vol = 0.0
+        else:
+            # TODO: if distributing, do a push out only at the last dispense
+            push_out_vol = dispense_props.push_out_by_volume.get_for_volume(volume)
+        components_executor.dispense_and_wait(
+            volume=volume,
+            push_out_override=push_out_vol,
+        )
+        components_executor.mix(
+            mix_properties=dispense_props.mix,
+            last_dispense_push_out=True,
+        )
+        components_executor.retract_after_dispensing(
+            trash_location=trash_location,
+            source_location=source[0] if source else None,
+            source_well=source[1] if source else None,
+            add_final_air_gap=add_final_air_gap,
+        )
+        last_contents = components_executor.tip_state.last_liquid_and_air_gap_in_tip
+        new_tip_contents = tip_contents[0:-1] + [last_contents]
+        return new_tip_contents
 
     def retract(self) -> None:
         """Retract this instrument to the top of the gantry."""
@@ -994,3 +1365,13 @@ def nozzle_configuration_valid_for_lld(self) -> bool:
         return self._engine_client.state.pipettes.get_nozzle_configuration_supports_lld(
             self.pipette_id
         )
+
+    def delay(self, seconds: float) -> None:
+        """Call a protocol delay."""
+        self._protocol_core.delay(seconds=seconds, msg=None)
+
+
+class _TipInfo(NamedTuple):
+    tiprack_location: Location
+    tiprack_uri: str
+    tip_well: WellCore
diff --git a/api/src/opentrons/protocol_api/core/engine/module_core.py b/api/src/opentrons/protocol_api/core/engine/module_core.py
index d3cf8dca725..c66a1a5459a 100644
--- a/api/src/opentrons/protocol_api/core/engine/module_core.py
+++ b/api/src/opentrons/protocol_api/core/engine/module_core.py
@@ -37,6 +37,7 @@
     AbstractHeaterShakerCore,
     AbstractMagneticBlockCore,
     AbstractAbsorbanceReaderCore,
+    AbstractFlexStackerCore,
 )
 from .exceptions import InvalidMagnetEngageHeightError
 
@@ -692,3 +693,25 @@ def is_lid_on(self) -> bool:
             self.module_id
         )
         return abs_state.is_lid_on
+
+
+class FlexStackerCore(ModuleCore, AbstractFlexStackerCore):
+    """Flex Stacker core logic implementation for Python protocols."""
+
+    _sync_module_hardware: SynchronousAdapter[hw_modules.FlexStacker]
+
+    def retrieve(self) -> None:
+        """Retrieve a labware from the bottom of the Flex Stacker's stack."""
+        self._engine_client.execute_command(
+            cmd.flex_stacker.RetrieveParams(
+                moduleId=self.module_id,
+            )
+        )
+
+    def store(self) -> None:
+        """Store a labware at the bottom of the Flex Stacker's stack."""
+        self._engine_client.execute_command(
+            cmd.flex_stacker.StoreParams(
+                moduleId=self.module_id,
+            )
+        )
diff --git a/api/src/opentrons/protocol_api/core/engine/protocol.py b/api/src/opentrons/protocol_api/core/engine/protocol.py
index bfc808c3091..ece431b0d1e 100644
--- a/api/src/opentrons/protocol_api/core/engine/protocol.py
+++ b/api/src/opentrons/protocol_api/core/engine/protocol.py
@@ -233,6 +233,9 @@ def load_labware(
         )
         # FIXME(jbl, 2023-08-14) validating after loading the object issue
         validation.ensure_definition_is_labware(load_result.definition)
+        validation.ensure_definition_is_not_lid_after_api_version(
+            self.api_version, load_result.definition
+        )
 
         # FIXME(mm, 2023-02-21):
         #
@@ -322,6 +325,52 @@ def load_adapter(
 
         return labware_core
 
+    def load_lid(
+        self,
+        load_name: str,
+        location: LabwareCore,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCore:
+        """Load an individual lid using its identifying parameters. Must be loaded on an existing Labware."""
+        load_location = self._convert_labware_location(location=location)
+        custom_labware_params = (
+            self._engine_client.state.labware.find_custom_labware_load_params()
+        )
+        namespace, version = load_labware_params.resolve(
+            load_name, namespace, version, custom_labware_params
+        )
+        load_result = self._engine_client.execute_command_without_recovery(
+            cmd.LoadLidParams(
+                loadName=load_name,
+                location=load_location,
+                namespace=namespace,
+                version=version,
+            )
+        )
+        # FIXME(chb, 2024-12-06) validating after loading the object issue
+        validation.ensure_definition_is_lid(load_result.definition)
+
+        deck_conflict.check(
+            engine_state=self._engine_client.state,
+            new_labware_id=load_result.labwareId,
+            existing_disposal_locations=self._disposal_locations,
+            # TODO: We can now fetch these IDs from engine too.
+            #  See comment in self.load_labware().
+            #
+            # Wrapping .keys() in list() is just to make Decoy verification easier.
+            existing_labware_ids=list(self._labware_cores_by_id.keys()),
+            existing_module_ids=list(self._module_cores_by_id.keys()),
+        )
+
+        labware_core = LabwareCore(
+            labware_id=load_result.labwareId,
+            engine_client=self._engine_client,
+        )
+
+        self._labware_cores_by_id[labware_core.labware_id] = labware_core
+        return labware_core
+
     def move_labware(
         self,
         labware_core: LabwareCore,
@@ -644,6 +693,72 @@ def set_last_location(
         self._last_location = location
         self._last_mount = mount
 
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, StagingSlotName, LabwareCore],
+        quantity: int,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCore:
+        """Load a Stack of Lids to a given location, creating a Lid Stack."""
+        if quantity < 1:
+            raise ValueError(
+                "When loading a lid stack quantity cannot be less than one."
+            )
+        if isinstance(location, DeckSlotName) or isinstance(location, StagingSlotName):
+            load_location = self._convert_labware_location(location=location)
+        else:
+            if isinstance(location, LabwareCore):
+                load_location = self._convert_labware_location(location=location)
+            else:
+                raise ValueError(
+                    "Expected type of Labware Location for lid stack must be Labware, not Legacy Labware or Well."
+                )
+
+        custom_labware_params = (
+            self._engine_client.state.labware.find_custom_labware_load_params()
+        )
+        namespace, version = load_labware_params.resolve(
+            load_name, namespace, version, custom_labware_params
+        )
+
+        load_result = self._engine_client.execute_command_without_recovery(
+            cmd.LoadLidStackParams(
+                loadName=load_name,
+                location=load_location,
+                namespace=namespace,
+                version=version,
+                quantity=quantity,
+            )
+        )
+
+        # FIXME(CHB, 2024-12-04) just like load labware and load adapter we have a validating after loading the object issue
+        validation.ensure_definition_is_lid(load_result.definition)
+
+        deck_conflict.check(
+            engine_state=self._engine_client.state,
+            new_labware_id=load_result.stackLabwareId,
+            existing_disposal_locations=self._disposal_locations,
+            # TODO (spp, 2023-11-27): We've been using IDs from _labware_cores_by_id
+            #  and _module_cores_by_id instead of getting the lists directly from engine
+            #  because of the chance of engine carrying labware IDs from LPC too.
+            #  But with https://github.com/Opentrons/opentrons/pull/13943,
+            #  & LPC in maintenance runs, we can now rely on engine state for these IDs too.
+            # Wrapping .keys() in list() is just to make Decoy verification easier.
+            existing_labware_ids=list(self._labware_cores_by_id.keys()),
+            existing_module_ids=list(self._module_cores_by_id.keys()),
+        )
+
+        labware_core = LabwareCore(
+            labware_id=load_result.stackLabwareId,
+            engine_client=self._engine_client,
+        )
+
+        self._labware_cores_by_id[labware_core.labware_id] = labware_core
+
+        return labware_core
+
     def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
         return self._engine_client.state.labware.get_deck_definition()
diff --git a/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
new file mode 100644
index 00000000000..87e41ee98dc
--- /dev/null
+++ b/api/src/opentrons/protocol_api/core/engine/transfer_components_executor.py
@@ -0,0 +1,569 @@
+"""Executor for liquid class based complex commands."""
+from __future__ import annotations
+
+from copy import deepcopy
+from enum import Enum
+from typing import TYPE_CHECKING, Optional, Union
+from dataclasses import dataclass, field
+
+from opentrons_shared_data.liquid_classes.liquid_class_definition import (
+    PositionReference,
+    Coordinate,
+    BlowoutLocation,
+)
+
+from opentrons.protocol_api._liquid_properties import (
+    Submerge,
+    TransferProperties,
+    MixProperties,
+)
+from opentrons.protocol_engine.errors import TouchTipDisabledError
+from opentrons.types import Location, Point
+
+if TYPE_CHECKING:
+    from .well import WellCore
+    from .instrument import InstrumentCore
+    from ... import TrashBin, WasteChute
+
+
+@dataclass
+class LiquidAndAirGapPair:
+    """Pairing of a liquid and air gap in a tip, with air gap below the liquid in a tip."""
+
+    liquid: float = 0
+    air_gap: float = 0
+
+
+@dataclass
+class TipState:
+    """Carrier of the state of the pipette tip in use.
+
+    Properties:
+        last_liquid_and_air_gap_in_tip: The last liquid + air_gap combo in the tip.
+            This will only include the existing liquid and air gap in the tip that
+            an aspirate/ dispense interacts with. For example, the air gap from
+            a previous step that needs to be removed, or the liquid from a previous
+            aspirate that needs to be dispensed or the liquid that needs to be added to
+            during a consolidation.
+        ready_to_aspirate: Whether the pipette plunger is in a position that allows
+            correct aspiration. The starting state for the pipette at initialization of
+            `TransferComponentsExecutor`s should be ready_to_aspirate == True.
+    """
+
+    ready_to_aspirate: bool = True
+    # TODO: maybe use the tip contents from engine state instead.
+    last_liquid_and_air_gap_in_tip: LiquidAndAirGapPair = field(
+        default_factory=LiquidAndAirGapPair
+    )
+
+    def append_liquid(self, volume: float) -> None:
+        # Neither aspirate nor a dispense process should be adding liquid
+        # when there is an air gap present.
+        assert (
+            self.last_liquid_and_air_gap_in_tip.air_gap == 0
+        ), "Air gap present in the tip."
+        self.last_liquid_and_air_gap_in_tip.liquid += volume
+
+    def delete_liquid(self, volume: float) -> None:
+        # Neither aspirate nor a dispense process should be removing liquid
+        # when there is an air gap present.
+        assert (
+            self.last_liquid_and_air_gap_in_tip.air_gap == 0
+        ), "Air gap present in the tip."
+        self.last_liquid_and_air_gap_in_tip.liquid -= volume
+
+    def append_air_gap(self, volume: float) -> None:
+        # Neither aspirate nor a dispense process should be adding air gaps
+        # when there is already an air gap present.
+        assert (
+            self.last_liquid_and_air_gap_in_tip.air_gap == 0
+        ), "Air gap already present in the tip."
+        self.last_liquid_and_air_gap_in_tip.air_gap = volume
+
+    def delete_air_gap(self, volume: float) -> None:
+        assert (
+            self.last_liquid_and_air_gap_in_tip.air_gap == volume
+        ), "Last air gap volume doe not match the volume being removed"
+        self.last_liquid_and_air_gap_in_tip.air_gap = 0
+
+
+class TransferType(Enum):
+    ONE_TO_ONE = "one_to_one"
+    MANY_TO_ONE = "many_to_one"
+    ONE_TO_MANY = "one_to_many"
+
+
+class TransferComponentsExecutor:
+    def __init__(
+        self,
+        instrument_core: InstrumentCore,
+        transfer_properties: TransferProperties,
+        target_location: Location,
+        target_well: WellCore,
+        tip_state: TipState,
+        transfer_type: TransferType,
+    ) -> None:
+        self._instrument = instrument_core
+        self._transfer_properties = transfer_properties
+        self._target_location = target_location
+        self._target_well = target_well
+        self._tip_state: TipState = deepcopy(tip_state)  # don't modify caller's object
+        self._transfer_type: TransferType = transfer_type
+
+    @property
+    def tip_state(self) -> TipState:
+        """Return the tip state."""
+        return self._tip_state
+
+    def submerge(
+        self,
+        submerge_properties: Submerge,
+    ) -> None:
+        """Execute submerge steps.
+
+        1. move to position shown by positionReference + offset (should practically be a point outside/above the liquid).
+        Should raise an error if this point is inside the liquid?
+            For liquid meniscus this is easy to tell. Can’t be below meniscus
+            For reference pos of anything else, do not allow submerge position to be below aspirate position
+        2. move to aspirate position at desired speed
+        3. delay
+        """
+        # TODO: compare submerge start position and aspirate position and raise error if incompatible
+        submerge_start_point = absolute_point_from_position_reference_and_offset(
+            well=self._target_well,
+            position_reference=submerge_properties.position_reference,
+            offset=submerge_properties.offset,
+        )
+        submerge_start_location = Location(
+            point=submerge_start_point, labware=self._target_location.labware
+        )
+        self._instrument.move_to(
+            location=submerge_start_location,
+            well_core=self._target_well,
+            force_direct=False,
+            minimum_z_height=None,
+            speed=None,
+        )
+        if self._transfer_type == TransferType.ONE_TO_ONE:
+            self._remove_air_gap(location=submerge_start_location)
+        self._instrument.move_to(
+            location=self._target_location,
+            well_core=self._target_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=submerge_properties.speed,
+        )
+        if submerge_properties.delay.enabled:
+            assert submerge_properties.delay.duration is not None
+            self._instrument.delay(submerge_properties.delay.duration)
+
+    def aspirate_and_wait(self, volume: float) -> None:
+        """Aspirate according to aspirate properties and wait if enabled."""
+        # TODO: handle volume correction
+        aspirate_props = self._transfer_properties.aspirate
+        self._instrument.aspirate(
+            location=self._target_location,
+            well_core=None,
+            volume=volume,
+            rate=1,
+            flow_rate=aspirate_props.flow_rate_by_volume.get_for_volume(volume),
+            in_place=True,
+            is_meniscus=None,  # TODO: update this once meniscus is implemented
+        )
+        self._tip_state.append_liquid(volume)
+        delay_props = aspirate_props.delay
+        if delay_props.enabled:
+            # Assertion only for mypy purposes
+            assert delay_props.duration is not None
+            self._instrument.delay(delay_props.duration)
+
+    def dispense_and_wait(
+        self, volume: float, push_out_override: Optional[float]
+    ) -> None:
+        """Dispense according to dispense properties and wait if enabled."""
+        # TODO: handle volume correction
+        dispense_props = self._transfer_properties.dispense
+        self._instrument.dispense(
+            location=self._target_location,
+            well_core=None,
+            volume=volume,
+            rate=1,
+            flow_rate=dispense_props.flow_rate_by_volume.get_for_volume(volume),
+            in_place=True,
+            push_out=push_out_override,
+            is_meniscus=None,
+        )
+        if push_out_override:
+            # If a push out was performed, we need to reset the plunger before we can aspirate again
+            self._tip_state.ready_to_aspirate = False
+        self._tip_state.delete_liquid(volume)
+        dispense_delay = dispense_props.delay
+        if dispense_delay.enabled:
+            assert dispense_delay.duration is not None
+            self._instrument.delay(dispense_delay.duration)
+
+    def mix(self, mix_properties: MixProperties, last_dispense_push_out: bool) -> None:
+        """Execute mix steps.
+
+        1. Use same flow rates and delays as aspirate and dispense
+        2. Do [(aspirate + dispense) x repetitions] at the same position
+        3. Do NOT push out at the end of dispense
+        4. USE the delay property from aspirate & dispense during mix as well (flow rate and delay are coordinated with each other)
+        5. Do not mix during consolidation
+        NOTE: For most of our built-in definitions, we will keep _mix_ off because it is a very application specific thing.
+        We should mention in our docs that users should adjust this property according to their application.
+        """
+        if not mix_properties.enabled:
+            return
+        # Assertion only for mypy purposes
+        assert (
+            mix_properties.repetitions is not None and mix_properties.volume is not None
+        )
+        push_out_vol = (
+            self._transfer_properties.dispense.push_out_by_volume.get_for_volume(
+                mix_properties.volume
+            )
+        )
+        for n in range(mix_properties.repetitions, 0, -1):
+            self.aspirate_and_wait(volume=mix_properties.volume)
+            self.dispense_and_wait(
+                volume=mix_properties.volume,
+                push_out_override=push_out_vol
+                if last_dispense_push_out is True and n == 1
+                else 0,
+            )
+
+    def pre_wet(
+        self,
+        volume: float,
+    ) -> None:
+        """Do a pre-wet.
+
+        - 1 combo of aspirate + dispense at the same flow rate as specified in asp & disp and the delays in asp & disp
+        - Use the target volume/ volume we will be aspirating
+        - No push out
+        - No pre-wet for consolidation
+        """
+        if not self._transfer_properties.aspirate.pre_wet:
+            return
+        mix_props = MixProperties(_enabled=True, _repetitions=1, _volume=volume)
+        self.mix(mix_properties=mix_props, last_dispense_push_out=False)
+
+    def retract_after_aspiration(self, volume: float) -> None:
+        """Execute post-aspiration retraction steps.
+
+        1. Move TO the position reference+offset AT the specified speed
+            Raise error if retract is below aspirate position or below the meniscus
+        2. Delay
+        3. Touch tip
+            - Move to the Z offset position
+            - Touch tip to the sides at the specified speed (tip moves back to the center as part of touch tip)
+            - Return back to the retract position
+        4. Air gap
+            - Air gap volume depends on the amount of liquid in the pipette
+            So if total aspirated volume is 20, use the value for airGapByVolume[20]
+            Flow rate = min(aspirateFlowRate, (airGapByVolume)/sec)
+            - Use post-aspirate delay
+        """
+        # TODO: Raise error if retract is below the meniscus
+        retract_props = self._transfer_properties.aspirate.retract
+        retract_point = absolute_point_from_position_reference_and_offset(
+            well=self._target_well,
+            position_reference=retract_props.position_reference,
+            offset=retract_props.offset,
+        )
+        retract_location = Location(
+            retract_point, labware=self._target_location.labware
+        )
+        self._instrument.move_to(
+            location=retract_location,
+            well_core=self._target_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=retract_props.speed,
+        )
+        retract_delay = retract_props.delay
+        if retract_delay.enabled:
+            assert retract_delay.duration is not None
+            self._instrument.delay(retract_delay.duration)
+        touch_tip_props = retract_props.touch_tip
+        if touch_tip_props.enabled:
+            assert (
+                touch_tip_props.speed is not None
+                and touch_tip_props.z_offset is not None
+                and touch_tip_props.mm_to_edge is not None
+            )
+            # TODO: update this once touch tip has mmToEdge
+            self._instrument.touch_tip(
+                location=retract_location,
+                well_core=self._target_well,
+                radius=1,
+                z_offset=touch_tip_props.z_offset,
+                speed=touch_tip_props.speed,
+            )
+            self._instrument.move_to(
+                location=retract_location,
+                well_core=self._target_well,
+                force_direct=True,
+                minimum_z_height=None,
+                # Full speed because the tip will already be out of the liquid
+                speed=None,
+            )
+        self._add_air_gap(
+            air_gap_volume=self._transfer_properties.aspirate.retract.air_gap_by_volume.get_for_volume(
+                volume
+            )
+        )
+
+    def retract_after_dispensing(
+        self,
+        trash_location: Union[Location, TrashBin, WasteChute],
+        source_location: Optional[Location],
+        source_well: Optional[WellCore],
+        add_final_air_gap: bool,
+    ) -> None:
+        """Execute post-dispense retraction steps.
+        1. Position ref+offset is the ending position. Move to this position using specified speed
+        2. If blowout is enabled and “destination”
+            - Do blow-out (at the retract position)
+            - Leave plunger down
+        3. Touch-tip
+        4. If not ready-to-aspirate
+            - Prepare-to-aspirate (at the retract position)
+        5. Air-gap (at the retract position)
+            - This air gap is for preventing any stray droplets from falling while moving the pipette.
+                It will be performed out of caution even if we just did a blow_out and should *hypothetically*
+                have no liquid left in the tip.
+            - This air gap will be removed at the next aspirate.
+                If this is the last step of the transfer, and we aren't dropping the tip off,
+                then the air gap will be left as is(?).
+        6. If blowout is “source” or “trash”
+            - Move to location (top of Well)
+            - Do blow-out (top of well)
+            - Do touch-tip (?????) (only if it’s in a non-trash location)
+            - Prepare-to-aspirate (top of well)
+            - Do air-gap (top of well)
+        7. If drop tip, move to drop tip location, drop tip
+        """
+        # TODO: Raise error if retract is below the meniscus
+
+        retract_props = self._transfer_properties.dispense.retract
+        retract_point = absolute_point_from_position_reference_and_offset(
+            well=self._target_well,
+            position_reference=retract_props.position_reference,
+            offset=retract_props.offset,
+        )
+        retract_location = Location(
+            retract_point, labware=self._target_location.labware
+        )
+        self._instrument.move_to(
+            location=retract_location,
+            well_core=self._target_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=retract_props.speed,
+        )
+        retract_delay = retract_props.delay
+        if retract_delay.enabled:
+            assert retract_delay.duration is not None
+            self._instrument.delay(retract_delay.duration)
+
+        blowout_props = retract_props.blowout
+        if (
+            blowout_props.enabled
+            and blowout_props.location == BlowoutLocation.DESTINATION
+        ):
+            assert blowout_props.flow_rate is not None
+            self._instrument.set_flow_rate(blow_out=blowout_props.flow_rate)
+            self._instrument.blow_out(
+                location=retract_location,
+                well_core=None,
+                in_place=True,
+            )
+            self._tip_state.ready_to_aspirate = False
+        is_final_air_gap = (
+            blowout_props.enabled
+            and blowout_props.location == BlowoutLocation.DESTINATION
+        ) or not blowout_props.enabled
+        # Regardless of the blowout location, do touch tip and air gap
+        # when leaving the dispense well. If this will be the final air gap, i.e,
+        # we won't be moving to a Trash or a Source for Blowout after this air gap,
+        # then skip the final air gap if we have been told to do so.
+        self._do_touch_tip_and_air_gap(
+            location=retract_location,
+            well=self._target_well,
+            skip_air_gap=True if is_final_air_gap and not add_final_air_gap else False,
+        )
+
+        if (
+            blowout_props.enabled
+            and blowout_props.location != BlowoutLocation.DESTINATION
+        ):
+            # TODO: no-op touch tip if touch tip is enabled and blowout is in trash/ reservoir/ any labware with touch-tip disabled
+            assert blowout_props.flow_rate is not None
+            self._instrument.set_flow_rate(blow_out=blowout_props.flow_rate)
+            touch_tip_and_air_gap_location: Optional[Location]
+            if blowout_props.location == BlowoutLocation.SOURCE:
+                if source_location is None or source_well is None:
+                    raise RuntimeError(
+                        "Blowout location is 'source' but source location &/or well is not provided."
+                    )
+                # TODO: check if we should add a blowout location z-offset in liq class definition
+                self._instrument.blow_out(
+                    location=Location(
+                        source_well.get_top(0), labware=source_location.labware
+                    ),
+                    well_core=source_well,
+                    in_place=False,
+                )
+                touch_tip_and_air_gap_location = Location(
+                    source_well.get_top(0), labware=source_location.labware
+                )
+                touch_tip_and_air_gap_well = source_well
+            else:
+                self._instrument.blow_out(
+                    location=trash_location,
+                    well_core=None,
+                    in_place=False,
+                )
+                touch_tip_and_air_gap_location = (
+                    trash_location if isinstance(trash_location, Location) else None
+                )
+                touch_tip_and_air_gap_well = (
+                    # We have already established that trash location of `Location` type
+                    # has its `labware` as `Well` type.
+                    trash_location.labware.as_well()._core  # type: ignore[assignment]
+                    if isinstance(trash_location, Location)
+                    else None
+                )
+            last_air_gap = self._tip_state.last_liquid_and_air_gap_in_tip.air_gap
+            self._tip_state.delete_air_gap(last_air_gap)
+            self._tip_state.ready_to_aspirate = False
+            # Do touch tip and air gap again after blowing out into source well or trash
+            self._do_touch_tip_and_air_gap(
+                location=touch_tip_and_air_gap_location,
+                well=touch_tip_and_air_gap_well,
+                skip_air_gap=not add_final_air_gap,
+            )
+
+    def _do_touch_tip_and_air_gap(
+        self,
+        location: Optional[Location],
+        well: Optional[WellCore],
+        skip_air_gap: bool,
+    ) -> None:
+        """Perform touch tip and air gap as part of post-dispense retract."""
+        touch_tip_props = self._transfer_properties.dispense.retract.touch_tip
+        if touch_tip_props.enabled:
+            assert (
+                touch_tip_props.speed is not None
+                and touch_tip_props.z_offset is not None
+                and touch_tip_props.mm_to_edge is not None
+            )
+            # TODO: update this once touch tip has mmToEdge
+            #  Also, check that when blow out is a non-dest-well,
+            #  whether the touch tip params from transfer props should be used for
+            #  both dest-well touch tip and non-dest-well touch tip.
+            if well is not None and location is not None:
+                try:
+                    self._instrument.touch_tip(
+                        location=location,
+                        well_core=well,
+                        radius=1,
+                        z_offset=touch_tip_props.z_offset,
+                        speed=touch_tip_props.speed,
+                    )
+                except TouchTipDisabledError:
+                    # TODO: log a warning
+                    pass
+
+                # Move back to the 'retract' position
+                self._instrument.move_to(
+                    location=location,
+                    well_core=well,
+                    force_direct=True,
+                    minimum_z_height=None,
+                    # Full speed because the tip will already be out of the liquid
+                    speed=None,
+                )
+
+        if self._transfer_type != TransferType.ONE_TO_MANY:
+            # TODO: check if it is okay to just do `prepare_to_aspirate` unconditionally
+            if not self._tip_state.ready_to_aspirate:
+                self._instrument.prepare_to_aspirate()
+                self._tip_state.ready_to_aspirate = True
+            if not skip_air_gap:
+                self._add_air_gap(
+                    air_gap_volume=self._transfer_properties.aspirate.retract.air_gap_by_volume.get_for_volume(
+                        0
+                    )
+                )
+
+    def _add_air_gap(self, air_gap_volume: float) -> None:
+        """Add an air gap."""
+        if air_gap_volume == 0:
+            return
+        aspirate_props = self._transfer_properties.aspirate
+        # The maximum flow rate should be air_gap_volume per second
+        flow_rate = min(
+            aspirate_props.flow_rate_by_volume.get_for_volume(air_gap_volume),
+            air_gap_volume,
+        )
+        self._instrument.air_gap_in_place(volume=air_gap_volume, flow_rate=flow_rate)
+        delay_props = aspirate_props.delay
+        if delay_props.enabled:
+            # Assertion only for mypy purposes
+            assert delay_props.duration is not None
+            self._instrument.delay(delay_props.duration)
+        self._tip_state.append_air_gap(air_gap_volume)
+
+    def _remove_air_gap(self, location: Location) -> None:
+        """Remove a previously added air gap."""
+        last_air_gap = self._tip_state.last_liquid_and_air_gap_in_tip.air_gap
+        if last_air_gap == 0:
+            return
+
+        dispense_props = self._transfer_properties.dispense
+        # The maximum flow rate should be air_gap_volume per second
+        flow_rate = min(
+            dispense_props.flow_rate_by_volume.get_for_volume(last_air_gap),
+            last_air_gap,
+        )
+        self._instrument.dispense(
+            location=location,
+            well_core=None,
+            volume=last_air_gap,
+            rate=1,
+            flow_rate=flow_rate,
+            in_place=True,
+            is_meniscus=None,
+            push_out=0,
+        )
+        self._tip_state.delete_air_gap(last_air_gap)
+        dispense_delay = dispense_props.delay
+        if dispense_delay.enabled:
+            assert dispense_delay.duration is not None
+            self._instrument.delay(dispense_delay.duration)
+
+
+def absolute_point_from_position_reference_and_offset(
+    well: WellCore,
+    position_reference: PositionReference,
+    offset: Coordinate,
+) -> Point:
+    """Return the absolute point, given the well, the position reference and offset."""
+    match position_reference:
+        case PositionReference.WELL_TOP:
+            reference_point = well.get_top(0)
+        case PositionReference.WELL_BOTTOM:
+            reference_point = well.get_bottom(0)
+        case PositionReference.WELL_CENTER:
+            reference_point = well.get_center()
+        case PositionReference.LIQUID_MENISCUS:
+            raise NotImplementedError(
+                "Liquid transfer using liquid-meniscus relative positioning"
+                " is not yet implemented."
+            )
+        case _:
+            raise ValueError(f"Unknown position reference {position_reference}")
+    return reference_point + Point(offset.x, offset.y, offset.z)
diff --git a/api/src/opentrons/protocol_api/core/instrument.py b/api/src/opentrons/protocol_api/core/instrument.py
index bc1ec3669df..de918405fdc 100644
--- a/api/src/opentrons/protocol_api/core/instrument.py
+++ b/api/src/opentrons/protocol_api/core/instrument.py
@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Any, Generic, Optional, TypeVar, Union, List
+from typing import Any, Generic, Optional, TypeVar, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -13,9 +13,10 @@
 from opentrons.protocol_api._liquid import LiquidClass
 from ..disposal_locations import TrashBin, WasteChute
 from .well import WellCoreType
+from .labware import LabwareCoreType
 
 
-class AbstractInstrument(ABC, Generic[WellCoreType]):
+class AbstractInstrument(ABC, Generic[WellCoreType, LabwareCoreType]):
     @abstractmethod
     def get_default_speed(self) -> float:
         ...
@@ -310,28 +311,16 @@ def configure_nozzle_layout(
         """
         ...
 
-    @abstractmethod
-    def load_liquid_class(
-        self,
-        liquid_class: LiquidClass,
-        pipette_load_name: str,
-        tiprack_uri: str,
-    ) -> str:
-        """Load the liquid class properties of given pipette and tiprack into the engine.
-
-        Returns: ID of the liquid class record
-        """
-        ...
-
     @abstractmethod
     def transfer_liquid(
         self,
-        liquid_class_id: str,
+        liquid_class: LiquidClass,
         volume: float,
-        source: List[WellCoreType],
-        dest: List[WellCoreType],
+        source: List[Tuple[types.Location, WellCoreType]],
+        dest: List[Tuple[types.Location, WellCoreType]],
         new_tip: TransferTipPolicyV2,
-        trash_location: Union[WellCoreType, types.Location, TrashBin, WasteChute],
+        tip_racks: List[Tuple[types.Location, LabwareCoreType]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
     ) -> None:
         """Transfer a liquid from source to dest according to liquid class properties."""
         ...
@@ -370,4 +359,4 @@ def nozzle_configuration_valid_for_lld(self) -> bool:
         """Check if the nozzle configuration currently supports LLD."""
 
 
-InstrumentCoreType = TypeVar("InstrumentCoreType", bound=AbstractInstrument[Any])
+InstrumentCoreType = TypeVar("InstrumentCoreType", bound=AbstractInstrument[Any, Any])
diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
index d2d25051d49..bbc02702f93 100644
--- a/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy/legacy_instrument_core.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control import CriticalPoint
@@ -25,6 +25,7 @@
 from ...disposal_locations import TrashBin, WasteChute
 from ..instrument import AbstractInstrument
 from .legacy_well_core import LegacyWellCore
+from .legacy_labware_core import LegacyLabwareCore
 from .legacy_module_core import LegacyThermocyclerCore, LegacyHeaterShakerCore
 
 if TYPE_CHECKING:
@@ -37,7 +38,7 @@
 """In PAPIv2.1 and below, tips are always dropped 10 mm from the bottom of the well."""
 
 
-class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore]):
+class LegacyInstrumentCore(AbstractInstrument[LegacyWellCore, LegacyLabwareCore]):
     """Implementation of the InstrumentContext interface."""
 
     def __init__(
@@ -556,24 +557,15 @@ def configure_nozzle_layout(
         """This will never be called because it was added in API 2.16."""
         pass
 
-    def load_liquid_class(
-        self,
-        liquid_class: LiquidClass,
-        pipette_load_name: str,
-        tiprack_uri: str,
-    ) -> str:
-        """This will never be called because it was added in .."""
-        # TODO(spp, 2024-11-20): update the docstring and error to include API version
-        assert False, "load_liquid_class is not supported in legacy context"
-
     def transfer_liquid(
         self,
-        liquid_class_id: str,
+        liquid_class: LiquidClass,
         volume: float,
-        source: List[LegacyWellCore],
-        dest: List[LegacyWellCore],
+        source: List[Tuple[types.Location, LegacyWellCore]],
+        dest: List[Tuple[types.Location, LegacyWellCore]],
         new_tip: TransferTipPolicyV2,
-        trash_location: Union[LegacyWellCore, types.Location, TrashBin, WasteChute],
+        tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
     ) -> None:
         """This will never be called because it was added in .."""
         # TODO(spp, 2024-11-20): update the docstring and error to include API version
diff --git a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py
index d0b95ed82ca..8adadbe1ecf 100644
--- a/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy/legacy_protocol_core.py
@@ -6,7 +6,13 @@
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.robot.types import RobotType
 
-from opentrons.types import DeckSlotName, StagingSlotName, Location, Mount, Point
+from opentrons.types import (
+    DeckSlotName,
+    StagingSlotName,
+    Location,
+    Mount,
+    Point,
+)
 from opentrons.util.broker import Broker
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.modules import AbstractModule, ModuleModel, ModuleType
@@ -267,6 +273,16 @@ def load_adapter(
         """Load an adapter using its identifying parameters"""
         raise APIVersionError(api_element="Loading adapter")
 
+    def load_lid(
+        self,
+        load_name: str,
+        location: LegacyLabwareCore,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LegacyLabwareCore:
+        """Load an individual lid labware using its identifying parameters. Must be loaded on a labware."""
+        raise APIVersionError(api_element="Loading lid")
+
     def load_robot(self) -> None:  # type: ignore
         """Load an adapter using its identifying parameters"""
         raise APIVersionError(api_element="Loading robot")
@@ -478,6 +494,17 @@ def set_last_location(
         self._last_location = location
         self._last_mount = mount
 
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, StagingSlotName, LegacyLabwareCore],
+        quantity: int,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LegacyLabwareCore:
+        """Load a Stack of Lids to a given location, creating a Lid Stack."""
+        raise APIVersionError(api_element="Lid stack")
+
     def get_module_cores(self) -> List[legacy_module_core.LegacyModuleCore]:
         """Get loaded module cores."""
         return self._module_cores
diff --git a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
index ec194874528..3a898c27a42 100644
--- a/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
+++ b/api/src/opentrons/protocol_api/core/legacy_simulator/legacy_instrument_core.py
@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING, Optional, Union, List
+from typing import TYPE_CHECKING, Optional, Union, List, Tuple
 
 from opentrons import types
 from opentrons.hardware_control.dev_types import PipetteDict
@@ -23,6 +23,7 @@
     UnexpectedTipAttachError,
 )
 
+from ..legacy.legacy_labware_core import LegacyLabwareCore
 from ...disposal_locations import TrashBin, WasteChute
 from opentrons.protocol_api._nozzle_layout import NozzleLayout
 from opentrons.protocol_api._liquid import LiquidClass
@@ -42,7 +43,9 @@
 """In PAPIv2.1 and below, tips are always dropped 10 mm from the bottom of the well."""
 
 
-class LegacyInstrumentCoreSimulator(AbstractInstrument[LegacyWellCore]):
+class LegacyInstrumentCoreSimulator(
+    AbstractInstrument[LegacyWellCore, LegacyLabwareCore]
+):
     """A simulation of an instrument context."""
 
     def __init__(
@@ -474,24 +477,15 @@ def configure_nozzle_layout(
         """This will never be called because it was added in API 2.15."""
         pass
 
-    def load_liquid_class(
-        self,
-        liquid_class: LiquidClass,
-        pipette_load_name: str,
-        tiprack_uri: str,
-    ) -> str:
-        """This will never be called because it was added in .."""
-        # TODO(spp, 2024-11-20): update the docstring and error to include API version
-        assert False, "load_liquid_class is not supported in legacy context"
-
     def transfer_liquid(
         self,
-        liquid_class_id: str,
+        liquid_class: LiquidClass,
         volume: float,
-        source: List[LegacyWellCore],
-        dest: List[LegacyWellCore],
+        source: List[Tuple[types.Location, LegacyWellCore]],
+        dest: List[Tuple[types.Location, LegacyWellCore]],
         new_tip: TransferTipPolicyV2,
-        trash_location: Union[LegacyWellCore, types.Location, TrashBin, WasteChute],
+        tip_racks: List[Tuple[types.Location, LegacyLabwareCore]],
+        trash_location: Union[types.Location, TrashBin, WasteChute],
     ) -> None:
         """Transfer a liquid from source to dest according to liquid class properties."""
         # TODO(spp, 2024-11-20): update the docstring and error to include API version
diff --git a/api/src/opentrons/protocol_api/core/module.py b/api/src/opentrons/protocol_api/core/module.py
index e24fbbc54b0..d2583c711cb 100644
--- a/api/src/opentrons/protocol_api/core/module.py
+++ b/api/src/opentrons/protocol_api/core/module.py
@@ -379,3 +379,22 @@ def open_lid(self) -> None:
     @abstractmethod
     def is_lid_on(self) -> bool:
         """Return True if the Absorbance Reader's lid is currently closed."""
+
+
+class AbstractFlexStackerCore(AbstractModuleCore):
+    """Core control interface for an attached Flex Stacker."""
+
+    MODULE_TYPE: ClassVar = ModuleType.FLEX_STACKER
+
+    @abstractmethod
+    def get_serial_number(self) -> str:
+        """Get the module's unique hardware serial number."""
+
+    @abstractmethod
+    def retrieve(self) -> None:
+        """Release and return a labware at the bottom of the labware stack."""
+
+    @abstractmethod
+    def store(self) -> None:
+        """Store a labware at the bottom of the labware stack."""
+        pass
diff --git a/api/src/opentrons/protocol_api/core/protocol.py b/api/src/opentrons/protocol_api/core/protocol.py
index ba9f9a7d14a..27d41b921b0 100644
--- a/api/src/opentrons/protocol_api/core/protocol.py
+++ b/api/src/opentrons/protocol_api/core/protocol.py
@@ -10,7 +10,13 @@
 from opentrons_shared_data.labware.types import LabwareDefinition
 from opentrons_shared_data.robot.types import RobotType
 
-from opentrons.types import DeckSlotName, StagingSlotName, Location, Mount, Point
+from opentrons.types import (
+    DeckSlotName,
+    StagingSlotName,
+    Location,
+    Mount,
+    Point,
+)
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.modules.types import ModuleModel
 from opentrons.protocols.api_support.util import AxisMaxSpeeds
@@ -94,6 +100,17 @@ def load_adapter(
         """Load an adapter using its identifying parameters"""
         ...
 
+    @abstractmethod
+    def load_lid(
+        self,
+        load_name: str,
+        location: LabwareCoreType,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCoreType:
+        """Load an individual lid labware using its identifying parameters. Must be loaded on a labware."""
+        ...
+
     @abstractmethod
     def move_labware(
         self,
@@ -191,6 +208,17 @@ def set_last_location(
     ) -> None:
         ...
 
+    @abstractmethod
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckSlotName, StagingSlotName, LabwareCoreType],
+        quantity: int,
+        namespace: Optional[str],
+        version: Optional[int],
+    ) -> LabwareCoreType:
+        ...
+
     @abstractmethod
     def get_deck_definition(self) -> DeckDefinitionV5:
         """Get the geometry definition of the robot's deck."""
diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
index 9c6338270c7..b0f0f666e74 100644
--- a/api/src/opentrons/protocol_api/instrument_context.py
+++ b/api/src/opentrons/protocol_api/instrument_context.py
@@ -1520,9 +1520,9 @@ def transfer_liquid(
             labware.Well, Sequence[labware.Well], Sequence[Sequence[labware.Well]]
         ],
         new_tip: TransferTipPolicyV2Type = "once",
-        tip_drop_location: Optional[
+        trash_location: Optional[
             Union[types.Location, labware.Well, TrashBin, WasteChute]
-        ] = None,  # Maybe call this 'tip_drop_location' which is similar to PD
+        ] = None,
     ) -> InstrumentContext:
         """Transfer liquid from source to dest using the specified liquid class properties.
 
@@ -1561,14 +1561,9 @@ def transfer_liquid(
                     " of 'once' or 'always'."
                 )
             else:
-                tiprack = self._last_tip_picked_up_from.parent
+                tip_racks = [self._last_tip_picked_up_from.parent]
         else:
-            tiprack, well = labware.next_available_tip(
-                starting_tip=self.starting_tip,
-                tip_racks=self.tip_racks,
-                channels=self.active_channels,
-                nozzle_map=self._core.get_nozzle_map(),
-            )
+            tip_racks = self._tip_racks
         if self.current_volume != 0:
             raise RuntimeError(
                 "A transfer on a liquid class cannot start with liquid already in the tip."
@@ -1577,39 +1572,36 @@ def transfer_liquid(
             )
 
         _trash_location: Union[types.Location, labware.Well, TrashBin, WasteChute]
-        if tip_drop_location is None:
+        if trash_location is None:
             saved_trash = self.trash_container
             if isinstance(saved_trash, labware.Labware):
                 _trash_location = saved_trash.wells()[0]
             else:
                 _trash_location = saved_trash
         else:
-            _trash_location = tip_drop_location
+            _trash_location = trash_location
 
-        checked_trash_location = (
-            validation.ensure_valid_tip_drop_location_for_transfer_v2(
-                tip_drop_location=_trash_location
-            )
+        checked_trash_location = validation.ensure_valid_trash_location_for_transfer_v2(
+            trash_location=_trash_location
         )
-        liquid_class_id = self._core.load_liquid_class(
-            liquid_class=liquid_class,
-            pipette_load_name=self.name,
-            tiprack_uri=tiprack.uri,
-        )
-
         self._core.transfer_liquid(
-            liquid_class_id=liquid_class_id,
+            liquid_class=liquid_class,
             volume=volume,
-            source=[well._core for well in flat_sources_list],
-            dest=[well._core for well in flat_dests_list],
+            source=[
+                (types.Location(types.Point(), labware=well), well._core)
+                for well in flat_sources_list
+            ],
+            dest=[
+                (types.Location(types.Point(), labware=well), well._core)
+                for well in flat_dests_list
+            ],
             new_tip=valid_new_tip,
-            trash_location=(
-                checked_trash_location._core
-                if isinstance(checked_trash_location, labware.Well)
-                else checked_trash_location
-            ),
+            tip_racks=[
+                (types.Location(types.Point(), labware=rack), rack._core)
+                for rack in tip_racks
+            ],
+            trash_location=checked_trash_location,
         )
-
         return self
 
     @requires_version(2, 0)
diff --git a/api/src/opentrons/protocol_api/labware.py b/api/src/opentrons/protocol_api/labware.py
index 5e919a44f86..bb8a094e4c2 100644
--- a/api/src/opentrons/protocol_api/labware.py
+++ b/api/src/opentrons/protocol_api/labware.py
@@ -544,6 +544,7 @@ def load_labware(
         self,
         name: str,
         label: Optional[str] = None,
+        lid: Optional[str] = None,
         namespace: Optional[str] = None,
         version: Optional[int] = None,
     ) -> Labware:
@@ -573,6 +574,20 @@ def load_labware(
 
         self._core_map.add(labware_core, labware)
 
+        if lid is not None:
+            if self._api_version < validation.LID_STACK_VERSION_GATE:
+                raise APIVersionError(
+                    api_element="Loading a Lid on a Labware",
+                    until_version="2.23",
+                    current_version=f"{self._api_version}",
+                )
+            self._protocol_core.load_lid(
+                load_name=lid,
+                location=labware_core,
+                namespace=namespace,
+                version=version,
+            )
+
         return labware
 
     @requires_version(2, 15)
@@ -597,6 +612,65 @@ def load_labware_from_definition(
             label=label,
         )
 
+    @requires_version(2, 23)
+    def load_lid_stack(
+        self,
+        load_name: str,
+        quantity: int,
+        namespace: Optional[str] = None,
+        version: Optional[int] = None,
+    ) -> Labware:
+        """
+        Load a stack of Lids onto a valid Deck Location or Adapter.
+
+        :param str load_name: A string to use for looking up a lid definition.
+            You can find the ``load_name`` for any standard lid on the Opentrons
+            `Labware Library <https://labware.opentrons.com>`_.
+        :param int quantity: The quantity of lids to be loaded in the stack.
+        :param str namespace: The namespace that the lid labware definition belongs to.
+            If unspecified, the API will automatically search two namespaces:
+
+              - ``"opentrons"``, to load standard Opentrons labware definitions.
+              - ``"custom_beta"``, to load custom labware definitions created with the
+                `Custom Labware Creator <https://labware.opentrons.com/create>`__.
+
+            You might need to specify an explicit ``namespace`` if you have a custom
+            definition whose ``load_name`` is the same as an Opentrons-verified
+            definition, and you want to explicitly choose one or the other.
+
+        :param version: The version of the labware definition. You should normally
+            leave this unspecified to let ``load_lid_stack()`` choose a version
+            automatically.
+
+        :return: The initialized and loaded labware object representing the Lid Stack.
+        """
+        if self._api_version < validation.LID_STACK_VERSION_GATE:
+            raise APIVersionError(
+                api_element="Loading a Lid Stack",
+                until_version="2.23",
+                current_version=f"{self._api_version}",
+            )
+
+        load_location = self._core
+
+        load_name = validation.ensure_lowercase_name(load_name)
+
+        result = self._protocol_core.load_lid_stack(
+            load_name=load_name,
+            location=load_location,
+            quantity=quantity,
+            namespace=namespace,
+            version=version,
+        )
+
+        labware = Labware(
+            core=result,
+            api_version=self._api_version,
+            protocol_core=self._protocol_core,
+            core_map=self._core_map,
+        )
+        return labware
+
     def set_calibration(self, delta: Point) -> None:
         """
         An internal, deprecated method used for updating the labware offset.
diff --git a/api/src/opentrons/protocol_api/module_contexts.py b/api/src/opentrons/protocol_api/module_contexts.py
index 96950b927ef..82487196e42 100644
--- a/api/src/opentrons/protocol_api/module_contexts.py
+++ b/api/src/opentrons/protocol_api/module_contexts.py
@@ -29,6 +29,7 @@
     HeaterShakerCore,
     MagneticBlockCore,
     AbsorbanceReaderCore,
+    FlexStackerCore,
 )
 from .core.core_map import LoadedCoreMap
 from .core.engine import ENGINE_CORE_API_VERSION
@@ -125,6 +126,7 @@ def load_labware(
         namespace: Optional[str] = None,
         version: Optional[int] = None,
         adapter: Optional[str] = None,
+        lid: Optional[str] = None,
     ) -> Labware:
         """Load a labware onto the module using its load parameters.
 
@@ -180,6 +182,19 @@ def load_labware(
             version=version,
             location=load_location,
         )
+        if lid is not None:
+            if self._api_version < validation.LID_STACK_VERSION_GATE:
+                raise APIVersionError(
+                    api_element="Loading a lid on a Labware",
+                    until_version="2.23",
+                    current_version=f"{self._api_version}",
+                )
+            self._protocol_core.load_lid(
+                load_name=lid,
+                location=labware_core,
+                namespace=namespace,
+                version=version,
+            )
 
         if isinstance(self._core, LegacyModuleCore):
             labware = self._core.add_labware_core(cast(LegacyLabwareCore, labware_core))
@@ -1084,3 +1099,34 @@ def read(
         :returns: A dictionary of wavelengths to dictionary of values ordered by well name.
         """
         return self._core.read(filename=export_filename)
+
+
+class FlexStackerContext(ModuleContext):
+    """An object representing a connected Flex Stacker module.
+
+    It should not be instantiated directly; instead, it should be
+    created through :py:meth:`.ProtocolContext.load_module`.
+
+    .. versionadded:: 2.23
+    """
+
+    _core: FlexStackerCore
+
+    @property
+    @requires_version(2, 23)
+    def serial_number(self) -> str:
+        """Get the module's unique hardware serial number."""
+        return self._core.get_serial_number()
+
+    @requires_version(2, 23)
+    def retrieve(self) -> None:
+        """Release and return a labware at the bottom of the labware stack."""
+        self._core.retrieve()
+
+    @requires_version(2, 23)
+    def store(self, labware: Labware) -> None:
+        """Store a labware at the bottom of the labware stack.
+
+        :param labware: The labware object to store.
+        """
+        self._core.store()
diff --git a/api/src/opentrons/protocol_api/protocol_context.py b/api/src/opentrons/protocol_api/protocol_context.py
index 182019674a5..b9f96e4d536 100644
--- a/api/src/opentrons/protocol_api/protocol_context.py
+++ b/api/src/opentrons/protocol_api/protocol_context.py
@@ -399,6 +399,7 @@ def load_labware(
         namespace: Optional[str] = None,
         version: Optional[int] = None,
         adapter: Optional[str] = None,
+        lid: Optional[str] = None,
     ) -> Labware:
         """Load a labware onto a location.
 
@@ -443,6 +444,10 @@ def load_labware(
             values as the ``load_name`` parameter of :py:meth:`.load_adapter`. The
             adapter will use the same namespace as the labware, and the API will
             choose the adapter's version automatically.
+        :param lid: A lid to load the on top of the main labware. Accepts the same
+            values as the ``load_name`` parameter of :py:meth:`.load_lid_stack`. The
+            lid will use the same namespace as the labware, and the API will
+            choose the lid's version automatically.
 
                         .. versionadded:: 2.15
         """
@@ -483,6 +488,20 @@ def load_labware(
             version=version,
         )
 
+        if lid is not None:
+            if self._api_version < validation.LID_STACK_VERSION_GATE:
+                raise APIVersionError(
+                    api_element="Loading a Lid on a Labware",
+                    until_version="2.23",
+                    current_version=f"{self._api_version}",
+                )
+            self._core.load_lid(
+                load_name=lid,
+                location=labware_core,
+                namespace=namespace,
+                version=version,
+            )
+
         labware = Labware(
             core=labware_core,
             api_version=self._api_version,
@@ -1334,6 +1353,94 @@ def door_closed(self) -> bool:
         """Returns ``True`` if the front door of the robot is closed."""
         return self._core.door_closed()
 
+    @requires_version(2, 23)
+    def load_lid_stack(
+        self,
+        load_name: str,
+        location: Union[DeckLocation, Labware],
+        quantity: int,
+        adapter: Optional[str] = None,
+        namespace: Optional[str] = None,
+        version: Optional[int] = None,
+    ) -> Labware:
+        """
+        Load a stack of Lids onto a valid Deck Location or Adapter.
+
+        :param str load_name: A string to use for looking up a lid definition.
+            You can find the ``load_name`` for any standard lid on the Opentrons
+            `Labware Library <https://labware.opentrons.com>`_.
+        :param location: Either a :ref:`deck slot <deck-slots>`,
+            like ``1``, ``"1"``, or ``"D1"``, or the a valid Opentrons Adapter.
+        :param int quantity: The quantity of lids to be loaded in the stack.
+        :param adapter: An adapter to load the lid stack on top of. Accepts the same
+            values as the ``load_name`` parameter of :py:meth:`.load_adapter`. The
+            adapter will use the same namespace as the lid labware, and the API will
+            choose the adapter's version automatically.
+        :param str namespace: The namespace that the lid labware definition belongs to.
+            If unspecified, the API will automatically search two namespaces:
+
+              - ``"opentrons"``, to load standard Opentrons labware definitions.
+              - ``"custom_beta"``, to load custom labware definitions created with the
+                `Custom Labware Creator <https://labware.opentrons.com/create>`__.
+
+            You might need to specify an explicit ``namespace`` if you have a custom
+            definition whose ``load_name`` is the same as an Opentrons-verified
+            definition, and you want to explicitly choose one or the other.
+
+        :param version: The version of the labware definition. You should normally
+            leave this unspecified to let ``load_lid_stack()`` choose a version
+            automatically.
+
+        :return:  The initialized and loaded labware object representing the Lid Stack.
+        """
+        if self._api_version < validation.LID_STACK_VERSION_GATE:
+            raise APIVersionError(
+                api_element="Loading a Lid Stack",
+                until_version="2.23",
+                current_version=f"{self._api_version}",
+            )
+
+        load_location: Union[DeckSlotName, StagingSlotName, LabwareCore]
+        if isinstance(location, Labware):
+            load_location = location._core
+        else:
+            load_location = validation.ensure_and_convert_deck_slot(
+                location, self._api_version, self._core.robot_type
+            )
+
+        if adapter is not None:
+            if isinstance(load_location, DeckSlotName) or isinstance(
+                load_location, StagingSlotName
+            ):
+                loaded_adapter = self.load_adapter(
+                    load_name=adapter,
+                    location=load_location.value,
+                    namespace=namespace,
+                )
+                load_location = loaded_adapter._core
+            else:
+                raise ValueError(
+                    "Location cannot be a Labware or Adapter when the 'adapter' field is not None."
+                )
+
+        load_name = validation.ensure_lowercase_name(load_name)
+
+        result = self._core.load_lid_stack(
+            load_name=load_name,
+            location=load_location,
+            quantity=quantity,
+            namespace=namespace,
+            version=version,
+        )
+
+        labware = Labware(
+            core=result,
+            api_version=self._api_version,
+            protocol_core=self._core,
+            core_map=self._core_map,
+        )
+        return labware
+
 
 def _create_module_context(
     module_core: Union[ModuleCore, NonConnectedModuleCore],
diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py
index cd1e5112718..fde986c3552 100644
--- a/api/src/opentrons/protocol_api/validation.py
+++ b/api/src/opentrons/protocol_api/validation.py
@@ -14,13 +14,15 @@
 from math import isinf, isnan
 from typing_extensions import TypeGuard
 
-from opentrons_shared_data.labware.labware_definition import LabwareRole
-from opentrons_shared_data.pipette.types import PipetteNameType
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    LabwareRole,
+)
+from opentrons_shared_data.pipette.types import PipetteNameType, PIPETTE_API_NAMES_MAP
 from opentrons_shared_data.robot.types import RobotType
 
 from opentrons.protocols.api_support.types import APIVersion, ThermocyclerStep
 from opentrons.protocols.api_support.util import APIVersionError
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
 from opentrons.types import (
     Mount,
@@ -53,29 +55,8 @@
 # The first APIVersion where Python protocols can specify staging deck slots (e.g. "D4")
 _STAGING_DECK_SLOT_VERSION_GATE = APIVersion(2, 16)
 
-# Mapping of public Python Protocol API pipette load names
-# to names used by the internal Opentrons system
-_PIPETTE_NAMES_MAP = {
-    "p10_single": PipetteNameType.P10_SINGLE,
-    "p10_multi": PipetteNameType.P10_MULTI,
-    "p20_single_gen2": PipetteNameType.P20_SINGLE_GEN2,
-    "p20_multi_gen2": PipetteNameType.P20_MULTI_GEN2,
-    "p50_single": PipetteNameType.P50_SINGLE,
-    "p50_multi": PipetteNameType.P50_MULTI,
-    "p300_single": PipetteNameType.P300_SINGLE,
-    "p300_multi": PipetteNameType.P300_MULTI,
-    "p300_single_gen2": PipetteNameType.P300_SINGLE_GEN2,
-    "p300_multi_gen2": PipetteNameType.P300_MULTI_GEN2,
-    "p1000_single": PipetteNameType.P1000_SINGLE,
-    "p1000_single_gen2": PipetteNameType.P1000_SINGLE_GEN2,
-    "flex_1channel_50": PipetteNameType.P50_SINGLE_FLEX,
-    "flex_8channel_50": PipetteNameType.P50_MULTI_FLEX,
-    "flex_1channel_1000": PipetteNameType.P1000_SINGLE_FLEX,
-    "flex_8channel_1000": PipetteNameType.P1000_MULTI_FLEX,
-    "flex_8channel_1000_em": PipetteNameType.P1000_MULTI_EM,
-    "flex_96channel_1000": PipetteNameType.P1000_96,
-    "flex_96channel_200": PipetteNameType.P200_96,
-}
+# The first APIVersion where Python protocols can load lids as stacks and treat them as attributes of a parent labware.
+LID_STACK_VERSION_GATE = APIVersion(2, 23)
 
 
 class InvalidPipetteMountError(ValueError):
@@ -189,7 +170,7 @@ def ensure_pipette_name(pipette_name: str) -> PipetteNameType:
     pipette_name = ensure_lowercase_name(pipette_name)
 
     try:
-        return _PIPETTE_NAMES_MAP[pipette_name]
+        return PIPETTE_API_NAMES_MAP[pipette_name]
     except KeyError:
         raise ValueError(
             f"Cannot resolve {pipette_name} to pipette, must be given valid pipette name."
@@ -364,6 +345,27 @@ def ensure_definition_is_labware(definition: LabwareDefinition) -> None:
         )
 
 
+def ensure_definition_is_lid(definition: LabwareDefinition) -> None:
+    """Ensure that one of the definition's allowed roles is `lid` or that that field is empty."""
+    if LabwareRole.lid not in definition.allowedRoles:
+        raise LabwareDefinitionIsNotLabwareError(
+            f"Labware {definition.parameters.loadName} is not a lid."
+        )
+
+
+def ensure_definition_is_not_lid_after_api_version(
+    api_version: APIVersion, definition: LabwareDefinition
+) -> None:
+    """Ensure that one of the definition's allowed roles is not `lid` or that the API Version is below the release where lid loading was seperated."""
+    if (
+        LabwareRole.lid in definition.allowedRoles
+        and api_version >= LID_STACK_VERSION_GATE
+    ):
+        raise APIVersionError(
+            f"Labware Lids cannot be loaded like standard labware in Protocols written with an API version greater than {LID_STACK_VERSION_GATE}."
+        )
+
+
 _MODULE_ALIASES: Dict[str, ModuleModel] = {
     "magdeck": MagneticModuleModel.MAGNETIC_V1,
     "magnetic module": MagneticModuleModel.MAGNETIC_V1,
@@ -687,20 +689,18 @@ def ensure_valid_flat_wells_list_for_transfer_v2(
         )
 
 
-def ensure_valid_tip_drop_location_for_transfer_v2(
-    tip_drop_location: Union[Location, Well, TrashBin, WasteChute]
-) -> Union[Location, Well, TrashBin, WasteChute]:
-    """Ensure that the tip drop location is valid for v2 transfer."""
+def ensure_valid_trash_location_for_transfer_v2(
+    trash_location: Union[Location, Well, TrashBin, WasteChute]
+) -> Union[Location, TrashBin, WasteChute]:
+    """Ensure that the trash location is valid for v2 transfer."""
     from .labware import Well
 
-    if (
-        isinstance(tip_drop_location, Well)
-        or isinstance(tip_drop_location, TrashBin)
-        or isinstance(tip_drop_location, WasteChute)
-    ):
-        return tip_drop_location
-    elif isinstance(tip_drop_location, Location):
-        _, maybe_well = tip_drop_location.labware.get_parent_labware_and_well()
+    if isinstance(trash_location, TrashBin) or isinstance(trash_location, WasteChute):
+        return trash_location
+    elif isinstance(trash_location, Well):
+        return trash_location.top()
+    elif isinstance(trash_location, Location):
+        _, maybe_well = trash_location.labware.get_parent_labware_and_well()
 
         if maybe_well is None:
             raise TypeError(
@@ -710,11 +710,11 @@ def ensure_valid_tip_drop_location_for_transfer_v2(
                 " since that is where a tip is dropped."
                 " However, the given location doesn't refer to any well."
             )
-        return tip_drop_location
+        return trash_location
     else:
         raise TypeError(
             f"If specified, location should be an instance of"
             f" `types.Location` (e.g. the return value from `Well.top()`)"
             f" or `Well` (e.g. `reservoir.wells()[0]`) or an instance of `TrashBin` or `WasteChute`."
-            f" However, it is '{tip_drop_location}'."
+            f" However, it is '{trash_location}'."
         )
diff --git a/api/src/opentrons/protocol_engine/actions/actions.py b/api/src/opentrons/protocol_engine/actions/actions.py
index a9dcc3e7dc3..0ec505d68e6 100644
--- a/api/src/opentrons/protocol_engine/actions/actions.py
+++ b/api/src/opentrons/protocol_engine/actions/actions.py
@@ -8,12 +8,12 @@
 from enum import Enum
 from typing import List, Optional, Union
 
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.errors import EnumeratedError
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
 from opentrons.hardware_control.types import DoorState
 from opentrons.hardware_control.modules import LiveData
 
-from opentrons_shared_data.errors import EnumeratedError
-
 from ..commands import (
     Command,
     CommandCreate,
diff --git a/api/src/opentrons/protocol_engine/clients/sync_client.py b/api/src/opentrons/protocol_engine/clients/sync_client.py
index 71837a7a2ca..3f7da174750 100644
--- a/api/src/opentrons/protocol_engine/clients/sync_client.py
+++ b/api/src/opentrons/protocol_engine/clients/sync_client.py
@@ -77,6 +77,18 @@ def execute_command_without_recovery(
     ) -> commands.LoadPipetteResult:
         pass
 
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLidStackParams
+    ) -> commands.LoadLidStackResult:
+        pass
+
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.LoadLidParams
+    ) -> commands.LoadLidResult:
+        pass
+
     @overload
     def execute_command_without_recovery(
         self, params: commands.LiquidProbeParams
@@ -95,6 +107,12 @@ def execute_command_without_recovery(
     ) -> commands.LoadLiquidClassResult:
         pass
 
+    @overload
+    def execute_command_without_recovery(
+        self, params: commands.GetNextTipParams
+    ) -> commands.GetNextTipResult:
+        pass
+
     def execute_command_without_recovery(
         self, params: commands.CommandParams
     ) -> commands.CommandResult:
diff --git a/api/src/opentrons/protocol_engine/commands/__init__.py b/api/src/opentrons/protocol_engine/commands/__init__.py
index b5edda52397..a11222f57b0 100644
--- a/api/src/opentrons/protocol_engine/commands/__init__.py
+++ b/api/src/opentrons/protocol_engine/commands/__init__.py
@@ -14,6 +14,7 @@
 """
 
 from . import absorbance_reader
+from . import flex_stacker
 from . import heater_shaker
 from . import magnetic_module
 from . import temperature_module
@@ -174,6 +175,22 @@
     LoadPipetteCommandType,
 )
 
+from .load_lid_stack import (
+    LoadLidStack,
+    LoadLidStackParams,
+    LoadLidStackCreate,
+    LoadLidStackResult,
+    LoadLidStackCommandType,
+)
+
+from .load_lid import (
+    LoadLid,
+    LoadLidParams,
+    LoadLidCreate,
+    LoadLidResult,
+    LoadLidCommandType,
+)
+
 from .move_labware import (
     MoveLabware,
     MoveLabwareParams,
@@ -476,6 +493,20 @@
     "LoadPipetteResult",
     "LoadPipetteCommandType",
     "LoadPipettePrivateResult",
+    # load lid stack command models
+    "LoadLidStack",
+    "LoadLidStackCreate",
+    "LoadLidStackParams",
+    "LoadLidStackResult",
+    "LoadLidStackCommandType",
+    "LoadLidStackPrivateResult",
+    # load lid command models
+    "LoadLid",
+    "LoadLidCreate",
+    "LoadLidParams",
+    "LoadLidResult",
+    "LoadLidCommandType",
+    "LoadLidPrivateResult",
     # move labware command models
     "MoveLabware",
     "MoveLabwareCreate",
@@ -584,6 +615,7 @@
     # hardware control command models
     # hardware module command bundles
     "absorbance_reader",
+    "flex_stacker",
     "heater_shaker",
     "magnetic_module",
     "temperature_module",
diff --git a/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py b/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py
index 14c1f0f9ea3..41c1e65bce9 100644
--- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py
+++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/close_lid.py
@@ -60,7 +60,6 @@ async def execute(self, params: CloseLidParams) -> SuccessData[CloseLidResult]:
         hardware_lid_status = AbsorbanceReaderLidStatus.OFF
         if not self._state_view.config.use_virtual_modules:
             abs_reader = self._equipment.get_module_hardware_api(mod_substate.module_id)
-
             if abs_reader is not None:
                 hardware_lid_status = await abs_reader.get_current_lid_status()
             else:
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 43937c07ab2..bcb2639d0a5 100644
--- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py
+++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/initialize.py
@@ -12,6 +12,7 @@
 from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
 from ...errors.error_occurrence import ErrorOccurrence
 from ...errors import InvalidWavelengthError
+from ...state import update_types
 
 if TYPE_CHECKING:
     from opentrons.protocol_engine.state.state import StateView
@@ -60,6 +61,7 @@ def __init__(
 
     async def execute(self, params: InitializeParams) -> SuccessData[InitializeResult]:
         """Initiate a single absorbance measurement."""
+        state_update = update_types.StateUpdate()
         abs_reader_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
@@ -120,10 +122,15 @@ async def execute(self, params: InitializeParams) -> SuccessData[InitializeResul
                 reference_wavelength=params.referenceWavelength,
             )
 
-        return SuccessData(
-            public=InitializeResult(),
+        state_update.initialize_absorbance_reader(
+            abs_reader_substate.module_id,
+            params.measureMode,
+            params.sampleWavelengths,
+            params.referenceWavelength,
         )
 
+        return SuccessData(public=InitializeResult(), state_update=state_update)
+
 
 class Initialize(BaseCommand[InitializeParams, InitializeResult, ErrorOccurrence]):
     """A command to initialize an Absorbance Reader."""
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 b06a2527cc8..c8f7dca8706 100644
--- a/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py
+++ b/api/src/opentrons/protocol_engine/commands/absorbance_reader/read.py
@@ -74,6 +74,7 @@ async def execute(  # noqa: C901
         self, params: ReadAbsorbanceParams
     ) -> SuccessData[ReadAbsorbanceResult]:
         """Initiate an absorbance measurement."""
+        state_update = update_types.StateUpdate()
         abs_reader_substate = self._state_view.modules.get_absorbance_reader_substate(
             module_id=params.moduleId
         )
@@ -149,6 +150,9 @@ async def execute(  # noqa: C901
                     "Plate Reader data cannot be requested with a module that has not been initialized."
                 )
 
+        state_update.set_absorbance_reader_data(
+            module_id=abs_reader_substate.module_id, read_result=asbsorbance_result
+        )
         # TODO (cb, 10-17-2024): FILE PROVIDER - Some day we may want to break the file provider behavior into a seperate API function.
         # When this happens, we probably will to have the change the command results handler we utilize to track file IDs in engine.
         # Today, the action handler for the FileStore looks for a ReadAbsorbanceResult command action, this will need to be delinked.
@@ -181,18 +185,20 @@ async def execute(  # noqa: C901
                 # Return success data to api
                 return SuccessData(
                     public=ReadAbsorbanceResult(
-                        data=asbsorbance_result, fileIds=file_ids
+                        data=asbsorbance_result,
+                        fileIds=file_ids,
                     ),
+                    state_update=state_update,
                 )
 
+        state_update.files_added = update_types.FilesAddedUpdate(file_ids=file_ids)
+
         return SuccessData(
             public=ReadAbsorbanceResult(
                 data=asbsorbance_result,
                 fileIds=file_ids,
             ),
-            state_update=update_types.StateUpdate(
-                files_added=update_types.FilesAddedUpdate(file_ids=file_ids)
-            ),
+            state_update=state_update,
         )
 
 
diff --git a/api/src/opentrons/protocol_engine/commands/command_unions.py b/api/src/opentrons/protocol_engine/commands/command_unions.py
index 3f5bb09e510..06a2160c75e 100644
--- a/api/src/opentrons/protocol_engine/commands/command_unions.py
+++ b/api/src/opentrons/protocol_engine/commands/command_unions.py
@@ -16,6 +16,7 @@
 from .movement_common import StallOrCollisionError
 
 from . import absorbance_reader
+from . import flex_stacker
 from . import heater_shaker
 from . import magnetic_module
 from . import temperature_module
@@ -161,6 +162,22 @@
     LoadPipetteCommandType,
 )
 
+from .load_lid_stack import (
+    LoadLidStack,
+    LoadLidStackParams,
+    LoadLidStackCreate,
+    LoadLidStackResult,
+    LoadLidStackCommandType,
+)
+
+from .load_lid import (
+    LoadLid,
+    LoadLidParams,
+    LoadLidCreate,
+    LoadLidResult,
+    LoadLidCommandType,
+)
+
 from .move_labware import (
     GripperMovementError,
     MoveLabware,
@@ -367,6 +384,8 @@
         LoadLiquidClass,
         LoadModule,
         LoadPipette,
+        LoadLidStack,
+        LoadLid,
         MoveLabware,
         MoveRelative,
         MoveToCoordinates,
@@ -412,6 +431,8 @@
         absorbance_reader.OpenLid,
         absorbance_reader.Initialize,
         absorbance_reader.ReadAbsorbance,
+        flex_stacker.Retrieve,
+        flex_stacker.Store,
         calibration.CalibrateGripper,
         calibration.CalibratePipette,
         calibration.CalibrateModule,
@@ -448,6 +469,8 @@
     HomeParams,
     RetractAxisParams,
     LoadLabwareParams,
+    LoadLidStackParams,
+    LoadLidParams,
     ReloadLabwareParams,
     LoadLiquidParams,
     LoadLiquidClassParams,
@@ -498,6 +521,8 @@
     absorbance_reader.OpenLidParams,
     absorbance_reader.InitializeParams,
     absorbance_reader.ReadAbsorbanceParams,
+    flex_stacker.RetrieveParams,
+    flex_stacker.StoreParams,
     calibration.CalibrateGripperParams,
     calibration.CalibratePipetteParams,
     calibration.CalibrateModuleParams,
@@ -537,6 +562,8 @@
     LoadLiquidClassCommandType,
     LoadModuleCommandType,
     LoadPipetteCommandType,
+    LoadLidStackCommandType,
+    LoadLidCommandType,
     MoveLabwareCommandType,
     MoveRelativeCommandType,
     MoveToCoordinatesCommandType,
@@ -582,6 +609,8 @@
     absorbance_reader.OpenLidCommandType,
     absorbance_reader.InitializeCommandType,
     absorbance_reader.ReadAbsorbanceCommandType,
+    flex_stacker.RetrieveCommandType,
+    flex_stacker.StoreCommandType,
     calibration.CalibrateGripperCommandType,
     calibration.CalibratePipetteCommandType,
     calibration.CalibrateModuleCommandType,
@@ -622,6 +651,8 @@
         LoadLiquidClassCreate,
         LoadModuleCreate,
         LoadPipetteCreate,
+        LoadLidStackCreate,
+        LoadLidCreate,
         MoveLabwareCreate,
         MoveRelativeCreate,
         MoveToCoordinatesCreate,
@@ -667,6 +698,8 @@
         absorbance_reader.OpenLidCreate,
         absorbance_reader.InitializeCreate,
         absorbance_reader.ReadAbsorbanceCreate,
+        flex_stacker.RetrieveCreate,
+        flex_stacker.StoreCreate,
         calibration.CalibrateGripperCreate,
         calibration.CalibratePipetteCreate,
         calibration.CalibrateModuleCreate,
@@ -715,6 +748,8 @@
     LoadLiquidClassResult,
     LoadModuleResult,
     LoadPipetteResult,
+    LoadLidStackResult,
+    LoadLidResult,
     MoveLabwareResult,
     MoveRelativeResult,
     MoveToCoordinatesResult,
@@ -760,6 +795,8 @@
     absorbance_reader.OpenLidResult,
     absorbance_reader.InitializeResult,
     absorbance_reader.ReadAbsorbanceResult,
+    flex_stacker.RetrieveResult,
+    flex_stacker.StoreResult,
     calibration.CalibrateGripperResult,
     calibration.CalibratePipetteResult,
     calibration.CalibrateModuleResult,
diff --git a/api/src/opentrons/protocol_engine/commands/flex_stacker/__init__.py b/api/src/opentrons/protocol_engine/commands/flex_stacker/__init__.py
new file mode 100644
index 00000000000..9b31bfbbe5f
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/commands/flex_stacker/__init__.py
@@ -0,0 +1,33 @@
+"""Command models for Flex Stacker commands."""
+
+from .store import (
+    StoreCommandType,
+    StoreParams,
+    StoreResult,
+    Store,
+    StoreCreate,
+)
+
+from .retrieve import (
+    RetrieveCommandType,
+    RetrieveParams,
+    RetrieveResult,
+    Retrieve,
+    RetrieveCreate,
+)
+
+
+__all__ = [
+    # flexStacker/store
+    "StoreCommandType",
+    "StoreParams",
+    "StoreResult",
+    "Store",
+    "StoreCreate",
+    # flexStacker/retrieve
+    "RetrieveCommandType",
+    "RetrieveParams",
+    "RetrieveResult",
+    "Retrieve",
+    "RetrieveCreate",
+]
diff --git a/api/src/opentrons/protocol_engine/commands/flex_stacker/retrieve.py b/api/src/opentrons/protocol_engine/commands/flex_stacker/retrieve.py
new file mode 100644
index 00000000000..e561e628fb0
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/commands/flex_stacker/retrieve.py
@@ -0,0 +1,77 @@
+"""Command models to retrieve a labware from a Flex Stacker."""
+from __future__ import annotations
+from typing import Optional, Literal, TYPE_CHECKING
+from typing_extensions import Type
+
+from pydantic import BaseModel, Field
+
+from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ...errors.error_occurrence import ErrorOccurrence
+from ...state import update_types
+
+if TYPE_CHECKING:
+    from opentrons.protocol_engine.state.state import StateView
+    from opentrons.protocol_engine.execution import EquipmentHandler
+
+RetrieveCommandType = Literal["flexStacker/retrieve"]
+
+
+class RetrieveParams(BaseModel):
+    """Input parameters for a labware retrieval command."""
+
+    moduleId: str = Field(
+        ...,
+        description="Unique ID of the Flex Stacker.",
+    )
+
+
+class RetrieveResult(BaseModel):
+    """Result data from a labware retrieval command."""
+
+
+class RetrieveImpl(AbstractCommandImpl[RetrieveParams, SuccessData[RetrieveResult]]):
+    """Implementation of a labware retrieval command."""
+
+    def __init__(
+        self,
+        state_view: StateView,
+        equipment: EquipmentHandler,
+        **kwargs: object,
+    ) -> None:
+        self._state_view = state_view
+        self._equipment = equipment
+
+    async def execute(self, params: RetrieveParams) -> SuccessData[RetrieveResult]:
+        """Execute the labware retrieval command."""
+        state_update = update_types.StateUpdate()
+        stacker_substate = self._state_view.modules.get_flex_stacker_substate(
+            module_id=params.moduleId
+        )
+
+        # Allow propagation of ModuleNotAttachedError.
+        stacker = self._equipment.get_module_hardware_api(stacker_substate.module_id)
+
+        if stacker is not None:
+            # TODO: get labware height from labware state view
+            await stacker.dispense_labware(labware_height=50.0)
+
+        return SuccessData(public=RetrieveResult(), state_update=state_update)
+
+
+class Retrieve(BaseCommand[RetrieveParams, RetrieveResult, ErrorOccurrence]):
+    """A command to retrieve a labware from a Flex Stacker."""
+
+    commandType: RetrieveCommandType = "flexStacker/retrieve"
+    params: RetrieveParams
+    result: Optional[RetrieveResult]
+
+    _ImplementationCls: Type[RetrieveImpl] = RetrieveImpl
+
+
+class RetrieveCreate(BaseCommandCreate[RetrieveParams]):
+    """A request to execute a Flex Stacker retrieve command."""
+
+    commandType: RetrieveCommandType = "flexStacker/retrieve"
+    params: RetrieveParams
+
+    _CommandCls: Type[Retrieve] = Retrieve
diff --git a/api/src/opentrons/protocol_engine/commands/flex_stacker/store.py b/api/src/opentrons/protocol_engine/commands/flex_stacker/store.py
new file mode 100644
index 00000000000..918105d9c68
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/commands/flex_stacker/store.py
@@ -0,0 +1,78 @@
+"""Command models to retrieve a labware from a Flex Stacker."""
+from __future__ import annotations
+from typing import Optional, Literal, TYPE_CHECKING
+from typing_extensions import Type
+
+from pydantic import BaseModel, Field
+
+from ..command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ...errors.error_occurrence import ErrorOccurrence
+from ...state import update_types
+
+if TYPE_CHECKING:
+    from opentrons.protocol_engine.state.state import StateView
+    from opentrons.protocol_engine.execution import EquipmentHandler
+
+
+StoreCommandType = Literal["flexStacker/store"]
+
+
+class StoreParams(BaseModel):
+    """Input parameters for a labware storage command."""
+
+    moduleId: str = Field(
+        ...,
+        description="Unique ID of the flex stacker.",
+    )
+
+
+class StoreResult(BaseModel):
+    """Result data from a labware storage command."""
+
+
+class StoreImpl(AbstractCommandImpl[StoreParams, SuccessData[StoreResult]]):
+    """Implementation of a labware storage command."""
+
+    def __init__(
+        self,
+        state_view: StateView,
+        equipment: EquipmentHandler,
+        **kwargs: object,
+    ) -> None:
+        self._state_view = state_view
+        self._equipment = equipment
+
+    async def execute(self, params: StoreParams) -> SuccessData[StoreResult]:
+        """Execute the labware storage command."""
+        state_update = update_types.StateUpdate()
+        stacker_substate = self._state_view.modules.get_flex_stacker_substate(
+            module_id=params.moduleId
+        )
+
+        # Allow propagation of ModuleNotAttachedError.
+        stacker = self._equipment.get_module_hardware_api(stacker_substate.module_id)
+
+        if stacker is not None:
+            # TODO: get labware height from labware state view
+            await stacker.store_labware(labware_height=50.0)
+
+        return SuccessData(public=StoreResult(), state_update=state_update)
+
+
+class Store(BaseCommand[StoreParams, StoreResult, ErrorOccurrence]):
+    """A command to store a labware in a Flex Stacker."""
+
+    commandType: StoreCommandType = "flexStacker/store"
+    params: StoreParams
+    result: Optional[StoreResult]
+
+    _ImplementationCls: Type[StoreImpl] = StoreImpl
+
+
+class StoreCreate(BaseCommandCreate[StoreParams]):
+    """A request to execute a Flex Stacker store command."""
+
+    commandType: StoreCommandType = "flexStacker/store"
+    params: StoreParams
+
+    _CommandCls: Type[Store] = Store
diff --git a/api/src/opentrons/protocol_engine/commands/load_labware.py b/api/src/opentrons/protocol_engine/commands/load_labware.py
index 6b65fe239e4..d0e83863616 100644
--- a/api/src/opentrons/protocol_engine/commands/load_labware.py
+++ b/api/src/opentrons/protocol_engine/commands/load_labware.py
@@ -172,6 +172,19 @@ async def execute(
                 top_labware_definition=loaded_labware.definition,
                 bottom_labware_id=verified_location.labwareId,
             )
+            # Validate load location is valid for lids
+            if (
+                labware_validation.validate_definition_is_lid(
+                    definition=loaded_labware.definition
+                )
+                and loaded_labware.definition.compatibleParentLabware is not None
+                and self._state_view.labware.get_load_name(verified_location.labwareId)
+                not in loaded_labware.definition.compatibleParentLabware
+            ):
+                raise ValueError(
+                    f"Labware Lid {params.loadName} may not be loaded on parent labware {self._state_view.labware.get_display_name(verified_location.labwareId)}."
+                )
+
         # Validate labware for the absorbance reader
         elif isinstance(params.location, ModuleLocation):
             module = self._state_view.modules.get(params.location.moduleId)
@@ -179,7 +192,6 @@ async def execute(
                 self._state_view.labware.raise_if_labware_incompatible_with_plate_reader(
                     loaded_labware.definition
                 )
-
         return SuccessData(
             public=LoadLabwareResult(
                 labwareId=loaded_labware.labware_id,
diff --git a/api/src/opentrons/protocol_engine/commands/load_lid.py b/api/src/opentrons/protocol_engine/commands/load_lid.py
new file mode 100644
index 00000000000..4f2e49c7447
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/commands/load_lid.py
@@ -0,0 +1,146 @@
+"""Load lid command request, result, and implementation models."""
+from __future__ import annotations
+from pydantic import BaseModel, Field
+from typing import TYPE_CHECKING, Optional, Type
+from typing_extensions import Literal
+
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
+from ..errors import LabwareCannotBeStackedError, LabwareIsNotAllowedInLocationError
+from ..resources import labware_validation
+from ..types import (
+    LabwareLocation,
+    OnLabwareLocation,
+)
+
+from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ..errors.error_occurrence import ErrorOccurrence
+from ..state.update_types import StateUpdate
+
+if TYPE_CHECKING:
+    from ..state.state import StateView
+    from ..execution import EquipmentHandler
+
+
+LoadLidCommandType = Literal["loadLid"]
+
+
+class LoadLidParams(BaseModel):
+    """Payload required to load a lid onto a labware."""
+
+    location: LabwareLocation = Field(
+        ...,
+        description="Labware the lid should be loaded onto.",
+    )
+    loadName: str = Field(
+        ...,
+        description="Name used to reference a lid labware definition.",
+    )
+    namespace: str = Field(
+        ...,
+        description="The namespace the lid labware definition belongs to.",
+    )
+    version: int = Field(
+        ...,
+        description="The lid labware definition version.",
+    )
+
+
+class LoadLidResult(BaseModel):
+    """Result data from the execution of a LoadLabware command."""
+
+    labwareId: str = Field(
+        ...,
+        description="An ID to reference this lid labware in subsequent commands.",
+    )
+    definition: LabwareDefinition = Field(
+        ...,
+        description="The full definition data for this lid labware.",
+    )
+
+
+class LoadLidImplementation(
+    AbstractCommandImpl[LoadLidParams, SuccessData[LoadLidResult]]
+):
+    """Load lid command implementation."""
+
+    def __init__(
+        self, equipment: EquipmentHandler, state_view: StateView, **kwargs: object
+    ) -> None:
+        self._equipment = equipment
+        self._state_view = state_view
+
+    async def execute(self, params: LoadLidParams) -> SuccessData[LoadLidResult]:
+        """Load definition and calibration data necessary for a lid."""
+        if not isinstance(params.location, OnLabwareLocation):
+            raise LabwareIsNotAllowedInLocationError(
+                "Lid Labware is only allowed to be loaded on top of a labware. Try `load_lid_stack(...)` to load lids without parent labware."
+            )
+
+        verified_location = self._state_view.geometry.ensure_location_not_occupied(
+            params.location
+        )
+        loaded_labware = await self._equipment.load_labware(
+            load_name=params.loadName,
+            namespace=params.namespace,
+            version=params.version,
+            location=verified_location,
+            labware_id=None,
+        )
+
+        # TODO(chb 2024-12-12) these validation checks happen after the labware is loaded, because they rely on
+        #   on the definition. In practice this will not cause any issues since they will raise protocol ending
+        #   exception, but for correctness should be refactored to do this check beforehand.
+        if not labware_validation.validate_definition_is_lid(loaded_labware.definition):
+            raise LabwareCannotBeStackedError(
+                f"Labware {params.loadName} is not a Lid and cannot be loaded onto {self._state_view.labware.get_display_name(params.location.labwareId)}."
+            )
+
+        state_update = StateUpdate()
+
+        # In the case of lids being loaded on top of other labware, set the parent labware's lid
+        state_update.set_lid(
+            parent_labware_id=params.location.labwareId,
+            lid_id=loaded_labware.labware_id,
+        )
+
+        state_update.set_loaded_labware(
+            labware_id=loaded_labware.labware_id,
+            offset_id=loaded_labware.offsetId,
+            definition=loaded_labware.definition,
+            location=verified_location,
+            display_name=None,
+        )
+
+        if isinstance(verified_location, OnLabwareLocation):
+            self._state_view.labware.raise_if_labware_cannot_be_stacked(
+                top_labware_definition=loaded_labware.definition,
+                bottom_labware_id=verified_location.labwareId,
+            )
+
+        return SuccessData(
+            public=LoadLidResult(
+                labwareId=loaded_labware.labware_id,
+                definition=loaded_labware.definition,
+            ),
+            state_update=state_update,
+        )
+
+
+class LoadLid(BaseCommand[LoadLidParams, LoadLidResult, ErrorOccurrence]):
+    """Load lid command resource model."""
+
+    commandType: LoadLidCommandType = "loadLid"
+    params: LoadLidParams
+    result: Optional[LoadLidResult]
+
+    _ImplementationCls: Type[LoadLidImplementation] = LoadLidImplementation
+
+
+class LoadLidCreate(BaseCommandCreate[LoadLidParams]):
+    """Load lid command creation request."""
+
+    commandType: LoadLidCommandType = "loadLid"
+    params: LoadLidParams
+
+    _CommandCls: Type[LoadLid] = LoadLid
diff --git a/api/src/opentrons/protocol_engine/commands/load_lid_stack.py b/api/src/opentrons/protocol_engine/commands/load_lid_stack.py
new file mode 100644
index 00000000000..7b430dfaf45
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/commands/load_lid_stack.py
@@ -0,0 +1,189 @@
+"""Load lid stack command request, result, and implementation models."""
+from __future__ import annotations
+from pydantic import BaseModel, Field
+from typing import TYPE_CHECKING, Optional, Type, List
+from typing_extensions import Literal
+
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
+from ..errors import LabwareIsNotAllowedInLocationError, ProtocolEngineError
+from ..resources import fixture_validation, labware_validation
+from ..types import (
+    LabwareLocation,
+    OnLabwareLocation,
+    DeckSlotLocation,
+    AddressableAreaLocation,
+)
+
+from .command import AbstractCommandImpl, BaseCommand, BaseCommandCreate, SuccessData
+from ..errors.error_occurrence import ErrorOccurrence
+from ..state.update_types import StateUpdate
+
+if TYPE_CHECKING:
+    from ..state.state import StateView
+    from ..execution import EquipmentHandler
+
+
+LoadLidStackCommandType = Literal["loadLidStack"]
+
+_LID_STACK_PE_LABWARE = "protocol_engine_lid_stack_object"
+_LID_STACK_PE_NAMESPACE = "opentrons"
+_LID_STACK_PE_VERSION = 1
+
+
+class LoadLidStackParams(BaseModel):
+    """Payload required to load a lid stack onto a location."""
+
+    location: LabwareLocation = Field(
+        ...,
+        description="Location the lid stack should be loaded into.",
+    )
+    loadName: str = Field(
+        ...,
+        description="Name used to reference a lid labware definition.",
+    )
+    namespace: str = Field(
+        ...,
+        description="The namespace the lid labware definition belongs to.",
+    )
+    version: int = Field(
+        ...,
+        description="The lid labware definition version.",
+    )
+    quantity: int = Field(
+        ...,
+        description="The quantity of lids to load.",
+    )
+
+
+class LoadLidStackResult(BaseModel):
+    """Result data from the execution of a LoadLidStack command."""
+
+    stackLabwareId: str = Field(
+        ...,
+        description="An ID to reference the Protocol Engine Labware Lid Stack in subsequent commands.",
+    )
+    labwareIds: List[str] = Field(
+        ...,
+        description="A list of lid labware IDs to reference the lids in this stack by. The first ID is the bottom of the stack.",
+    )
+    definition: LabwareDefinition = Field(
+        ...,
+        description="The full definition data for this lid labware.",
+    )
+    location: LabwareLocation = Field(
+        ..., description="The Location that the stack of lid labware has been loaded."
+    )
+
+
+class LoadLidStackImplementation(
+    AbstractCommandImpl[LoadLidStackParams, SuccessData[LoadLidStackResult]]
+):
+    """Load lid stack command implementation."""
+
+    def __init__(
+        self, equipment: EquipmentHandler, state_view: StateView, **kwargs: object
+    ) -> None:
+        self._equipment = equipment
+        self._state_view = state_view
+
+    async def execute(
+        self, params: LoadLidStackParams
+    ) -> SuccessData[LoadLidStackResult]:
+        """Load definition and calibration data necessary for a lid stack."""
+        if isinstance(params.location, AddressableAreaLocation):
+            area_name = params.location.addressableAreaName
+            if not (
+                fixture_validation.is_deck_slot(params.location.addressableAreaName)
+                or fixture_validation.is_abs_reader(params.location.addressableAreaName)
+            ):
+                raise LabwareIsNotAllowedInLocationError(
+                    f"Cannot load {params.loadName} onto addressable area {area_name}"
+                )
+            self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
+                area_name
+            )
+        elif isinstance(params.location, DeckSlotLocation):
+            self._state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
+                params.location.slotName.id
+            )
+
+        verified_location = self._state_view.geometry.ensure_location_not_occupied(
+            params.location
+        )
+
+        lid_stack_object = await self._equipment.load_labware(
+            load_name=_LID_STACK_PE_LABWARE,
+            namespace=_LID_STACK_PE_NAMESPACE,
+            version=_LID_STACK_PE_VERSION,
+            location=verified_location,
+            labware_id=None,
+        )
+        if not labware_validation.validate_definition_is_system(
+            lid_stack_object.definition
+        ):
+            raise ProtocolEngineError(
+                message="Lid Stack Labware Object Labware Definition does not contain required allowed role 'system'."
+            )
+
+        loaded_lid_labwares = await self._equipment.load_lids(
+            load_name=params.loadName,
+            namespace=params.namespace,
+            version=params.version,
+            location=OnLabwareLocation(labwareId=lid_stack_object.labware_id),
+            quantity=params.quantity,
+        )
+        loaded_lid_locations_by_id = {}
+        load_location = OnLabwareLocation(labwareId=lid_stack_object.labware_id)
+        for loaded_lid in loaded_lid_labwares:
+            loaded_lid_locations_by_id[loaded_lid.labware_id] = load_location
+            load_location = OnLabwareLocation(labwareId=loaded_lid.labware_id)
+
+        state_update = StateUpdate()
+        state_update.set_loaded_lid_stack(
+            stack_id=lid_stack_object.labware_id,
+            stack_object_definition=lid_stack_object.definition,
+            stack_location=verified_location,
+            labware_ids=list(loaded_lid_locations_by_id.keys()),
+            labware_definition=loaded_lid_labwares[0].definition,
+            locations=loaded_lid_locations_by_id,
+        )
+
+        if isinstance(verified_location, OnLabwareLocation):
+            self._state_view.labware.raise_if_labware_cannot_be_stacked(
+                top_labware_definition=loaded_lid_labwares[
+                    params.quantity - 1
+                ].definition,
+                bottom_labware_id=verified_location.labwareId,
+            )
+
+        return SuccessData(
+            public=LoadLidStackResult(
+                stackLabwareId=lid_stack_object.labware_id,
+                labwareIds=list(loaded_lid_locations_by_id.keys()),
+                definition=loaded_lid_labwares[0].definition,
+                location=params.location,
+            ),
+            state_update=state_update,
+        )
+
+
+class LoadLidStack(
+    BaseCommand[LoadLidStackParams, LoadLidStackResult, ErrorOccurrence]
+):
+    """Load lid stack command resource model."""
+
+    commandType: LoadLidStackCommandType = "loadLidStack"
+    params: LoadLidStackParams
+    result: Optional[LoadLidStackResult]
+
+    _ImplementationCls: Type[LoadLidStackImplementation] = LoadLidStackImplementation
+
+
+class LoadLidStackCreate(BaseCommandCreate[LoadLidStackParams]):
+    """Load lid stack command creation request."""
+
+    commandType: LoadLidStackCommandType = "loadLidStack"
+    params: LoadLidStackParams
+
+    _CommandCls: Type[LoadLidStack] = LoadLidStack
diff --git a/api/src/opentrons/protocol_engine/execution/equipment.py b/api/src/opentrons/protocol_engine/execution/equipment.py
index 792bd583b88..8b23c3a0173 100644
--- a/api/src/opentrons/protocol_engine/execution/equipment.py
+++ b/api/src/opentrons/protocol_engine/execution/equipment.py
@@ -1,11 +1,11 @@
 """Equipment command side-effect logic."""
 from dataclasses import dataclass
-from typing import Optional, overload, Union
+from typing import Optional, overload, Union, List
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
 
 from opentrons.calibration_storage.helpers import uri_from_details
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import MountType
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.hardware_control.modules import (
@@ -15,6 +15,7 @@
     TempDeck,
     Thermocycler,
     AbsorbanceReader,
+    FlexStacker,
 )
 from opentrons.hardware_control.nozzle_manager import NozzleMap
 from opentrons.protocol_engine.state.module_substates import (
@@ -23,6 +24,7 @@
     TemperatureModuleId,
     ThermocyclerModuleId,
     AbsorbanceReaderId,
+    FlexStackerId,
 )
 from ..errors import (
     FailedToLoadPipetteError,
@@ -152,10 +154,6 @@ async def load_labware(
         Returns:
             A LoadedLabwareData object.
         """
-        labware_id = (
-            labware_id if labware_id is not None else self._model_utils.generate_id()
-        )
-
         definition_uri = uri_from_details(
             load_name=load_name,
             namespace=namespace,
@@ -172,6 +170,10 @@ async def load_labware(
                 version=version,
             )
 
+        labware_id = (
+            labware_id if labware_id is not None else self._model_utils.generate_id()
+        )
+
         # Allow propagation of ModuleNotLoadedError.
         offset_id = self.find_applicable_labware_offset_id(
             labware_definition_uri=definition_uri,
@@ -379,6 +381,74 @@ async def load_module(
             definition=attached_module.definition,
         )
 
+    async def load_lids(
+        self,
+        load_name: str,
+        namespace: str,
+        version: int,
+        location: LabwareLocation,
+        quantity: int,
+    ) -> List[LoadedLabwareData]:
+        """Load one or many lid labware by assigning an identifier and pulling required data.
+
+        Args:
+            load_name: The lid labware's load name.
+            namespace: The lid labware's namespace.
+            version: The lid labware's version.
+            location: The deck location at which lid(s) will be placed.
+            labware_ids: An optional list of identifiers to assign the labware. If None,
+                an identifier will be generated.
+
+        Raises:
+            ModuleNotLoadedError: If `location` references a module ID
+                that doesn't point to a valid loaded module.
+
+        Returns:
+            A list of LoadedLabwareData objects.
+        """
+        definition_uri = uri_from_details(
+            load_name=load_name,
+            namespace=namespace,
+            version=version,
+        )
+        try:
+            # Try to use existing definition in state.
+            definition = self._state_store.labware.get_definition_by_uri(definition_uri)
+        except LabwareDefinitionDoesNotExistError:
+            definition = await self._labware_data_provider.get_labware_definition(
+                load_name=load_name,
+                namespace=namespace,
+                version=version,
+            )
+
+        stack_limit = definition.stackLimit if definition.stackLimit is not None else 1
+        if quantity > stack_limit:
+            raise ValueError(
+                f"Requested quantity {quantity} is greater than the stack limit of {stack_limit} provided by definition for {load_name}."
+            )
+
+        # Allow propagation of ModuleNotLoadedError.
+        if (
+            isinstance(location, DeckSlotLocation)
+            and definition.parameters.isDeckSlotCompatible is not None
+            and not definition.parameters.isDeckSlotCompatible
+        ):
+            raise ValueError(
+                f"Lid Labware {load_name} cannot be loaded onto a Deck Slot."
+            )
+
+        load_labware_data_list = []
+        for i in range(quantity):
+            load_labware_data_list.append(
+                LoadedLabwareData(
+                    labware_id=self._model_utils.generate_id(),
+                    definition=definition,
+                    offsetId=None,
+                )
+            )
+
+        return load_labware_data_list
+
     async def configure_for_volume(
         self, pipette_id: str, volume: float, tip_overlap_version: Optional[str]
     ) -> LoadedConfigureForVolumeData:
@@ -513,6 +583,13 @@ def get_module_hardware_api(
     ) -> Optional[AbsorbanceReader]:
         ...
 
+    @overload
+    def get_module_hardware_api(
+        self,
+        module_id: FlexStackerId,
+    ) -> Optional[FlexStacker]:
+        ...
+
     def get_module_hardware_api(self, module_id: str) -> Optional[AbstractModule]:
         """Get the hardware API for a given module."""
         use_virtual_modules = self._state_store.config.use_virtual_modules
diff --git a/api/src/opentrons/protocol_engine/protocol_engine.py b/api/src/opentrons/protocol_engine/protocol_engine.py
index 92d992016cd..d1636d18001 100644
--- a/api/src/opentrons/protocol_engine/protocol_engine.py
+++ b/api/src/opentrons/protocol_engine/protocol_engine.py
@@ -2,20 +2,21 @@
 from contextlib import AsyncExitStack
 from logging import getLogger
 from typing import Dict, Optional, Union, AsyncGenerator, Callable
-from opentrons.protocol_engine.actions.actions import (
-    ResumeFromRecoveryAction,
-    SetErrorRecoveryPolicyAction,
-)
 
-from opentrons.protocols.models import LabwareDefinition
-from opentrons.hardware_control import HardwareControlAPI
-from opentrons.hardware_control.modules import AbstractModule as HardwareModuleAPI
-from opentrons.hardware_control.types import PauseType as HardwarePauseType
 from opentrons_shared_data.errors import (
     ErrorCodes,
     EnumeratedError,
 )
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
+from opentrons.hardware_control import HardwareControlAPI
+from opentrons.hardware_control.modules import AbstractModule as HardwareModuleAPI
+from opentrons.hardware_control.types import PauseType as HardwarePauseType
+
+from .actions.actions import (
+    ResumeFromRecoveryAction,
+    SetErrorRecoveryPolicyAction,
+)
 from .errors import ProtocolCommandFailedError, ErrorOccurrence, CommandNotAllowedError
 from .errors.exceptions import EStopActivatedError
 from .error_recovery_policy import ErrorRecoveryPolicy
diff --git a/api/src/opentrons/protocol_engine/resources/deck_data_provider.py b/api/src/opentrons/protocol_engine/resources/deck_data_provider.py
index 72117c23075..5249508a3dd 100644
--- a/api/src/opentrons/protocol_engine/resources/deck_data_provider.py
+++ b/api/src/opentrons/protocol_engine/resources/deck_data_provider.py
@@ -10,7 +10,7 @@
     DEFAULT_DECK_DEFINITION_VERSION,
 )
 from opentrons_shared_data.deck.types import DeckDefinitionV5
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons.types import DeckSlotName
 
 from ..types import (
diff --git a/api/src/opentrons/protocol_engine/resources/labware_data_provider.py b/api/src/opentrons/protocol_engine/resources/labware_data_provider.py
index 8d5cdfc7899..b71f7e6dac1 100644
--- a/api/src/opentrons/protocol_engine/resources/labware_data_provider.py
+++ b/api/src/opentrons/protocol_engine/resources/labware_data_provider.py
@@ -6,7 +6,8 @@
 import logging
 from anyio import to_thread
 
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
 from opentrons.protocols.labware import get_labware_definition
 
 # TODO (lc 09-26-2022) We should conditionally import ot2 or ot3 calibration
diff --git a/api/src/opentrons/protocol_engine/resources/labware_validation.py b/api/src/opentrons/protocol_engine/resources/labware_validation.py
index 090723ffb7e..924d0fc0a24 100644
--- a/api/src/opentrons/protocol_engine/resources/labware_validation.py
+++ b/api/src/opentrons/protocol_engine/resources/labware_validation.py
@@ -1,7 +1,9 @@
 """Validation file for labware role and location checking functions."""
 
-from opentrons_shared_data.labware.labware_definition import LabwareRole
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    LabwareRole,
+)
 
 
 def is_flex_trash(load_name: str) -> bool:
@@ -32,6 +34,11 @@ def validate_definition_is_lid(definition: LabwareDefinition) -> bool:
     return LabwareRole.lid in definition.allowedRoles
 
 
+def validate_definition_is_system(definition: LabwareDefinition) -> bool:
+    """Validate that one of the definition's allowed roles is `system`."""
+    return LabwareRole.system in definition.allowedRoles
+
+
 def validate_labware_can_be_stacked(
     top_labware_definition: LabwareDefinition, below_labware_load_name: str
 ) -> bool:
diff --git a/api/src/opentrons/protocol_engine/state/frustum_helpers.py b/api/src/opentrons/protocol_engine/state/frustum_helpers.py
index 83499fb2510..b28fb936be7 100644
--- a/api/src/opentrons/protocol_engine/state/frustum_helpers.py
+++ b/api/src/opentrons/protocol_engine/state/frustum_helpers.py
@@ -82,19 +82,12 @@ def _circular_frustum_polynomial_roots(
 
 
 def _volume_from_height_circular(
-    target_height: float,
-    total_frustum_height: float,
-    bottom_radius: float,
-    top_radius: float,
+    target_height: float, segment: ConicalFrustum
 ) -> float:
     """Find the volume given a height within a circular frustum."""
-    a, b, c = _circular_frustum_polynomial_roots(
-        bottom_radius=bottom_radius,
-        top_radius=top_radius,
-        total_frustum_height=total_frustum_height,
-    )
-    volume = a * (target_height**3) + b * (target_height**2) + c * target_height
-    return volume
+    heights = segment.height_to_volume_table.keys()
+    best_fit_height = min(heights, key=lambda x: abs(x - target_height))
+    return segment.height_to_volume_table[best_fit_height]
 
 
 def _volume_from_height_rectangular(
@@ -138,26 +131,12 @@ def _volume_from_height_squared_cone(
 
 
 def _height_from_volume_circular(
-    volume: float,
-    total_frustum_height: float,
-    bottom_radius: float,
-    top_radius: float,
+    target_volume: float, segment: ConicalFrustum
 ) -> float:
-    """Find the height given a volume within a circular frustum."""
-    a, b, c = _circular_frustum_polynomial_roots(
-        bottom_radius=bottom_radius,
-        top_radius=top_radius,
-        total_frustum_height=total_frustum_height,
-    )
-    d = volume * -1
-    x_intercept_roots = (a, b, c, d)
-
-    height_from_volume_roots = roots(x_intercept_roots)
-    height = _reject_unacceptable_heights(
-        potential_heights=list(height_from_volume_roots),
-        max_height=total_frustum_height,
-    )
-    return height
+    """Find the height given a volume within a squared cone segment."""
+    volumes = segment.volume_to_height_table.keys()
+    best_fit_volume = min(volumes, key=lambda x: abs(x - target_volume))
+    return segment.volume_to_height_table[best_fit_volume]
 
 
 def _height_from_volume_rectangular(
@@ -243,9 +222,7 @@ def _get_segment_capacity(segment: WellSegment) -> float:
             return (
                 _volume_from_height_circular(
                     target_height=section_height,
-                    total_frustum_height=section_height,
-                    bottom_radius=(segment.bottomDiameter / 2),
-                    top_radius=(segment.topDiameter / 2),
+                    segment=segment,
                 )
                 * segment.count
             )
@@ -293,12 +270,7 @@ def height_at_volume_within_section(
                 radius_of_curvature=section.radiusOfCurvature,
             )
         case ConicalFrustum():
-            return _height_from_volume_circular(
-                volume=target_volume_relative,
-                top_radius=(section.bottomDiameter / 2),
-                bottom_radius=(section.topDiameter / 2),
-                total_frustum_height=section_height,
-            )
+            return _height_from_volume_circular(target_volume_relative, section)
         case CuboidalFrustum():
             return _height_from_volume_rectangular(
                 volume=target_volume_relative,
@@ -334,10 +306,7 @@ def volume_at_height_within_section(
         case ConicalFrustum():
             return (
                 _volume_from_height_circular(
-                    target_height=target_height_relative,
-                    total_frustum_height=section_height,
-                    bottom_radius=(section.bottomDiameter / 2),
-                    top_radius=(section.topDiameter / 2),
+                    target_height=target_height_relative, segment=section
                 )
                 * section.count
             )
@@ -427,7 +396,7 @@ def _find_height_in_partial_frustum(
         if (
             bottom_section_volume
             < target_volume
-            < (bottom_section_volume + section_volume)
+            <= (bottom_section_volume + section_volume)
         ):
             relative_target_volume = target_volume - bottom_section_volume
             section_height = section.topHeight - section.bottomHeight
diff --git a/api/src/opentrons/protocol_engine/state/geometry.py b/api/src/opentrons/protocol_engine/state/geometry.py
index e0d9cb1afa1..7c725d88c62 100644
--- a/api/src/opentrons/protocol_engine/state/geometry.py
+++ b/api/src/opentrons/protocol_engine/state/geometry.py
@@ -11,10 +11,10 @@
 
 from opentrons_shared_data.errors.exceptions import InvalidStoredData
 from opentrons_shared_data.labware.constants import WELL_NAME_PATTERN
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.deck.types import CutoutFixture
 from opentrons_shared_data.pipette import PIPETTE_X_SPAN
 from opentrons_shared_data.pipette.types import ChannelCount
-from opentrons.protocols.models import LabwareDefinition
 
 from .. import errors
 from ..errors import (
diff --git a/api/src/opentrons/protocol_engine/state/labware.py b/api/src/opentrons/protocol_engine/state/labware.py
index 3f00ad14de7..34e69a57a3b 100644
--- a/api/src/opentrons/protocol_engine/state/labware.py
+++ b/api/src/opentrons/protocol_engine/state/labware.py
@@ -20,14 +20,15 @@
 from opentrons_shared_data.deck.types import DeckDefinitionV5
 from opentrons_shared_data.gripper.constants import LABWARE_GRIP_FORCE
 from opentrons_shared_data.labware.labware_definition import (
-    LabwareRole,
     InnerWellGeometry,
+    LabwareDefinition,
+    LabwareRole,
+    WellDefinition,
 )
 from opentrons_shared_data.pipette.types import LabwareUri
 
 from opentrons.types import DeckSlotName, StagingSlotName, MountType
 from opentrons.protocols.api_support.constants import OPENTRONS_NAMESPACE
-from opentrons.protocols.models import LabwareDefinition, WellDefinition
 from opentrons.calibration_storage.helpers import uri_from_details
 
 from .. import errors
@@ -156,7 +157,9 @@ def handle_action(self, action: Action) -> None:
         """Modify state in reaction to an action."""
         for state_update in get_state_updates(action):
             self._add_loaded_labware(state_update)
+            self._add_loaded_lid_stack(state_update)
             self._set_labware_location(state_update)
+            self._set_labware_lid(state_update)
 
         if isinstance(action, AddLabwareOffsetAction):
             labware_offset = LabwareOffset.model_construct(
@@ -221,6 +224,63 @@ def _add_loaded_labware(self, state_update: update_types.StateUpdate) -> None:
                 displayName=display_name,
             )
 
+    def _add_loaded_lid_stack(self, state_update: update_types.StateUpdate) -> None:
+        loaded_lid_stack_update = state_update.loaded_lid_stack
+        if loaded_lid_stack_update != update_types.NO_CHANGE:
+            # Add the stack object
+            stack_definition_uri = uri_from_details(
+                namespace=loaded_lid_stack_update.stack_object_definition.namespace,
+                load_name=loaded_lid_stack_update.stack_object_definition.parameters.loadName,
+                version=loaded_lid_stack_update.stack_object_definition.version,
+            )
+            self.state.definitions_by_uri[
+                stack_definition_uri
+            ] = loaded_lid_stack_update.stack_object_definition
+            self._state.labware_by_id[
+                loaded_lid_stack_update.stack_id
+            ] = LoadedLabware.construct(
+                id=loaded_lid_stack_update.stack_id,
+                location=loaded_lid_stack_update.stack_location,
+                loadName=loaded_lid_stack_update.stack_object_definition.parameters.loadName,
+                definitionUri=stack_definition_uri,
+                offsetId=None,
+                displayName=None,
+            )
+
+            # Add the Lids on top of the stack object
+            for i in range(len(loaded_lid_stack_update.labware_ids)):
+                definition_uri = uri_from_details(
+                    namespace=loaded_lid_stack_update.definition.namespace,
+                    load_name=loaded_lid_stack_update.definition.parameters.loadName,
+                    version=loaded_lid_stack_update.definition.version,
+                )
+
+                self._state.definitions_by_uri[
+                    definition_uri
+                ] = loaded_lid_stack_update.definition
+
+                location = loaded_lid_stack_update.new_locations_by_id[
+                    loaded_lid_stack_update.labware_ids[i]
+                ]
+
+                self._state.labware_by_id[
+                    loaded_lid_stack_update.labware_ids[i]
+                ] = LoadedLabware.construct(
+                    id=loaded_lid_stack_update.labware_ids[i],
+                    location=location,
+                    loadName=loaded_lid_stack_update.definition.parameters.loadName,
+                    definitionUri=definition_uri,
+                    offsetId=None,
+                    displayName=None,
+                )
+
+    def _set_labware_lid(self, state_update: update_types.StateUpdate) -> None:
+        labware_lid_update = state_update.labware_lid
+        if labware_lid_update != update_types.NO_CHANGE:
+            parent_labware_id = labware_lid_update.parent_labware_id
+            lid_id = labware_lid_update.lid_id
+            self._state.labware_by_id[parent_labware_id].lid_id = lid_id
+
     def _set_labware_location(self, state_update: update_types.StateUpdate) -> None:
         labware_location_update = state_update.labware_location
         if labware_location_update != update_types.NO_CHANGE:
@@ -441,21 +501,7 @@ def get_labware_stacking_maximum(self, labware: LabwareDefinition) -> int:
 
         If not defined within a labware, defaults to one.
         """
-        stacking_quirks = {
-            "stackingMaxFive": 5,
-            "stackingMaxFour": 4,
-            "stackingMaxThree": 3,
-            "stackingMaxTwo": 2,
-            "stackingMaxOne": 1,
-            "stackingMaxZero": 0,
-        }
-        for quirk in stacking_quirks.keys():
-            if (
-                labware.parameters.quirks is not None
-                and quirk in labware.parameters.quirks
-            ):
-                return stacking_quirks[quirk]
-        return 1
+        return labware.stackLimit if labware.stackLimit is not None else 1
 
     def get_should_center_pipette_on_target_well(self, labware_id: str) -> bool:
         """True if a pipette moving to a well of this labware should center its body on the target.
@@ -479,7 +525,6 @@ def get_well_definition(
         will be used.
         """
         definition = self.get_definition(labware_id)
-
         if well_name is None:
             well_name = definition.ordering[0][0]
 
@@ -815,6 +860,11 @@ def raise_if_labware_inaccessible_by_pipette(self, labware_id: str) -> None:
             return self.raise_if_labware_inaccessible_by_pipette(
                 labware_location.labwareId
             )
+        elif labware.lid_id is not None:
+            raise errors.LocationNotAccessibleByPipetteError(
+                f"Cannot move pipette to {labware.loadName} "
+                "because labware is currently covered by a lid."
+            )
         elif isinstance(labware_location, AddressableAreaLocation):
             if fixture_validation.is_staging_slot(labware_location.addressableAreaName):
                 raise errors.LocationNotAccessibleByPipetteError(
diff --git a/api/src/opentrons/protocol_engine/state/module_substates/__init__.py b/api/src/opentrons/protocol_engine/state/module_substates/__init__.py
index 3865982612b..a2f83036fbd 100644
--- a/api/src/opentrons/protocol_engine/state/module_substates/__init__.py
+++ b/api/src/opentrons/protocol_engine/state/module_substates/__init__.py
@@ -13,6 +13,7 @@
 )
 from .magnetic_block_substate import MagneticBlockSubState, MagneticBlockId
 from .absorbance_reader_substate import AbsorbanceReaderSubState, AbsorbanceReaderId
+from .flex_stacker_substate import FlexStackerSubState, FlexStackerId
 
 ModuleSubStateType = Union[
     HeaterShakerModuleSubState,
@@ -21,6 +22,7 @@
     ThermocyclerModuleSubState,
     MagneticBlockSubState,
     AbsorbanceReaderSubState,
+    FlexStackerSubState,
 ]
 
 __all__ = [
@@ -36,6 +38,8 @@
     "MagneticBlockId",
     "AbsorbanceReaderSubState",
     "AbsorbanceReaderId",
+    "FlexStackerSubState",
+    "FlexStackerId",
     # Union of all module substates
     "ModuleSubStateType",
 ]
diff --git a/api/src/opentrons/protocol_engine/state/module_substates/flex_stacker_substate.py b/api/src/opentrons/protocol_engine/state/module_substates/flex_stacker_substate.py
new file mode 100644
index 00000000000..67690a0750a
--- /dev/null
+++ b/api/src/opentrons/protocol_engine/state/module_substates/flex_stacker_substate.py
@@ -0,0 +1,17 @@
+"""Flex Stacker substate."""
+from dataclasses import dataclass
+from typing import NewType
+
+
+FlexStackerId = NewType("FlexStackerId", str)
+
+
+@dataclass(frozen=True)
+class FlexStackerSubState:
+    """Flex Stacker-specific state.
+
+    Provides calculations and read-only state access
+    for an individual loaded Flex Stacker Module.
+    """
+
+    module_id: FlexStackerId
diff --git a/api/src/opentrons/protocol_engine/state/module_substates/heater_shaker_module_substate.py b/api/src/opentrons/protocol_engine/state/module_substates/heater_shaker_module_substate.py
index 056c6b62db7..1ed0fc06b60 100644
--- a/api/src/opentrons/protocol_engine/state/module_substates/heater_shaker_module_substate.py
+++ b/api/src/opentrons/protocol_engine/state/module_substates/heater_shaker_module_substate.py
@@ -2,6 +2,7 @@
 from dataclasses import dataclass
 from typing import NewType, Optional
 
+from opentrons.hardware_control.modules import ModuleDataValidator, ModuleData
 from opentrons.protocol_engine.types import (
     TemperatureRange,
     SpeedRange,
@@ -89,3 +90,24 @@ def raise_if_shaking(self) -> None:
             raise CannotPerformModuleAction(
                 "Heater-Shaker cannot open its labware latch while it is shaking."
             )
+
+    @classmethod
+    def from_live_data(
+        cls, module_id: HeaterShakerModuleId, data: ModuleData | None
+    ) -> "HeaterShakerModuleSubState":
+        """Create a HeaterShakerModuleSubState from live data."""
+        if ModuleDataValidator.is_heater_shaker_data(data):
+            return cls(
+                module_id=module_id,
+                labware_latch_status=HeaterShakerLatchStatus.CLOSED
+                if data["labwareLatchStatus"] == "idle_closed"
+                else HeaterShakerLatchStatus.OPEN,
+                is_plate_shaking=data["targetSpeed"] is not None,
+                plate_target_temperature=data["targetTemp"],
+            )
+        return cls(
+            module_id=module_id,
+            labware_latch_status=HeaterShakerLatchStatus.UNKNOWN,
+            is_plate_shaking=False,
+            plate_target_temperature=None,
+        )
diff --git a/api/src/opentrons/protocol_engine/state/module_substates/temperature_module_substate.py b/api/src/opentrons/protocol_engine/state/module_substates/temperature_module_substate.py
index 64f13e47744..a3a33c38802 100644
--- a/api/src/opentrons/protocol_engine/state/module_substates/temperature_module_substate.py
+++ b/api/src/opentrons/protocol_engine/state/module_substates/temperature_module_substate.py
@@ -3,6 +3,7 @@
 from dataclasses import dataclass
 from typing import NewType, Optional
 
+from opentrons.hardware_control.modules import ModuleDataValidator, ModuleData
 from opentrons.protocol_engine.types import TemperatureRange
 from opentrons.protocol_engine.errors import (
     InvalidTargetTemperatureError,
@@ -52,3 +53,15 @@ def get_plate_target_temperature(self) -> float:
                 f"Module {self.module_id} does not have a target temperature set."
             )
         return target
+
+    @classmethod
+    def from_live_data(
+        cls, module_id: TemperatureModuleId, data: ModuleData | None
+    ) -> "TemperatureModuleSubState":
+        """Create a TemperatureModuleSubState from live data."""
+        return cls(
+            module_id=module_id,
+            plate_target_temperature=data["targetTemp"]
+            if ModuleDataValidator.is_temperature_module_data(data)
+            else None,
+        )
diff --git a/api/src/opentrons/protocol_engine/state/module_substates/thermocycler_module_substate.py b/api/src/opentrons/protocol_engine/state/module_substates/thermocycler_module_substate.py
index bbf1bb901ca..7969f2ba696 100644
--- a/api/src/opentrons/protocol_engine/state/module_substates/thermocycler_module_substate.py
+++ b/api/src/opentrons/protocol_engine/state/module_substates/thermocycler_module_substate.py
@@ -19,6 +19,7 @@
     LID_TARGET_MIN,
     LID_TARGET_MAX,
 )
+from opentrons.hardware_control.modules import ModuleData, ModuleDataValidator
 
 ThermocyclerModuleId = NewType("ThermocyclerModuleId", str)
 
@@ -141,3 +142,22 @@ def get_target_lid_temperature(self) -> float:
                 f"Module {self.module_id} does not have a target block temperature set."
             )
         return target
+
+    @classmethod
+    def from_live_data(
+        cls, module_id: ThermocyclerModuleId, data: ModuleData | None
+    ) -> "ThermocyclerModuleSubState":
+        """Create a ThermocyclerModuleSubState from live data."""
+        if ModuleDataValidator.is_thermocycler_data(data):
+            return cls(
+                module_id=module_id,
+                is_lid_open=data["lid"] == "open",
+                target_block_temperature=data["targetTemp"],
+                target_lid_temperature=data["lidTarget"],
+            )
+        return cls(
+            module_id=module_id,
+            is_lid_open=False,
+            target_block_temperature=None,
+            target_lid_temperature=None,
+        )
diff --git a/api/src/opentrons/protocol_engine/state/modules.py b/api/src/opentrons/protocol_engine/state/modules.py
index a0b22f14fcb..046f57ffc94 100644
--- a/api/src/opentrons/protocol_engine/state/modules.py
+++ b/api/src/opentrons/protocol_engine/state/modules.py
@@ -35,6 +35,7 @@
     AbsorbanceReaderMeasureMode,
 )
 from opentrons.types import DeckSlotName, MountType, StagingSlotName
+from .update_types import AbsorbanceReaderStateUpdate, FlexStackerStateUpdate
 from ..errors import ModuleNotConnectedError
 
 from ..types import (
@@ -63,7 +64,6 @@
     heater_shaker,
     temperature_module,
     thermocycler,
-    absorbance_reader,
 )
 from ..actions import (
     Action,
@@ -77,11 +77,13 @@
     TemperatureModuleSubState,
     ThermocyclerModuleSubState,
     AbsorbanceReaderSubState,
+    FlexStackerSubState,
     MagneticModuleId,
     HeaterShakerModuleId,
     TemperatureModuleId,
     ThermocyclerModuleId,
     AbsorbanceReaderId,
+    FlexStackerId,
     MagneticBlockSubState,
     MagneticBlockId,
     ModuleSubStateType,
@@ -296,41 +298,13 @@ def _handle_command(self, command: Command) -> None:
         ):
             self._handle_thermocycler_module_commands(command)
 
-        if isinstance(
-            command.result,
-            (
-                absorbance_reader.InitializeResult,
-                absorbance_reader.ReadAbsorbanceResult,
-            ),
-        ):
-            self._handle_absorbance_reader_commands(command)
-
     def _handle_state_update(self, state_update: update_types.StateUpdate) -> None:
-        if state_update.absorbance_reader_lid != update_types.NO_CHANGE:
-            module_id = state_update.absorbance_reader_lid.module_id
-            is_lid_on = state_update.absorbance_reader_lid.is_lid_on
-
-            # Get current values:
-            absorbance_reader_substate = self._state.substate_by_module_id[module_id]
-            assert isinstance(
-                absorbance_reader_substate, AbsorbanceReaderSubState
-            ), f"{module_id} is not an absorbance plate reader."
-            configured = absorbance_reader_substate.configured
-            measure_mode = absorbance_reader_substate.measure_mode
-            configured_wavelengths = absorbance_reader_substate.configured_wavelengths
-            reference_wavelength = absorbance_reader_substate.reference_wavelength
-            data = absorbance_reader_substate.data
-
-            self._state.substate_by_module_id[module_id] = AbsorbanceReaderSubState(
-                module_id=AbsorbanceReaderId(module_id),
-                configured=configured,
-                measured=True,
-                is_lid_on=is_lid_on,
-                measure_mode=measure_mode,
-                configured_wavelengths=configured_wavelengths,
-                reference_wavelength=reference_wavelength,
-                data=data,
+        if state_update.absorbance_reader_state_update != update_types.NO_CHANGE:
+            self._handle_absorbance_reader_commands(
+                state_update.absorbance_reader_state_update
             )
+        if state_update.flex_stacker_state_update != update_types.NO_CHANGE:
+            self._handle_flex_stacker_commands(state_update.flex_stacker_state_update)
 
     def _add_module_substate(
         self,
@@ -357,31 +331,24 @@ def _add_module_substate(
                 model=actual_model,
             )
         elif ModuleModel.is_heater_shaker_module_model(actual_model):
-            if live_data is None:
-                labware_latch_status = HeaterShakerLatchStatus.UNKNOWN
-            elif live_data["labwareLatchStatus"] == "idle_closed":
-                labware_latch_status = HeaterShakerLatchStatus.CLOSED
-            else:
-                labware_latch_status = HeaterShakerLatchStatus.OPEN
-            self._state.substate_by_module_id[module_id] = HeaterShakerModuleSubState(
+            self._state.substate_by_module_id[
+                module_id
+            ] = HeaterShakerModuleSubState.from_live_data(
                 module_id=HeaterShakerModuleId(module_id),
-                labware_latch_status=labware_latch_status,
-                is_plate_shaking=(
-                    live_data is not None and live_data["targetSpeed"] is not None
-                ),
-                plate_target_temperature=live_data["targetTemp"] if live_data else None,  # type: ignore[arg-type]
+                data=live_data,
             )
         elif ModuleModel.is_temperature_module_model(actual_model):
-            self._state.substate_by_module_id[module_id] = TemperatureModuleSubState(
+            self._state.substate_by_module_id[
+                module_id
+            ] = TemperatureModuleSubState.from_live_data(
                 module_id=TemperatureModuleId(module_id),
-                plate_target_temperature=live_data["targetTemp"] if live_data else None,  # type: ignore[arg-type]
+                data=live_data,
             )
         elif ModuleModel.is_thermocycler_module_model(actual_model):
-            self._state.substate_by_module_id[module_id] = ThermocyclerModuleSubState(
-                module_id=ThermocyclerModuleId(module_id),
-                is_lid_open=live_data is not None and live_data["lid"] == "open",
-                target_block_temperature=live_data["targetTemp"] if live_data else None,  # type: ignore[arg-type]
-                target_lid_temperature=live_data["lidTarget"] if live_data else None,  # type: ignore[arg-type]
+            self._state.substate_by_module_id[
+                module_id
+            ] = ThermocyclerModuleSubState.from_live_data(
+                module_id=ThermocyclerModuleId(module_id), data=live_data
             )
             self._update_additional_slots_occupied_by_thermocycler(
                 module_id=module_id, slot_name=slot_name
@@ -401,6 +368,10 @@ def _add_module_substate(
                 configured_wavelengths=None,
                 reference_wavelength=None,
             )
+        elif ModuleModel.is_flex_stacker(actual_model):
+            self._state.substate_by_module_id[module_id] = FlexStackerSubState(
+                module_id=FlexStackerId(module_id),
+            )
 
     def _update_additional_slots_occupied_by_thermocycler(
         self,
@@ -589,47 +560,65 @@ def _handle_thermocycler_module_commands(
             )
 
     def _handle_absorbance_reader_commands(
-        self,
-        command: Union[
-            absorbance_reader.Initialize,
-            absorbance_reader.ReadAbsorbance,
-        ],
+        self, absorbance_reader_state_update: AbsorbanceReaderStateUpdate
     ) -> None:
-        module_id = command.params.moduleId
+        # Get current values:
+        module_id = absorbance_reader_state_update.module_id
         absorbance_reader_substate = self._state.substate_by_module_id[module_id]
         assert isinstance(
             absorbance_reader_substate, AbsorbanceReaderSubState
         ), f"{module_id} is not an absorbance plate reader."
-
-        # Get current values
+        is_lid_on = absorbance_reader_substate.is_lid_on
+        measured = True
         configured = absorbance_reader_substate.configured
         measure_mode = absorbance_reader_substate.measure_mode
         configured_wavelengths = absorbance_reader_substate.configured_wavelengths
         reference_wavelength = absorbance_reader_substate.reference_wavelength
-        is_lid_on = absorbance_reader_substate.is_lid_on
-
-        if isinstance(command.result, absorbance_reader.InitializeResult):
-            self._state.substate_by_module_id[module_id] = AbsorbanceReaderSubState(
-                module_id=AbsorbanceReaderId(module_id),
-                configured=True,
-                measured=False,
-                is_lid_on=is_lid_on,
-                measure_mode=AbsorbanceReaderMeasureMode(command.params.measureMode),
-                configured_wavelengths=command.params.sampleWavelengths,
-                reference_wavelength=command.params.referenceWavelength,
-                data=None,
+        data = absorbance_reader_substate.data
+        if (
+            absorbance_reader_state_update.absorbance_reader_lid
+            != update_types.NO_CHANGE
+        ):
+            is_lid_on = absorbance_reader_state_update.absorbance_reader_lid.is_lid_on
+        elif (
+            absorbance_reader_state_update.initialize_absorbance_reader_update
+            != update_types.NO_CHANGE
+        ):
+            configured = True
+            measured = False
+            is_lid_on = is_lid_on
+            measure_mode = AbsorbanceReaderMeasureMode(
+                absorbance_reader_state_update.initialize_absorbance_reader_update.measure_mode
             )
-        elif isinstance(command.result, absorbance_reader.ReadAbsorbanceResult):
-            self._state.substate_by_module_id[module_id] = AbsorbanceReaderSubState(
-                module_id=AbsorbanceReaderId(module_id),
-                configured=configured,
-                measured=True,
-                is_lid_on=is_lid_on,
-                measure_mode=measure_mode,
-                configured_wavelengths=configured_wavelengths,
-                reference_wavelength=reference_wavelength,
-                data=command.result.data,
+            configured_wavelengths = (
+                absorbance_reader_state_update.initialize_absorbance_reader_update.sample_wave_lengths
+            )
+            reference_wavelength = (
+                absorbance_reader_state_update.initialize_absorbance_reader_update.reference_wave_length
             )
+            data = None
+        elif (
+            absorbance_reader_state_update.absorbance_reader_data
+            != update_types.NO_CHANGE
+        ):
+            data = absorbance_reader_state_update.absorbance_reader_data.read_result
+        self._state.substate_by_module_id[module_id] = AbsorbanceReaderSubState(
+            module_id=AbsorbanceReaderId(module_id),
+            configured=configured,
+            measured=measured,
+            is_lid_on=is_lid_on,
+            measure_mode=measure_mode,
+            configured_wavelengths=configured_wavelengths,
+            reference_wavelength=reference_wavelength,
+            data=data,
+        )
+
+    def _handle_flex_stacker_commands(
+        self, flex_stacker_state_update: FlexStackerStateUpdate
+    ) -> None:
+        """Handle Flex Stacker state updates."""
+        # TODO: Implement Flex Stacker state updates
+        pass
 
 
 class ModuleView:
@@ -782,6 +771,20 @@ def get_absorbance_reader_substate(
             expected_name="Absorbance Reader",
         )
 
+    def get_flex_stacker_substate(self, module_id: str) -> FlexStackerSubState:
+        """Return a `FlexStackerSubState` for the given Flex Stacker.
+
+        Raises:
+           ModuleNotLoadedError: If module_id has not been loaded.
+           WrongModuleTypeError: If module_id has been loaded,
+               but it's not a Flex Stacker.
+        """
+        return self._get_module_substate(
+            module_id=module_id,
+            expected_type=FlexStackerSubState,
+            expected_name="Flex Stacker",
+        )
+
     def get_location(self, module_id: str) -> DeckSlotLocation:
         """Get the slot location of the given module."""
         location = self.get(module_id).location
@@ -1315,6 +1318,10 @@ def ensure_and_convert_module_fixture_location(
             # only allowed in column 3
             assert deck_slot.value[-1] == "3"
             return f"absorbanceReaderV1{deck_slot.value}"
+        elif model == ModuleModel.FLEX_STACKER_MODULE_V1:
+            # only allowed in column 4
+            assert deck_slot.value[-1] == "4"
+            return f"flexStackerModuleV1{deck_slot.value}"
 
         raise ValueError(
             f"Unknown module {model.name} has no addressable areas to provide."
diff --git a/api/src/opentrons/protocol_engine/state/update_types.py b/api/src/opentrons/protocol_engine/state/update_types.py
index 25b7802976c..a8075b2f883 100644
--- a/api/src/opentrons/protocol_engine/state/update_types.py
+++ b/api/src/opentrons/protocol_engine/state/update_types.py
@@ -11,9 +11,11 @@
 from opentrons.protocol_engine.types import (
     DeckPoint,
     LabwareLocation,
+    OnLabwareLocation,
     TipGeometry,
     AspiratedFluid,
     LiquidClassRecord,
+    ABSMeasureMode,
 )
 from opentrons.types import MountType
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
@@ -120,6 +122,40 @@ class LoadedLabwareUpdate:
     definition: LabwareDefinition
 
 
+@dataclasses.dataclass
+class LoadedLidStackUpdate:
+    """An update that loads a new lid stack."""
+
+    stack_id: str
+    """The unique ID of the Lid Stack Object."""
+
+    stack_object_definition: LabwareDefinition
+    "The System-only Labware Definition of the Lid Stack Object"
+
+    stack_location: LabwareLocation
+    "The initial location of the Lid Stack Object."
+
+    labware_ids: typing.List[str]
+    """The unique IDs of the new lids."""
+
+    new_locations_by_id: typing.Dict[str, OnLabwareLocation]
+    """Each lid's initial location keyed by Labware ID."""
+
+    definition: LabwareDefinition
+    "The Labware Definition of the Lid Labware(s) loaded."
+
+
+@dataclasses.dataclass
+class LabwareLidUpdate:
+    """An update that identifies a lid on a given parent labware."""
+
+    parent_labware_id: str
+    """The unique ID of the parent labware."""
+
+    lid_id: str
+    """The unique IDs of the new lids."""
+
+
 @dataclasses.dataclass
 class LoadPipetteUpdate:
     """An update that loads a new pipette.
@@ -249,10 +285,44 @@ class PipetteEmptyFluidUpdate:
 class AbsorbanceReaderLidUpdate:
     """An update to an absorbance reader's lid location."""
 
-    module_id: str
     is_lid_on: bool
 
 
+@dataclasses.dataclass
+class AbsorbanceReaderDataUpdate:
+    """An update to an absorbance reader's lid location."""
+
+    read_result: typing.Dict[int, typing.Dict[str, float]]
+
+
+@dataclasses.dataclass(frozen=True)
+class AbsorbanceReaderInitializeUpdate:
+    """An update to an absorbance reader's initialization."""
+
+    measure_mode: ABSMeasureMode
+    sample_wave_lengths: typing.List[int]
+    reference_wave_length: typing.Optional[int]
+
+
+@dataclasses.dataclass
+class AbsorbanceReaderStateUpdate:
+    """An update to the absorbance reader module state."""
+
+    module_id: str
+    absorbance_reader_lid: AbsorbanceReaderLidUpdate | NoChangeType = NO_CHANGE
+    absorbance_reader_data: AbsorbanceReaderDataUpdate | NoChangeType = NO_CHANGE
+    initialize_absorbance_reader_update: AbsorbanceReaderInitializeUpdate | NoChangeType = (
+        NO_CHANGE
+    )
+
+
+@dataclasses.dataclass
+class FlexStackerStateUpdate:
+    """An update to the Flex Stacker module state."""
+
+    module_id: str
+
+
 @dataclasses.dataclass
 class LiquidClassLoadedUpdate:
     """The state update from loading a liquid class."""
@@ -301,6 +371,10 @@ class StateUpdate:
 
     loaded_labware: LoadedLabwareUpdate | NoChangeType = NO_CHANGE
 
+    loaded_lid_stack: LoadedLidStackUpdate | NoChangeType = NO_CHANGE
+
+    labware_lid: LabwareLidUpdate | NoChangeType = NO_CHANGE
+
     tips_used: TipsUsedUpdate | NoChangeType = NO_CHANGE
 
     liquid_loaded: LiquidLoadedUpdate | NoChangeType = NO_CHANGE
@@ -309,7 +383,11 @@ class StateUpdate:
 
     liquid_operated: LiquidOperatedUpdate | NoChangeType = NO_CHANGE
 
-    absorbance_reader_lid: AbsorbanceReaderLidUpdate | NoChangeType = NO_CHANGE
+    absorbance_reader_state_update: AbsorbanceReaderStateUpdate | NoChangeType = (
+        NO_CHANGE
+    )
+
+    flex_stacker_state_update: FlexStackerStateUpdate | NoChangeType = NO_CHANGE
 
     liquid_class_loaded: LiquidClassLoadedUpdate | NoChangeType = NO_CHANGE
 
@@ -442,6 +520,38 @@ def set_loaded_labware(
         )
         return self
 
+    def set_loaded_lid_stack(
+        self: Self,
+        stack_id: str,
+        stack_object_definition: LabwareDefinition,
+        stack_location: LabwareLocation,
+        labware_definition: LabwareDefinition,
+        labware_ids: typing.List[str],
+        locations: typing.Dict[str, OnLabwareLocation],
+    ) -> Self:
+        """Add a new lid stack to state. See `LoadedLidStackUpdate`."""
+        self.loaded_lid_stack = LoadedLidStackUpdate(
+            stack_id=stack_id,
+            stack_object_definition=stack_object_definition,
+            stack_location=stack_location,
+            definition=labware_definition,
+            labware_ids=labware_ids,
+            new_locations_by_id=locations,
+        )
+        return self
+
+    def set_lid(
+        self: Self,
+        parent_labware_id: str,
+        lid_id: str,
+    ) -> Self:
+        """Update the labware parent of a loaded or moved lid. See `LabwareLidUpdate`."""
+        self.labware_lid = LabwareLidUpdate(
+            parent_labware_id=parent_labware_id,
+            lid_id=lid_id,
+        )
+        return self
+
     def set_load_pipette(
         self: Self,
         pipette_id: str,
@@ -573,8 +683,40 @@ def set_fluid_empty(self: Self, pipette_id: str) -> Self:
 
     def set_absorbance_reader_lid(self: Self, module_id: str, is_lid_on: bool) -> Self:
         """Update an absorbance reader's lid location. See `AbsorbanceReaderLidUpdate`."""
-        self.absorbance_reader_lid = AbsorbanceReaderLidUpdate(
-            module_id=module_id, is_lid_on=is_lid_on
+        assert self.absorbance_reader_state_update == NO_CHANGE
+        self.absorbance_reader_state_update = AbsorbanceReaderStateUpdate(
+            module_id=module_id,
+            absorbance_reader_lid=AbsorbanceReaderLidUpdate(is_lid_on=is_lid_on),
+        )
+        return self
+
+    def set_absorbance_reader_data(
+        self, module_id: str, read_result: typing.Dict[int, typing.Dict[str, float]]
+    ) -> Self:
+        """Update an absorbance reader's read data. See `AbsorbanceReaderReadDataUpdate`."""
+        assert self.absorbance_reader_state_update == NO_CHANGE
+        self.absorbance_reader_state_update = AbsorbanceReaderStateUpdate(
+            module_id=module_id,
+            absorbance_reader_data=AbsorbanceReaderDataUpdate(read_result=read_result),
+        )
+        return self
+
+    def initialize_absorbance_reader(
+        self,
+        module_id: str,
+        measure_mode: ABSMeasureMode,
+        sample_wave_lengths: typing.List[int],
+        reference_wave_length: typing.Optional[int],
+    ) -> Self:
+        """Initialize absorbance reader."""
+        assert self.absorbance_reader_state_update == NO_CHANGE
+        self.absorbance_reader_state_update = AbsorbanceReaderStateUpdate(
+            module_id=module_id,
+            initialize_absorbance_reader_update=AbsorbanceReaderInitializeUpdate(
+                measure_mode=measure_mode,
+                sample_wave_lengths=sample_wave_lengths,
+                reference_wave_length=reference_wave_length,
+            ),
         )
         return self
 
diff --git a/api/src/opentrons/protocol_engine/types.py b/api/src/opentrons/protocol_engine/types.py
index b1388d58212..316c701eb20 100644
--- a/api/src/opentrons/protocol_engine/types.py
+++ b/api/src/opentrons/protocol_engine/types.py
@@ -476,6 +476,7 @@ class ModuleModel(str, Enum):
     HEATER_SHAKER_MODULE_V1 = "heaterShakerModuleV1"
     MAGNETIC_BLOCK_V1 = "magneticBlockV1"
     ABSORBANCE_READER_V1 = "absorbanceReaderV1"
+    FLEX_STACKER_MODULE_V1 = "flexStackerModuleV1"
 
     def as_type(self) -> ModuleType:
         """Get the ModuleType of this model."""
@@ -491,6 +492,8 @@ def as_type(self) -> ModuleType:
             return ModuleType.MAGNETIC_BLOCK
         elif ModuleModel.is_absorbance_reader(self):
             return ModuleType.ABSORBANCE_READER
+        elif ModuleModel.is_flex_stacker(self):
+            return ModuleType.FLEX_STACKER
 
         assert False, f"Invalid ModuleModel {self}"
 
@@ -534,6 +537,11 @@ def is_absorbance_reader(
         """Whether a given model is an Absorbance Plate Reader."""
         return model == cls.ABSORBANCE_READER_V1
 
+    @classmethod
+    def is_flex_stacker(cls, model: ModuleModel) -> TypeGuard[FlexStackerModuleModel]:
+        """Whether a given model is a Flex Stacker.."""
+        return model == cls.FLEX_STACKER_MODULE_V1
+
 
 TemperatureModuleModel = Literal[
     ModuleModel.TEMPERATURE_MODULE_V1, ModuleModel.TEMPERATURE_MODULE_V2
@@ -547,6 +555,7 @@ def is_absorbance_reader(
 HeaterShakerModuleModel = Literal[ModuleModel.HEATER_SHAKER_MODULE_V1]
 MagneticBlockModel = Literal[ModuleModel.MAGNETIC_BLOCK_V1]
 AbsorbanceReaderModel = Literal[ModuleModel.ABSORBANCE_READER_V1]
+FlexStackerModuleModel = Literal[ModuleModel.FLEX_STACKER_MODULE_V1]
 
 
 class ModuleDimensions(BaseModel):
@@ -804,6 +813,10 @@ class LoadedLabware(BaseModel):
     location: LabwareLocation = Field(
         ..., description="The labware's current location."
     )
+    lid_id: Optional[str] = Field(
+        None,
+        description=("Labware ID of a Lid currently loaded on top of the labware."),
+    )
     offsetId: Optional[str] = Field(
         None,
         description=(
diff --git a/api/src/opentrons/protocol_reader/extract_labware_definitions.py b/api/src/opentrons/protocol_reader/extract_labware_definitions.py
index 88d7e256a07..8ee4c820e87 100644
--- a/api/src/opentrons/protocol_reader/extract_labware_definitions.py
+++ b/api/src/opentrons/protocol_reader/extract_labware_definitions.py
@@ -6,7 +6,7 @@
 
 import anyio
 
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from .protocol_source import ProtocolFileRole, ProtocolSource, ProtocolType
 
diff --git a/api/src/opentrons/protocol_reader/file_format_validator.py b/api/src/opentrons/protocol_reader/file_format_validator.py
index 17969fc70fe..ca664eced92 100644
--- a/api/src/opentrons/protocol_reader/file_format_validator.py
+++ b/api/src/opentrons/protocol_reader/file_format_validator.py
@@ -14,7 +14,7 @@
 )
 from opentrons_shared_data.errors.exceptions import PythonException
 
-from opentrons.protocols.models import JsonProtocol as JsonProtocolUpToV5
+from opentrons.protocols.models.json_protocol import Model as JsonProtocolUpToV5
 
 from .file_identifier import (
     IdentifiedFile,
diff --git a/api/src/opentrons/protocols/models/__init__.py b/api/src/opentrons/protocols/models/__init__.py
index 62eccdf44ff..e69de29bb2d 100644
--- a/api/src/opentrons/protocols/models/__init__.py
+++ b/api/src/opentrons/protocols/models/__init__.py
@@ -1,21 +0,0 @@
-# Convenience re-exports of models that are especially common or important.
-# More detailed sub-models are always available through the underlying
-# submodules.
-#
-# If re-exporting something, its name should still make sense when it's separated
-# from the name of its parent submodule. e.g. re-exporting models.json_protocol.Labware
-# as models.Labware could be confusing.
-
-# TODO(mc, 2022-03-11): remove this re-export when it won't break pickling
-# https://opentrons.atlassian.net/browse/RSS-94
-from opentrons_shared_data.labware.labware_definition import (
-    LabwareDefinition,
-    WellDefinition,
-)
-from .json_protocol import Model as JsonProtocol
-
-__all__ = [
-    "LabwareDefinition",
-    "WellDefinition",
-    "JsonProtocol",
-]
diff --git a/api/tests/opentrons/conftest.py b/api/tests/opentrons/conftest.py
index 7be480cfe0b..eaaf3f030d6 100755
--- a/api/tests/opentrons/conftest.py
+++ b/api/tests/opentrons/conftest.py
@@ -54,6 +54,11 @@
     MixProperties,
     TouchTipProperties,
     BlowoutProperties,
+    MixParams,
+    LiquidClassTouchTipParams,
+    MultiDispenseProperties,
+    BlowoutParams,
+    BlowoutLocation,
 )
 from opentrons_shared_data.deck.types import (
     RobotModel,
@@ -608,6 +613,7 @@ def minimal_labware_def() -> LabwareDefinition:
             "displayCategory": "other",
             "displayVolumeUnits": "mL",
         },
+        "allowedRoles": ["labware"],
         "cornerOffsetFromSlot": {"x": 10, "y": 10, "z": 5},
         "parameters": {
             "isTiprack": False,
@@ -810,7 +816,7 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1:
                         tiprack="opentrons_flex_96_tiprack_50ul",
                         aspirate=AspirateProperties(
                             submerge=Submerge(
-                                positionReference=PositionReference.LIQUID_MENISCUS,
+                                positionReference=PositionReference.WELL_TOP,
                                 offset=Coordinate(x=0, y=0, z=-5),
                                 speed=100,
                                 delay=DelayProperties(
@@ -865,3 +871,144 @@ def minimal_liquid_class_def2() -> LiquidClassSchemaV1:
             )
         ],
     )
+
+
+@pytest.fixture
+def maximal_liquid_class_def() -> LiquidClassSchemaV1:
+    """Return a liquid class def with all properties enabled."""
+    return LiquidClassSchemaV1(
+        liquidClassName="test_water",
+        displayName="Test Water",
+        schemaVersion=1,
+        namespace="opentrons",
+        byPipette=[
+            ByPipetteSetting(
+                pipetteModel="flex_1channel_50",
+                byTipType=[
+                    ByTipTypeSetting(
+                        tiprack="opentrons_flex_96_tiprack_50ul",
+                        aspirate=AspirateProperties(
+                            submerge=Submerge(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=1, y=2, z=3),
+                                speed=100,
+                                delay=DelayProperties(
+                                    enable=True, params=DelayParams(duration=10.0)
+                                ),
+                            ),
+                            retract=RetractAspirate(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=3, y=2, z=1),
+                                speed=50,
+                                airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
+                                touchTip=TouchTipProperties(
+                                    enable=True,
+                                    params=LiquidClassTouchTipParams(
+                                        zOffset=-1, mmToEdge=0.5, speed=30
+                                    ),
+                                ),
+                                delay=DelayProperties(
+                                    enable=True, params=DelayParams(duration=20)
+                                ),
+                            ),
+                            positionReference=PositionReference.WELL_BOTTOM,
+                            offset=Coordinate(x=10, y=20, z=30),
+                            flowRateByVolume=[(1.0, 35.0), (10.0, 24.0), (50.0, 35.0)],
+                            correctionByVolume=[(0.0, 0.0)],
+                            preWet=True,
+                            mix=MixProperties(
+                                enable=True, params=MixParams(repetitions=1, volume=50)
+                            ),
+                            delay=DelayProperties(
+                                enable=True, params=DelayParams(duration=0.2)
+                            ),
+                        ),
+                        singleDispense=SingleDispenseProperties(
+                            submerge=Submerge(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=30, y=20, z=10),
+                                speed=100,
+                                delay=DelayProperties(
+                                    enable=True, params=DelayParams(duration=0.0)
+                                ),
+                            ),
+                            retract=RetractDispense(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=11, y=22, z=33),
+                                speed=50,
+                                airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
+                                blowout=BlowoutProperties(
+                                    enable=True,
+                                    params=BlowoutParams(
+                                        location=BlowoutLocation.SOURCE,
+                                        flowRate=100,
+                                    ),
+                                ),
+                                touchTip=TouchTipProperties(
+                                    enable=True,
+                                    params=LiquidClassTouchTipParams(
+                                        zOffset=-1, mmToEdge=0.5, speed=30
+                                    ),
+                                ),
+                                delay=DelayProperties(
+                                    enable=True, params=DelayParams(duration=10)
+                                ),
+                            ),
+                            positionReference=PositionReference.WELL_BOTTOM,
+                            offset=Coordinate(x=33, y=22, z=11),
+                            flowRateByVolume=[(1.0, 50.0)],
+                            correctionByVolume=[(0.0, 0.0)],
+                            mix=MixProperties(
+                                enable=True, params=MixParams(repetitions=1, volume=50)
+                            ),
+                            pushOutByVolume=[
+                                (1.0, 7.0),
+                                (4.999, 7.0),
+                                (5.0, 2.0),
+                                (10.0, 2.0),
+                                (50.0, 2.0),
+                            ],
+                            delay=DelayProperties(
+                                enable=True, params=DelayParams(duration=0.5)
+                            ),
+                        ),
+                        multiDispense=MultiDispenseProperties(
+                            submerge=Submerge(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=0, y=0, z=2),
+                                speed=100,
+                                delay=DelayProperties(
+                                    enable=False, params=DelayParams(duration=0.0)
+                                ),
+                            ),
+                            retract=RetractDispense(
+                                positionReference=PositionReference.WELL_TOP,
+                                offset=Coordinate(x=2, y=3, z=1),
+                                speed=50,
+                                airGapByVolume=[(1.0, 0.1), (49.9, 0.1), (50.0, 0.0)],
+                                blowout=BlowoutProperties(enable=False, params=None),
+                                touchTip=TouchTipProperties(
+                                    enable=False,
+                                    params=LiquidClassTouchTipParams(
+                                        zOffset=-1, mmToEdge=0.5, speed=30
+                                    ),
+                                ),
+                                delay=DelayProperties(
+                                    enable=False, params=DelayParams(duration=0)
+                                ),
+                            ),
+                            positionReference=PositionReference.WELL_BOTTOM,
+                            offset=Coordinate(x=1, y=3, z=2),
+                            flowRateByVolume=[(50.0, 50.0)],
+                            correctionByVolume=[(0.0, 0.0)],
+                            conditioningByVolume=[(1.0, 5.0), (45.0, 5.0), (50.0, 0.0)],
+                            disposalByVolume=[(1.0, 5.0), (45.0, 5.0), (50.0, 0.0)],
+                            delay=DelayProperties(
+                                enable=True, params=DelayParams(duration=0.2)
+                            ),
+                        ),
+                    )
+                ],
+            )
+        ],
+    )
diff --git a/api/tests/opentrons/drivers/flex_stacker/test_driver.py b/api/tests/opentrons/drivers/flex_stacker/test_driver.py
index aea2492cf9e..1de13c569cb 100644
--- a/api/tests/opentrons/drivers/flex_stacker/test_driver.py
+++ b/api/tests/opentrons/drivers/flex_stacker/test_driver.py
@@ -66,6 +66,27 @@ async def test_stop_motors(subject: FlexStackerDriver, connection: AsyncMock) ->
         await subject.get_device_info()
 
 
+async def test_get_motion_params(
+    subject: FlexStackerDriver, connection: AsyncMock
+) -> None:
+    """It should send a get motion params command."""
+    connection.send_command.return_value = "M120 M:X V:200.000 A:1500.000 D:5.000"
+    response = await subject.get_motion_params(types.StackerAxis.X)
+    assert response == types.MoveParams(
+        axis=types.StackerAxis.X,
+        acceleration=1500.0,
+        max_speed=200.0,
+        max_speed_discont=5.0,
+    )
+
+    command = types.GCODE.GET_MOVE_PARAMS.build_command().add_element(
+        types.StackerAxis.X.name
+    )
+    response = await connection.send_command(command)
+    connection.send_command.assert_any_call(command)
+    connection.reset_mock()
+
+
 async def test_set_serial_number(
     subject: FlexStackerDriver, connection: AsyncMock
 ) -> None:
@@ -94,6 +115,32 @@ async def test_set_serial_number(
     connection.reset_mock()
 
 
+async def test_enable_motors(subject: FlexStackerDriver, connection: AsyncMock) -> None:
+    """It should send a enable motors command"""
+    connection.send_command.return_value = "M17"
+    response = await subject.enable_motors([types.StackerAxis.X])
+    assert response
+
+    move_to = types.GCODE.ENABLE_MOTORS.build_command().add_element(
+        types.StackerAxis.X.value
+    )
+    connection.send_command.assert_any_call(move_to)
+    connection.reset_mock()
+
+    # Test no arg to disable all motors
+    response = await subject.enable_motors(list(types.StackerAxis))
+    assert response
+
+    move_to = types.GCODE.ENABLE_MOTORS.build_command()
+    move_to.add_element(types.StackerAxis.X.value)
+    move_to.add_element(types.StackerAxis.Z.value)
+    move_to.add_element(types.StackerAxis.L.value)
+
+    print("MOVE TO", move_to)
+    connection.send_command.assert_any_call(move_to)
+    connection.reset_mock()
+
+
 async def test_get_limit_switch(
     subject: FlexStackerDriver, connection: AsyncMock
 ) -> None:
diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py b/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
index 9bd87fe62ec..d9901ac6cd8 100644
--- a/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
+++ b/api/tests/opentrons/hardware_control/backends/test_ot3_controller.py
@@ -145,7 +145,18 @@ def mock_messenger(can_message_notifier: MockCanMessageNotifier) -> mock.AsyncMo
 
 @pytest.fixture
 def mock_can_driver(mock_messenger: mock.AsyncMock) -> AbstractCanDriver:
-    return mock.AsyncMock(spec=AbstractCanDriver)
+    driver = mock.AsyncMock(spec=AbstractCanDriver)
+
+    # ignoring this type error because this is a very weird function that will in fact
+    # do nothing, but has to have the yield in there for the compiler to make it a
+    # generator function
+    async def _fake_message_retrieve(d):  # type: ignore[no-untyped-def]
+        while True:
+            await asyncio.sleep(1)
+        yield
+
+    driver.__aiter__ = _fake_message_retrieve
+    return driver
 
 
 @pytest.fixture
@@ -160,15 +171,19 @@ def mock_eeprom_driver() -> EEPROMDriver:
 
 
 @pytest.fixture
-def controller(
+async def controller(
     mock_config: OT3Config,
     mock_can_driver: AbstractCanDriver,
     mock_eeprom_driver: EEPROMDriver,
-) -> OT3Controller:
-    with (mock.patch("opentrons.hardware_control.backends.ot3controller.OT3GPIO")):
-        return OT3Controller(
+) -> AsyncIterator[OT3Controller]:
+    with mock.patch("opentrons.hardware_control.backends.ot3controller.OT3GPIO"):
+        controller = OT3Controller(
             mock_config, mock_can_driver, eeprom_driver=mock_eeprom_driver
         )
+        try:
+            yield controller
+        finally:
+            await controller.clean_up()
 
 
 @pytest.fixture
diff --git a/api/tests/opentrons/hardware_control/modules/test_hc_flexstacker.py b/api/tests/opentrons/hardware_control/modules/test_hc_flexstacker.py
new file mode 100644
index 00000000000..0a6d43e441f
--- /dev/null
+++ b/api/tests/opentrons/hardware_control/modules/test_hc_flexstacker.py
@@ -0,0 +1,52 @@
+import asyncio
+import pytest
+import mock
+from typing import AsyncGenerator
+from opentrons.hardware_control import modules, ExecutionManager
+from opentrons.drivers.rpi_drivers.types import USBPort
+
+
+@pytest.fixture
+def usb_port() -> USBPort:
+    return USBPort(
+        name="",
+        port_number=0,
+        device_path="/dev/ot_module_sim_flexstacker0",
+    )
+
+
+@pytest.fixture
+async def simulating_module(
+    usb_port: USBPort,
+) -> AsyncGenerator[modules.AbstractModule, None]:
+    module = await modules.build(
+        port=usb_port.device_path,
+        usb_port=usb_port,
+        type=modules.ModuleType["FLEX_STACKER"],
+        simulating=True,
+        hw_control_loop=asyncio.get_running_loop(),
+        execution_manager=ExecutionManager(),
+    )
+    assert isinstance(module, modules.AbstractModule)
+    try:
+        yield module
+    finally:
+        await module.cleanup()
+
+
+@pytest.fixture
+async def simulating_module_driver_patched(
+    simulating_module: modules.FlexStacker,
+) -> AsyncGenerator[modules.AbstractModule, None]:
+    driver_mock = mock.MagicMock()
+    with mock.patch.object(
+        simulating_module, "_driver", driver_mock
+    ), mock.patch.object(simulating_module._reader, "_driver", driver_mock):
+        yield simulating_module
+
+
+async def test_sim_state(simulating_module: modules.FlexStacker) -> None:
+    status = simulating_module.device_info
+    assert status["serial"] == "dummySerialFS"
+    assert status["model"] == "a1"
+    assert status["version"] == "stacker-fw"
diff --git a/api/tests/opentrons/hardware_control/modules/test_hc_tempdeck.py b/api/tests/opentrons/hardware_control/modules/test_hc_tempdeck.py
index 94953a496c4..51c99966d06 100644
--- a/api/tests/opentrons/hardware_control/modules/test_hc_tempdeck.py
+++ b/api/tests/opentrons/hardware_control/modules/test_hc_tempdeck.py
@@ -42,8 +42,11 @@ async def test_sim_state(subject: modules.AbstractModule) -> None:
     assert subject.target is None
     assert subject.status == "idle"
     assert subject.live_data["status"] == subject.status
-    assert subject.live_data["data"]["currentTemp"] == subject.temperature
-    assert subject.live_data["data"]["targetTemp"] == subject.target
+
+    live_data = subject.live_data["data"]
+    assert modules.ModuleDataValidator.is_temperature_module_data(live_data)
+    assert live_data["currentTemp"] == subject.temperature
+    assert live_data["targetTemp"] == subject.target
     status = subject.device_info
     assert status["serial"] == "dummySerialTD"
     # return v1 if sim_model is not passed
diff --git a/api/tests/opentrons/hardware_control/modules/test_hc_thermocycler.py b/api/tests/opentrons/hardware_control/modules/test_hc_thermocycler.py
index 6e90068ac1f..23389b9590f 100644
--- a/api/tests/opentrons/hardware_control/modules/test_hc_thermocycler.py
+++ b/api/tests/opentrons/hardware_control/modules/test_hc_thermocycler.py
@@ -126,8 +126,10 @@ async def test_sim_state(subject: modules.Thermocycler) -> None:
     assert subject.target is None
     assert subject.status == "idle"
     assert subject.live_data["status"] == subject.status
-    assert subject.live_data["data"]["currentTemp"] == subject.temperature
-    assert subject.live_data["data"]["targetTemp"] == subject.target
+    live_data = subject.live_data["data"]
+    assert modules.ModuleDataValidator.is_thermocycler_data(live_data)
+    assert live_data["currentTemp"] == subject.temperature
+    assert live_data["targetTemp"] == subject.target
     status = subject.device_info
     assert status["serial"] == "dummySerialTC"
     assert status["model"] == "dummyModelTC"
diff --git a/api/tests/opentrons/hardware_control/test_modules.py b/api/tests/opentrons/hardware_control/test_modules.py
index 5df0b142e07..f5fa0e69336 100644
--- a/api/tests/opentrons/hardware_control/test_modules.py
+++ b/api/tests/opentrons/hardware_control/test_modules.py
@@ -8,6 +8,7 @@
 
 from opentrons.hardware_control import ExecutionManager
 from opentrons.hardware_control.modules import ModuleAtPort
+from opentrons.hardware_control.modules.flex_stacker import FlexStacker
 from opentrons.hardware_control.modules.types import (
     BundledFirmware,
     ModuleModel,
@@ -16,6 +17,7 @@
     HeaterShakerModuleModel,
     ThermocyclerModuleModel,
     AbsorbanceReaderModel,
+    FlexStackerModuleModel,
     ModuleType,
 )
 from opentrons.hardware_control.modules import (
@@ -49,6 +51,9 @@ async def test_get_modules_simulating() -> None:
         "absorbancereader": [
             SimulatingModule(serial_number="555", model="absorbanceReaderV1")
         ],
+        "flexstacker": [
+            SimulatingModule(serial_number="656", model="flexStackerModuleV1")
+        ],
     }
     api = await hardware_control.API.build_hardware_simulator(attached_modules=mods)
     await asyncio.sleep(0.05)
@@ -110,6 +115,7 @@ async def test_module_caching() -> None:
         (ThermocyclerModuleModel.THERMOCYCLER_V1, Thermocycler),
         (HeaterShakerModuleModel.HEATER_SHAKER_V1, HeaterShaker),
         (AbsorbanceReaderModel.ABSORBANCE_READER_V1, AbsorbanceReader),
+        (FlexStackerModuleModel.FLEX_STACKER_V1, FlexStacker),
     ],
 )
 async def test_create_simulating_module(
@@ -259,7 +265,28 @@ async def mod_absorbancereader() -> AsyncIterator[AbstractModule]:
     await absorbancereader.cleanup()
 
 
-async def test_module_update_integration(
+@pytest.fixture
+async def mod_flexstacker() -> AsyncIterator[AbstractModule]:
+    usb_port = USBPort(
+        name="",
+        hub=False,
+        port_number=0,
+        device_path="/dev/ot_module_sim_flexstacker0",
+    )
+
+    flexstacker = await build_module(
+        port="/dev/ot_module_sim_flexstacker0",
+        usb_port=usb_port,
+        type=ModuleType.FLEX_STACKER,
+        simulating=True,
+        hw_control_loop=asyncio.get_running_loop(),
+        execution_manager=ExecutionManager(),
+    )
+    yield flexstacker
+    await flexstacker.cleanup()
+
+
+async def test_module_update_integration(  # noqa: C901
     monkeypatch: pytest.MonkeyPatch,
     mod_tempdeck: AbstractModule,
     mod_magdeck: AbstractModule,
@@ -267,6 +294,7 @@ async def test_module_update_integration(
     mod_heatershaker: AbstractModule,
     mod_thermocycler_gen2: AbstractModule,
     mod_absorbancereader: AbstractModule,
+    mod_flexstacker: AbstractModule,
 ) -> None:
     from opentrons.hardware_control import modules
 
@@ -362,6 +390,7 @@ async def mock_find_dfu_device_tc2(pid: str, expected_device_count: int) -> str:
     upload_via_dfu_mock.assert_called_once_with(
         "df11", "fake_fw_file_path", bootloader_kwargs
     )
+    upload_via_dfu_mock.reset_mock()
 
     # Test absorbancereader update with byonoy library
     bootloader_kwargs["module"] = mod_absorbancereader
@@ -373,6 +402,20 @@ async def mock_find_dfu_device_tc2(pid: str, expected_device_count: int) -> str:
     byonoy_update_firmware_mock.assert_called_once_with("fake_fw_file_path")
     assert not mod_absorbancereader.updating
 
+    # test flex stacker update with dfu bootloader
+    async def mock_find_dfu_device_fs2(pid: str, expected_device_count: int) -> str:
+        if expected_device_count == 3:
+            return "df11"
+        return "none"
+
+    monkeypatch.setattr(modules.update, "find_dfu_device", mock_find_dfu_device_fs2)
+
+    bootloader_kwargs["module"] = mod_flexstacker
+    await modules.update_firmware(mod_flexstacker, "fake_fw_file_path")
+    upload_via_dfu_mock.assert_called_once_with(
+        "df11", "fake_fw_file_path", bootloader_kwargs
+    )
+
 
 async def test_get_bundled_fw(monkeypatch: pytest.MonkeyPatch, tmpdir: Path) -> None:
     from opentrons.hardware_control import modules
@@ -392,6 +435,9 @@ async def test_get_bundled_fw(monkeypatch: pytest.MonkeyPatch, tmpdir: Path) ->
     dummy_abs_file = Path(tmpdir) / "absorbance-96@v1.0.2.byoup"
     dummy_abs_file.write_text("hello")
 
+    dummy_fs_file = Path(tmpdir) / "flex-stacker@v7.0.0.bin"
+    dummy_fs_file.write_text("hello")
+
     dummy_bogus_file = Path(tmpdir) / "thermoshaker@v6.6.6.bin"
     dummy_bogus_file.write_text("hello")
 
@@ -414,6 +460,9 @@ async def test_get_bundled_fw(monkeypatch: pytest.MonkeyPatch, tmpdir: Path) ->
         "absorbancereader": [
             SimulatingModule(serial_number="555", model="absorbanceReaderV1")
         ],
+        "flexstacker": [
+            SimulatingModule(serial_number="656", model="flexStackerModuleV1")
+        ],
     }
 
     api = await API.build_hardware_simulator(attached_modules=mods)
@@ -434,6 +483,9 @@ async def test_get_bundled_fw(monkeypatch: pytest.MonkeyPatch, tmpdir: Path) ->
     assert api.attached_modules[4].bundled_fw == BundledFirmware(
         version="1.0.2", path=dummy_abs_file
     )
+    assert api.attached_modules[5].bundled_fw == BundledFirmware(
+        version="7.0.0", path=dummy_fs_file
+    )
     for m in api.attached_modules:
         await m.cleanup()
 
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 73f39006299..d92e3d6050a 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
@@ -8,6 +8,8 @@
 from decoy import errors
 from opentrons_shared_data.liquid_classes.liquid_class_definition import (
     LiquidClassSchemaV1,
+    PositionReference,
+    Coordinate,
 )
 
 from opentrons_shared_data.pipette.types import PipetteNameType
@@ -15,6 +17,13 @@
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons.protocol_api._liquid_properties import TransferProperties
+from opentrons.protocol_api.core.engine import transfer_components_executor, LabwareCore
+from opentrons.protocol_api.core.engine.transfer_components_executor import (
+    TransferComponentsExecutor,
+    TransferType,
+    TipState,
+    LiquidAndAirGapPair,
+)
 from opentrons.protocol_engine import (
     DeckPoint,
     LoadedPipette,
@@ -30,6 +39,7 @@
 )
 from opentrons.protocol_engine import commands as cmd
 from opentrons.protocol_engine.clients.sync_client import SyncClient
+from opentrons.protocol_engine.commands import GetNextTipResult
 from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError
 from opentrons.protocol_engine.clients import SyncClient as EngineClient
 from opentrons.protocol_engine.types import (
@@ -41,6 +51,9 @@
     ColumnNozzleLayoutConfiguration,
     AddressableOffsetVector,
     LiquidClassRecord,
+    NextTipInfo,
+    NoTipAvailable,
+    NoTipReason,
 )
 from opentrons.protocol_api.disposal_locations import (
     TrashBin,
@@ -57,6 +70,7 @@
 )
 from opentrons.protocols.api_support.definitions import MAX_SUPPORTED_VERSION
 from opentrons.protocols.api_support.types import APIVersion
+from opentrons.protocols.advanced_control.transfers import common as tx_commons
 from opentrons.types import Location, Mount, MountType, Point, NozzleConfigurationType
 
 from ... import versions_below, versions_at_or_above
@@ -91,6 +105,53 @@ def patch_mock_pipette_movement_safety_check(
     )
 
 
+@pytest.fixture(autouse=True)
+def patch_mock_check_valid_volume_parameters(
+    decoy: Decoy, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    """Replace tx_commons.check_valid_volume_parameters() with a mock."""
+    mock = decoy.mock(func=tx_commons.check_valid_volume_parameters)
+    monkeypatch.setattr(tx_commons, "check_valid_volume_parameters", mock)
+
+
+@pytest.fixture(autouse=True)
+def patch_mock_expand_for_volume_constraints(
+    decoy: Decoy, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    """Replace tx_commons.expand_for_volume_constraints() with a mock."""
+    mock = decoy.mock(func=tx_commons.expand_for_volume_constraints)
+    monkeypatch.setattr(tx_commons, "expand_for_volume_constraints", mock)
+
+
+@pytest.fixture
+def mock_transfer_components_executor(
+    decoy: Decoy,
+) -> TransferComponentsExecutor:
+    """Get a mocked out TransferComponentsExecutor."""
+    return decoy.mock(cls=TransferComponentsExecutor)
+
+
+@pytest.fixture(autouse=True)
+def patch_mock_transfer_components_executor(
+    decoy: Decoy,
+    monkeypatch: pytest.MonkeyPatch,
+    mock_transfer_components_executor: TransferComponentsExecutor,
+) -> None:
+    """Replace transfer_components_executor functions with mocks."""
+    monkeypatch.setattr(
+        transfer_components_executor,
+        "TransferComponentsExecutor",
+        mock_transfer_components_executor,
+    )
+    monkeypatch.setattr(
+        transfer_components_executor,
+        "absolute_point_from_position_reference_and_offset",
+        decoy.mock(
+            func=transfer_components_executor.absolute_point_from_position_reference_and_offset
+        ),
+    )
+
+
 @pytest.fixture
 def subject(
     decoy: Decoy,
@@ -139,6 +200,21 @@ def test_get_pipette_name(
     assert result == "p300_single"
 
 
+def test_get_pipette_load_name(
+    decoy: Decoy, mock_engine_client: EngineClient, subject: InstrumentCore
+) -> None:
+    """It should get the pipette's API-specific load name."""
+    decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
+        LoadedPipette.model_construct(pipetteName=PipetteNameType.P300_SINGLE)  # type: ignore[call-arg]
+    )
+    assert subject.get_load_name() == "p300_single"
+
+    decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
+        LoadedPipette.model_construct(pipetteName=PipetteNameType.P1000_96)  # type: ignore[call-arg]
+    )
+    assert subject.get_load_name() == "flex_96channel_1000"
+
+
 def test_get_mount(
     decoy: Decoy, mock_engine_client: EngineClient, subject: InstrumentCore
 ) -> None:
@@ -1521,6 +1597,9 @@ def test_load_liquid_class(
     test_liq_class = decoy.mock(cls=LiquidClass)
     test_transfer_props = decoy.mock(cls=TransferProperties)
 
+    decoy.when(mock_engine_client.state.pipettes.get("abc123")).then_return(
+        LoadedPipette.model_construct(pipetteName=PipetteNameType.P50_SINGLE_FLEX)  # type: ignore[call-arg]
+    )
     decoy.when(
         test_liq_class.get_for("flex_1channel_50", "opentrons_flex_96_tiprack_50ul")
     ).then_return(test_transfer_props)
@@ -1552,8 +1631,184 @@ def test_load_liquid_class(
         )
     ).then_return(cmd.LoadLiquidClassResult(liquidClassId="liquid-class-id"))
     result = subject.load_liquid_class(
-        liquid_class=test_liq_class,
-        pipette_load_name="flex_1channel_50",
+        name=test_liq_class.name,
+        transfer_properties=test_transfer_props,
         tiprack_uri="opentrons_flex_96_tiprack_50ul",
     )
     assert result == "liquid-class-id"
+
+
+def test_aspirate_liquid_class(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: InstrumentCore,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+    mock_transfer_components_executor: TransferComponentsExecutor,
+) -> None:
+    """It should call aspirate sub-steps execution based on liquid class."""
+    source_well = decoy.mock(cls=WellCore)
+    source_location = Location(Point(1, 2, 3), labware=None)
+    test_liquid_class = LiquidClass.create(minimal_liquid_class_def2)
+    test_transfer_properties = test_liquid_class.get_for(
+        "flex_1channel_50", "opentrons_flex_96_tiprack_50ul"
+    )
+    decoy.when(
+        transfer_components_executor.absolute_point_from_position_reference_and_offset(
+            well=source_well,
+            position_reference=PositionReference.WELL_BOTTOM,
+            offset=Coordinate(x=0, y=0, z=-5),
+        )
+    ).then_return(Point(1, 2, 3))
+    decoy.when(
+        transfer_components_executor.TransferComponentsExecutor(
+            instrument_core=subject,
+            transfer_properties=test_transfer_properties,
+            target_location=Location(Point(1, 2, 3), labware=None),
+            target_well=source_well,
+            transfer_type=TransferType.ONE_TO_ONE,
+            tip_state=TipState(),
+        )
+    ).then_return(mock_transfer_components_executor)
+    decoy.when(
+        mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip
+    ).then_return(LiquidAndAirGapPair(liquid=111, air_gap=222))
+    result = subject.aspirate_liquid_class(
+        volume=123,
+        source=(source_location, source_well),
+        transfer_properties=test_transfer_properties,
+        transfer_type=TransferType.ONE_TO_ONE,
+        tip_contents=[],
+    )
+    decoy.verify(
+        mock_transfer_components_executor.submerge(
+            submerge_properties=test_transfer_properties.aspirate.submerge,
+        ),
+        mock_transfer_components_executor.mix(
+            mix_properties=test_transfer_properties.aspirate.mix,
+            last_dispense_push_out=False,
+        ),
+        mock_transfer_components_executor.pre_wet(volume=123),
+        mock_transfer_components_executor.aspirate_and_wait(volume=123),
+        mock_transfer_components_executor.retract_after_aspiration(volume=123),
+    )
+    assert result == [LiquidAndAirGapPair(air_gap=222, liquid=111)]
+
+
+def test_dispense_liquid_class(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: InstrumentCore,
+    minimal_liquid_class_def2: LiquidClassSchemaV1,
+    mock_transfer_components_executor: TransferComponentsExecutor,
+) -> None:
+    """It should call dispense sub-steps execution based on liquid class."""
+    source_well = decoy.mock(cls=WellCore)
+    source_location = Location(Point(1, 2, 3), labware=None)
+    dest_well = decoy.mock(cls=WellCore)
+    dest_location = Location(Point(3, 2, 1), labware=None)
+    test_liquid_class = LiquidClass.create(minimal_liquid_class_def2)
+    test_transfer_properties = test_liquid_class.get_for(
+        "flex_1channel_50", "opentrons_flex_96_tiprack_50ul"
+    )
+    push_out_vol = test_transfer_properties.dispense.push_out_by_volume.get_for_volume(
+        123
+    )
+    decoy.when(
+        transfer_components_executor.absolute_point_from_position_reference_and_offset(
+            well=dest_well,
+            position_reference=PositionReference.WELL_BOTTOM,
+            offset=Coordinate(x=0, y=0, z=-5),
+        )
+    ).then_return(Point(1, 2, 3))
+    decoy.when(
+        transfer_components_executor.TransferComponentsExecutor(
+            instrument_core=subject,
+            transfer_properties=test_transfer_properties,
+            target_location=Location(Point(1, 2, 3), labware=None),
+            target_well=dest_well,
+            transfer_type=TransferType.ONE_TO_ONE,
+            tip_state=TipState(),
+        )
+    ).then_return(mock_transfer_components_executor)
+    decoy.when(
+        mock_transfer_components_executor.tip_state.last_liquid_and_air_gap_in_tip
+    ).then_return(LiquidAndAirGapPair(liquid=333, air_gap=444))
+    result = subject.dispense_liquid_class(
+        volume=123,
+        dest=(dest_location, dest_well),
+        source=(source_location, source_well),
+        transfer_properties=test_transfer_properties,
+        transfer_type=TransferType.ONE_TO_ONE,
+        tip_contents=[],
+        add_final_air_gap=True,
+        trash_location=Location(Point(1, 2, 3), labware=None),
+    )
+    decoy.verify(
+        mock_transfer_components_executor.submerge(
+            submerge_properties=test_transfer_properties.dispense.submerge,
+        ),
+        mock_transfer_components_executor.dispense_and_wait(
+            volume=123,
+            push_out_override=push_out_vol,
+        ),
+        mock_transfer_components_executor.mix(
+            mix_properties=test_transfer_properties.dispense.mix,
+            last_dispense_push_out=True,
+        ),
+        mock_transfer_components_executor.retract_after_dispensing(
+            trash_location=Location(Point(1, 2, 3), labware=None),
+            source_location=source_location,
+            source_well=source_well,
+            add_final_air_gap=True,
+        ),
+    )
+    assert result == [LiquidAndAirGapPair(air_gap=444, liquid=333)]
+
+
+def test_get_next_tip(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: InstrumentCore,
+) -> None:
+    """It should return the next tip result."""
+    tip_racks = [decoy.mock(cls=LabwareCore)]
+    expected_next_tip = NextTipInfo(labwareId="1234", tipStartingWell="BAR")
+    decoy.when(tip_racks[0].labware_id).then_return("tiprack-id")
+    decoy.when(
+        mock_engine_client.execute_command_without_recovery(
+            cmd.GetNextTipParams(
+                pipetteId="abc123", labwareIds=["tiprack-id"], startingTipWell="F00"
+            )
+        )
+    ).then_return(GetNextTipResult(nextTipInfo=expected_next_tip))
+    result = subject.get_next_tip(
+        tip_racks=tip_racks,
+        starting_well="F00",
+    )
+    assert result == expected_next_tip
+
+
+def test_get_next_tip_when_no_tip_available(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: InstrumentCore,
+) -> None:
+    """It should return None when there's no next tip available."""
+    tip_racks = [decoy.mock(cls=LabwareCore)]
+    decoy.when(tip_racks[0].labware_id).then_return("tiprack-id")
+    decoy.when(
+        mock_engine_client.execute_command_without_recovery(
+            cmd.GetNextTipParams(
+                pipetteId="abc123", labwareIds=["tiprack-id"], startingTipWell="F00"
+            )
+        )
+    ).then_return(
+        GetNextTipResult(
+            nextTipInfo=NoTipAvailable(noTipReason=NoTipReason.NO_AVAILABLE_TIPS)
+        )
+    )
+    result = subject.get_next_tip(
+        tip_racks=tip_racks,
+        starting_well="F00",
+    )
+    assert result is None
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 6b5065f98c9..2889a47cea9 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
@@ -756,6 +756,154 @@ def test_load_adapter_on_staging_slot(
     assert subject.get_slot_item(StagingSlotName.SLOT_B4) is result
 
 
+def test_load_lid(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: ProtocolCore,
+) -> None:
+    """It should issue a LoadLid command."""
+    mock_labware_core = decoy.mock(cls=LabwareCore)
+    decoy.when(mock_labware_core.labware_id).then_return("labware-id")
+    decoy.when(
+        mock_engine_client.state.labware.find_custom_labware_load_params()
+    ).then_return([EngineLabwareLoadParams("hello", "world", 654)])
+
+    decoy.when(
+        load_labware_params.resolve(
+            "some_labware",
+            "a_namespace",
+            456,
+            [EngineLabwareLoadParams("hello", "world", 654)],
+        )
+    ).then_return(("some_namespace", 9001))
+
+    decoy.when(
+        mock_engine_client.execute_command_without_recovery(
+            cmd.LoadLidParams(
+                location=OnLabwareLocation(labwareId="labware-id"),
+                loadName="some_labware",
+                namespace="some_namespace",
+                version=9001,
+            )
+        )
+    ).then_return(
+        commands.LoadLidResult(
+            labwareId="abc123",
+            definition=LabwareDefinition.model_construct(ordering=[]),  # type: ignore[call-arg]
+        )
+    )
+
+    decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
+    )
+
+    result = subject.load_lid(
+        load_name="some_labware",
+        location=mock_labware_core,
+        namespace="a_namespace",
+        version=456,
+    )
+
+    assert isinstance(result, LabwareCore)
+    assert result.labware_id == "abc123"
+    assert subject.get_labware_cores() == [result]
+
+    decoy.verify(
+        deck_conflict.check(
+            engine_state=mock_engine_client.state,
+            existing_labware_ids=[],
+            existing_module_ids=[],
+            existing_disposal_locations=[],
+            new_labware_id="abc123",
+        )
+    )
+
+    decoy.when(
+        mock_engine_client.state.geometry.get_slot_item(
+            slot_name=DeckSlotName.SLOT_5,
+        )
+    ).then_return(
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
+    )
+
+    assert subject.get_slot_item(DeckSlotName.SLOT_5) is result
+
+
+def test_load_lid_stack(
+    decoy: Decoy,
+    mock_engine_client: EngineClient,
+    subject: ProtocolCore,
+) -> None:
+    """It should issue a LoadLidStack command."""
+    decoy.when(
+        mock_engine_client.state.labware.find_custom_labware_load_params()
+    ).then_return([EngineLabwareLoadParams("hello", "world", 654)])
+
+    decoy.when(
+        load_labware_params.resolve(
+            "some_labware",
+            "a_namespace",
+            456,
+            [EngineLabwareLoadParams("hello", "world", 654)],
+        )
+    ).then_return(("some_namespace", 9001))
+
+    decoy.when(
+        mock_engine_client.execute_command_without_recovery(
+            cmd.LoadLidStackParams(
+                location=DeckSlotLocation(slotName=DeckSlotName.SLOT_5),
+                loadName="some_labware",
+                namespace="some_namespace",
+                version=9001,
+                quantity=5,
+            )
+        )
+    ).then_return(
+        commands.LoadLidStackResult(
+            stackLabwareId="abc123",
+            labwareIds=["1", "2", "3", "4", "5"],
+            definition=LabwareDefinition.model_construct(),  # type: ignore[call-arg]
+            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_5),
+        )
+    )
+
+    decoy.when(mock_engine_client.state.labware.get_definition("abc123")).then_return(
+        LabwareDefinition.model_construct(ordering=[])  # type: ignore[call-arg]
+    )
+
+    result = subject.load_lid_stack(
+        load_name="some_labware",
+        location=DeckSlotName.SLOT_5,
+        namespace="a_namespace",
+        version=456,
+        quantity=5,
+    )
+
+    assert isinstance(result, LabwareCore)
+    assert result.labware_id == "abc123"
+    assert subject.get_labware_cores() == [result]
+
+    decoy.verify(
+        deck_conflict.check(
+            engine_state=mock_engine_client.state,
+            existing_labware_ids=[],
+            existing_module_ids=[],
+            existing_disposal_locations=[],
+            new_labware_id="abc123",
+        )
+    )
+
+    decoy.when(
+        mock_engine_client.state.geometry.get_slot_item(
+            slot_name=DeckSlotName.SLOT_5,
+        )
+    ).then_return(
+        LoadedLabware.model_construct(id="abc123")  # type: ignore[call-arg]
+    )
+
+    assert subject.get_slot_item(DeckSlotName.SLOT_5) is result
+
+
 def test_load_trash_bin(
     decoy: Decoy,
     mock_engine_client: EngineClient,
diff --git a/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py
new file mode 100644
index 00000000000..6eecfccf882
--- /dev/null
+++ b/api/tests/opentrons/protocol_api/core/engine/test_transfer_components_executor.py
@@ -0,0 +1,979 @@
+"""Tests for complex commands executor."""
+import pytest
+from decoy import Decoy
+from opentrons_shared_data.liquid_classes.liquid_class_definition import (
+    LiquidClassSchemaV1,
+    PositionReference,
+    Coordinate,
+    BlowoutLocation,
+)
+
+from opentrons.protocol_api import TrashBin
+from opentrons.protocol_api._liquid import LiquidClass
+from opentrons.protocol_api._liquid_properties import TransferProperties
+from opentrons.protocol_api.core.engine.well import WellCore
+from opentrons.protocol_api.core.engine.instrument import InstrumentCore
+from opentrons.protocol_api.core.engine.transfer_components_executor import (
+    TransferComponentsExecutor,
+    absolute_point_from_position_reference_and_offset,
+    TipState,
+    TransferType,
+    LiquidAndAirGapPair,
+)
+from opentrons.types import Location, Point
+from opentrons.protocol_api.labware import Well
+
+
+@pytest.fixture
+def mock_instrument_core(decoy: Decoy) -> InstrumentCore:
+    """Return a mocked out instrument core."""
+    return decoy.mock(cls=InstrumentCore)
+
+
+@pytest.fixture
+def sample_transfer_props(
+    maximal_liquid_class_def: LiquidClassSchemaV1,
+) -> TransferProperties:
+    """Return a mocked out liquid class fixture."""
+    return LiquidClass.create(maximal_liquid_class_def).get_for(
+        pipette="flex_1channel_50", tiprack="opentrons_flex_96_tiprack_50ul"
+    )
+
+
+""" Test aspirate properties:
+"submerge": {
+  "positionReference": "well-top",
+  "offset": {"x": 1, "y": 2, "z": 3},
+  "speed": 100,
+  "delay": {"enable": true, "params": {"duration": 10.0}}},
+"retract": {
+  "positionReference": "well-top",
+  "offset": {"x": 3, "y": 2, "z": 1},
+  "speed": 50,
+  "airGapByVolume": [[1.0, 0.1], [49.9, 0.1], [50.0, 0.0]],
+  "touchTip": {"enable": true, "params": {"zOffset": -1, "mmToEdge": 0.5, "speed": 30}},
+  "delay": {"enable": true, "params": {"duration": 20}}},
+"positionReference": "well-bottom",
+"offset": {"x": 10, "y": 20, "z": 30},
+"flowRateByVolume": [[1.0, 35.0], [10.0, 24.0], [50.0, 35.0]],
+"correctionByVolume": [[0.0, 0.0]],
+"preWet": true,
+"mix": {"enable": true, "params": {"repetitions": 1, "volume": 50}},
+"delay": {"enable": true, "params": {"duration": 0.2}}
+"""
+
+
+def test_submerge(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """Should perform the expected submerge steps."""
+    source_well = decoy.mock(cls=WellCore)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    air_gap_removal_flow_rate = (
+        sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(123)
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(), labware=None),
+        target_well=source_well,
+        tip_state=TipState(
+            ready_to_aspirate=True,
+            last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair(liquid=0, air_gap=123),
+        ),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(source_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(source_well.get_top(0)).then_return(well_top_point)
+
+    subject.submerge(submerge_properties=sample_transfer_props.aspirate.submerge)
+
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(x=2, y=4, z=6), labware=None),
+            well_core=source_well,
+            force_direct=False,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.dispense(
+            location=Location(Point(x=2, y=4, z=6), labware=None),
+            well_core=None,
+            volume=123,
+            rate=1,
+            flow_rate=air_gap_removal_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+            push_out=0,
+        ),
+        mock_instrument_core.delay(0.5),
+        mock_instrument_core.move_to(
+            location=Location(Point(), labware=None),
+            well_core=source_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=100,
+        ),
+        mock_instrument_core.delay(10),
+    )
+
+
+def test_aspirate_and_wait(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute an aspirate and a delay according to properties."""
+    source_well = decoy.mock(cls=WellCore)
+    aspirate_flow_rate = (
+        sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(10)
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.aspirate_and_wait(volume=10)
+    decoy.verify(
+        mock_instrument_core.aspirate(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=10,
+            rate=1,
+            flow_rate=aspirate_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.2),
+    )
+
+
+def test_aspirate_and_wait_skips_delay(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should skip the wait after aspirate."""
+    sample_transfer_props.aspirate.delay.enabled = False
+    source_well = decoy.mock(cls=WellCore)
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.aspirate_and_wait(volume=10)
+    decoy.verify(
+        mock_instrument_core.delay(0.2),
+        times=0,
+    )
+
+
+def test_dispense_and_wait(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute a dispense and a delay according to properties."""
+    source_well = decoy.mock(cls=WellCore)
+    dispense_flow_rate = (
+        sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(10)
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.dispense_and_wait(volume=10, push_out_override=123)
+    decoy.verify(
+        mock_instrument_core.dispense(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=10,
+            rate=1,
+            flow_rate=dispense_flow_rate,
+            in_place=True,
+            push_out=123,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.5),
+    )
+
+
+def test_dispense_and_wait_skips_delay(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should skip the wait after dispense."""
+    sample_transfer_props.dispense.delay.enabled = False
+    source_well = decoy.mock(cls=WellCore)
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.dispense_and_wait(volume=10, push_out_override=123)
+    decoy.verify(
+        mock_instrument_core.delay(0.2),
+        times=0,
+    )
+
+
+def test_mix(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute mix steps."""
+    source_well = decoy.mock(cls=WellCore)
+    aspirate_flow_rate = (
+        sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(50)
+    )
+    dispense_flow_rate = (
+        sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(50)
+    )
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.mix(
+        mix_properties=sample_transfer_props.aspirate.mix,
+        last_dispense_push_out=True,
+    )
+
+    decoy.verify(
+        mock_instrument_core.aspirate(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=50,
+            rate=1,
+            flow_rate=aspirate_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.2),
+        mock_instrument_core.dispense(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=50,
+            rate=1,
+            flow_rate=dispense_flow_rate,
+            in_place=True,
+            push_out=2.0,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.5),
+    )
+
+
+def test_mix_disabled(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should not perform a mix when it is disabled."""
+    sample_transfer_props.aspirate.mix.enabled = False
+    source_well = decoy.mock(cls=WellCore)
+    aspirate_flow_rate = (
+        sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(50)
+    )
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.mix(
+        mix_properties=sample_transfer_props.aspirate.mix,
+        last_dispense_push_out=True,
+    )
+    decoy.verify(
+        mock_instrument_core.aspirate(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=50,
+            rate=1,
+            flow_rate=aspirate_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+        ),
+        times=0,
+    )
+
+
+def test_pre_wet(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute pre-wet steps."""
+    source_well = decoy.mock(cls=WellCore)
+    aspirate_flow_rate = (
+        sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(40)
+    )
+    dispense_flow_rate = (
+        sample_transfer_props.dispense.flow_rate_by_volume.get_for_volume(40)
+    )
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.pre_wet(volume=40)
+
+    decoy.verify(
+        mock_instrument_core.aspirate(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=40,
+            rate=1,
+            flow_rate=aspirate_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.2),
+        mock_instrument_core.dispense(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=40,
+            rate=1,
+            flow_rate=dispense_flow_rate,
+            in_place=True,
+            push_out=0,
+            is_meniscus=None,
+        ),
+        mock_instrument_core.delay(0.5),
+    )
+
+
+def test_pre_wet_disabled(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should NOT execute pre-wet steps."""
+    source_well = decoy.mock(cls=WellCore)
+    sample_transfer_props.aspirate.pre_wet = False
+    aspirate_flow_rate = (
+        sample_transfer_props.aspirate.flow_rate_by_volume.get_for_volume(40)
+    )
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 2, 3), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    subject.pre_wet(volume=40)
+
+    decoy.verify(
+        mock_instrument_core.aspirate(
+            location=Location(Point(1, 2, 3), labware=None),
+            well_core=None,
+            volume=40,
+            rate=1,
+            flow_rate=aspirate_flow_rate,
+            in_place=True,
+            is_meniscus=None,
+        ),
+        times=0,
+    )
+
+
+def test_retract_after_aspiration(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute steps to retract from well after an aspiration."""
+    source_well = decoy.mock(cls=WellCore)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(40)
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=source_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(source_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(source_well.get_top(0)).then_return(well_top_point)
+
+    subject.retract_after_aspiration(volume=40)
+
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(x=4, y=4, z=4), labware=None),
+            well_core=source_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.delay(20),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(x=4, y=4, z=4), labware=None),
+            well_core=source_well,
+            radius=1,  # Update this to use mmToEdge once implemented
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(x=4, y=4, z=4), labware=None),
+            well_core=source_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.air_gap_in_place(
+            volume=air_gap_volume,
+            flow_rate=air_gap_volume,
+        ),
+        mock_instrument_core.delay(0.2),
+    )
+
+
+def test_retract_after_aspiration_without_touch_tip_and_delay(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+) -> None:
+    """It should execute steps to retract from well after an aspiration without a touch tip or delay."""
+    source_well = decoy.mock(cls=WellCore)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+
+    sample_transfer_props.aspirate.retract.touch_tip.enabled = False
+    sample_transfer_props.aspirate.retract.delay.enabled = False
+
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(40)
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=source_well,
+        tip_state=TipState(
+            ready_to_aspirate=True,
+            last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair(
+                liquid=10,
+                air_gap=0,
+            ),
+        ),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(source_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(source_well.get_top(0)).then_return(well_top_point)
+
+    subject.retract_after_aspiration(volume=40)
+
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(x=4, y=4, z=4), labware=None),
+            well_core=source_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.air_gap_in_place(
+            volume=air_gap_volume,
+            flow_rate=air_gap_volume,
+        ),
+        mock_instrument_core.delay(0.2),
+    )
+
+
+"""
+Single dispense properties:
+
+"singleDispense": {
+    "submerge": {
+      "positionReference": "well-top",
+      "offset": {"x": 30, "y": 20, "z": 10},
+      "speed": 100,
+      "delay": {"enable": true, "params": { "duration": 0.0 }}
+    },
+    "retract": {
+      "positionReference": "well-top",
+      "offset": {"x": 11, "y": 22, "z": 33},
+      "speed": 50,
+      "airGapByVolume": [[1.0, 0.1], [49.9, 0.1], [50.0, 0.0]],
+      "blowout": { "enable": true , "params": {"location": "source", "flowRate": 100}},
+      "touchTip": { "enable": true, "params": { "zOffset": -1, "mmToEdge": 0.5, "speed": 30}},
+      "delay": {"enable": true, "params": { "duration": 10 }}
+    },
+    "positionReference": "well-bottom",
+    "offset": {"x": 33, "y": 22, "z": 11},
+    "flowRateByVolume": [[1.0, 50.0]],
+    "correctionByVolume": [[0.0, 0.0]],
+    "mix": { "enable": true, "params": { "repetitions": 1, "volume": 50 }},
+    "pushOutByVolume": [[1.0, 7.0], [4.999, 7.0], [5.0, 2.0], [10.0, 2.0], [50.0, 2.0]],
+    "delay": { "enable": true, "params": { "duration": 0.2 }},
+}
+"""
+
+
+@pytest.mark.parametrize(
+    "add_final_air_gap",
+    [True, False],
+)
+def test_retract_after_dispense_with_blowout_in_source(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+    add_final_air_gap: bool,
+) -> None:
+    """It should execute steps to retract from well after a dispense."""
+    source_location = Location(Point(1, 2, 3), labware=None)
+    source_well = decoy.mock(cls=WellCore)
+    dest_well = decoy.mock(cls=WellCore)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
+    )
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=dest_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(dest_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(dest_well.get_top(0)).then_return(well_top_point)
+    decoy.when(source_well.get_top(0)).then_return(Point(10, 20, 30))
+    subject.retract_after_dispensing(
+        trash_location=Location(Point(), labware=None),
+        source_location=source_location,
+        source_well=source_well,
+        add_final_air_gap=add_final_air_gap,
+    )
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.delay(10),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.air_gap_in_place(
+            volume=air_gap_volume, flow_rate=air_gap_volume
+        ),
+        mock_instrument_core.delay(0.2),
+        mock_instrument_core.set_flow_rate(blow_out=100),
+        mock_instrument_core.blow_out(
+            location=Location(Point(10, 20, 30), labware=None),
+            well_core=source_well,
+            in_place=False,
+        ),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(10, 20, 30), labware=None),
+            well_core=source_well,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(10, 20, 30), labware=None),
+            well_core=source_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.prepare_to_aspirate(),
+        *(
+            add_final_air_gap
+            and [
+                mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
+                    volume=air_gap_volume, flow_rate=air_gap_volume
+                ),
+                mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
+            ]
+            or []
+        ),
+    )
+
+
+@pytest.mark.parametrize(
+    "add_final_air_gap",
+    [True, False],
+)
+def test_retract_after_dispense_with_blowout_in_destination(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+    add_final_air_gap: bool,
+) -> None:
+    """It should execute steps to retract from well after a dispense."""
+    source_well = decoy.mock(cls=WellCore)
+    dest_well = decoy.mock(cls=WellCore)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
+    )
+    sample_transfer_props.dispense.retract.blowout.location = (
+        BlowoutLocation.DESTINATION
+    )
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=dest_well,
+        tip_state=TipState(
+            ready_to_aspirate=True,
+            last_liquid_and_air_gap_in_tip=LiquidAndAirGapPair(
+                liquid=10,
+                air_gap=0,
+            ),
+        ),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(dest_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(dest_well.get_top(0)).then_return(well_top_point)
+
+    subject.retract_after_dispensing(
+        trash_location=Location(Point(), labware=None),
+        source_location=Location(Point(1, 2, 3), labware=None),
+        source_well=source_well,
+        add_final_air_gap=True,
+    )
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.delay(10),
+        mock_instrument_core.set_flow_rate(blow_out=100),
+        mock_instrument_core.blow_out(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=None,
+            in_place=True,
+        ),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        *(
+            add_final_air_gap
+            and [
+                mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
+                    volume=air_gap_volume, flow_rate=air_gap_volume
+                ),
+                mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
+            ]
+            or []
+        ),
+    )
+
+
+@pytest.mark.parametrize(
+    "add_final_air_gap",
+    [True, False],
+)
+def test_retract_after_dispense_with_blowout_in_trash_well(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+    add_final_air_gap: bool,
+) -> None:
+    """It should execute steps to retract from well after a dispense."""
+    source_location = Location(Point(1, 2, 3), labware=None)
+    source_well = decoy.mock(cls=WellCore)
+    dest_well = decoy.mock(cls=WellCore)
+    trash_well = decoy.mock(cls=Well)
+    trash_well_core = decoy.mock(cls=WellCore)
+    trash_location = Location(Point(7, 8, 9), labware=trash_well)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
+    )
+    sample_transfer_props.dispense.retract.blowout.location = BlowoutLocation.TRASH
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=dest_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(dest_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(dest_well.get_top(0)).then_return(well_top_point)
+    decoy.when(trash_well._core).then_return(trash_well_core)
+    subject.retract_after_dispensing(
+        trash_location=trash_location,
+        source_location=source_location,
+        source_well=source_well,
+        add_final_air_gap=True,
+    )
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.delay(10),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.air_gap_in_place(
+            volume=air_gap_volume, flow_rate=air_gap_volume
+        ),
+        mock_instrument_core.delay(0.2),
+        mock_instrument_core.set_flow_rate(blow_out=100),
+        mock_instrument_core.blow_out(
+            location=trash_location,
+            well_core=None,
+            in_place=False,
+        ),
+        mock_instrument_core.touch_tip(
+            location=trash_location,
+            well_core=trash_well_core,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=trash_location,
+            well_core=trash_well_core,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        *(
+            add_final_air_gap
+            and [
+                mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
+                    volume=air_gap_volume, flow_rate=air_gap_volume
+                ),
+                mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
+            ]
+            or []
+        ),
+    )
+
+
+@pytest.mark.parametrize(
+    "add_final_air_gap",
+    [True, False],
+)
+def test_retract_after_dispense_with_blowout_in_disposal_location(
+    decoy: Decoy,
+    mock_instrument_core: InstrumentCore,
+    sample_transfer_props: TransferProperties,
+    add_final_air_gap: bool,
+) -> None:
+    """It should execute steps to retract from well after a dispense."""
+    source_location = Location(Point(1, 2, 3), labware=None)
+    source_well = decoy.mock(cls=WellCore)
+    dest_well = decoy.mock(cls=WellCore)
+    trash_location = decoy.mock(cls=TrashBin)
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    air_gap_volume = (
+        sample_transfer_props.aspirate.retract.air_gap_by_volume.get_for_volume(0)
+    )
+    sample_transfer_props.dispense.retract.blowout.location = BlowoutLocation.TRASH
+
+    subject = TransferComponentsExecutor(
+        instrument_core=mock_instrument_core,
+        transfer_properties=sample_transfer_props,
+        target_location=Location(Point(1, 1, 1), labware=None),
+        target_well=dest_well,
+        tip_state=TipState(),
+        transfer_type=TransferType.ONE_TO_ONE,
+    )
+    decoy.when(dest_well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(dest_well.get_top(0)).then_return(well_top_point)
+    subject.retract_after_dispensing(
+        trash_location=trash_location,
+        source_location=source_location,
+        source_well=source_well,
+        add_final_air_gap=True,
+    )
+    decoy.verify(
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=50,
+        ),
+        mock_instrument_core.delay(10),
+        mock_instrument_core.touch_tip(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            radius=1,
+            z_offset=-1,
+            speed=30,
+        ),
+        mock_instrument_core.move_to(
+            location=Location(Point(12, 24, 36), labware=None),
+            well_core=dest_well,
+            force_direct=True,
+            minimum_z_height=None,
+            speed=None,
+        ),
+        mock_instrument_core.air_gap_in_place(
+            volume=air_gap_volume, flow_rate=air_gap_volume
+        ),
+        mock_instrument_core.delay(0.2),
+        mock_instrument_core.set_flow_rate(blow_out=100),
+        mock_instrument_core.blow_out(
+            location=trash_location,
+            well_core=None,
+            in_place=False,
+        ),
+        *(
+            add_final_air_gap
+            and [
+                mock_instrument_core.air_gap_in_place(  # type: ignore[func-returns-value]
+                    volume=air_gap_volume, flow_rate=air_gap_volume
+                ),
+                mock_instrument_core.delay(0.2),  # type: ignore[func-returns-value]
+            ]
+            or []
+        ),
+    )
+
+
+@pytest.mark.parametrize(
+    argnames=["position_reference", "offset", "expected_result"],
+    argvalues=[
+        (PositionReference.WELL_TOP, Coordinate(x=11, y=12, z=13), Point(12, 14, 16)),
+        (
+            PositionReference.WELL_BOTTOM,
+            Coordinate(x=21, y=22, z=23),
+            Point(25, 27, 29),
+        ),
+        (
+            PositionReference.WELL_CENTER,
+            Coordinate(x=31, y=32, z=33),
+            Point(38, 40, 42),
+        ),
+    ],
+)
+def test_absolute_point_from_position_reference_and_offset(
+    decoy: Decoy,
+    position_reference: PositionReference,
+    offset: Coordinate,
+    expected_result: Point,
+) -> None:
+    """It should return the correct absolute point based on well, position reference and offset."""
+    well = decoy.mock(cls=WellCore)
+
+    well_top_point = Point(1, 2, 3)
+    well_bottom_point = Point(4, 5, 6)
+    well_center_point = Point(7, 8, 9)
+    decoy.when(well.get_bottom(0)).then_return(well_bottom_point)
+    decoy.when(well.get_top(0)).then_return(well_top_point)
+    decoy.when(well.get_center()).then_return(well_center_point)
+
+    assert (
+        absolute_point_from_position_reference_and_offset(
+            well=well, position_reference=position_reference, offset=offset
+        )
+        == expected_result
+    )
+
+
+def test_absolute_point_from_position_reference_and_offset_raises_errors(
+    decoy: Decoy,
+) -> None:
+    """It should raise errors for invalid input."""
+    well = decoy.mock(cls=WellCore)
+    with pytest.raises(NotImplementedError):
+        absolute_point_from_position_reference_and_offset(
+            well=well,
+            position_reference=PositionReference.LIQUID_MENISCUS,
+            offset=Coordinate(x=0, y=0, z=0),
+        )
+
+    with pytest.raises(ValueError, match="Unknown position reference"):
+        absolute_point_from_position_reference_and_offset(
+            well=well,
+            position_reference="PositionReference",  # type: ignore[arg-type]
+            offset=Coordinate(x=0, y=0, z=0),
+        )
diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py
index 3f639aff922..c73a154c937 100644
--- a/api/tests/opentrons/protocol_api/test_instrument_context.py
+++ b/api/tests/opentrons/protocol_api/test_instrument_context.py
@@ -1950,7 +1950,7 @@ def test_transfer_liquid_delegates_to_engine_core(
     trash_location = Location(point=Point(1, 2, 3), labware=mock_well)
     next_tiprack = decoy.mock(cls=Labware)
     subject.starting_tip = None
-    subject.tip_racks = tip_racks
+    subject._tip_racks = tip_racks
 
     decoy.when(mock_protocol_core.robot_type).then_return(robot_type)
     decoy.when(
@@ -1964,43 +1964,28 @@ def test_transfer_liquid_delegates_to_engine_core(
     )
     decoy.when(mock_instrument_core.get_nozzle_map()).then_return(MOCK_MAP)
     decoy.when(mock_instrument_core.get_active_channels()).then_return(2)
-    decoy.when(
-        labware.next_available_tip(
-            starting_tip=None,
-            tip_racks=tip_racks,
-            channels=2,
-            nozzle_map=MOCK_MAP,
-        )
-    ).then_return((next_tiprack, decoy.mock(cls=Well)))
     decoy.when(mock_instrument_core.get_current_volume()).then_return(0)
     decoy.when(
-        mock_validation.ensure_valid_tip_drop_location_for_transfer_v2(trash_location)
+        mock_validation.ensure_valid_trash_location_for_transfer_v2(trash_location)
     ).then_return(trash_location.move(Point(1, 2, 3)))
     decoy.when(next_tiprack.uri).then_return("tiprack-uri")
     decoy.when(mock_instrument_core.get_pipette_name()).then_return("pipette-name")
-    decoy.when(
-        mock_instrument_core.load_liquid_class(
-            liquid_class=test_liq_class,
-            pipette_load_name="pipette-name",
-            tiprack_uri="tiprack-uri",
-        )
-    ).then_return("liq-class-id")
-
     subject.transfer_liquid(
         liquid_class=test_liq_class,
         volume=10,
         source=[mock_well],
         dest=[mock_well],
         new_tip="never",
-        tip_drop_location=trash_location,
+        trash_location=trash_location,
     )
     decoy.verify(
         mock_instrument_core.transfer_liquid(
-            liquid_class_id="liq-class-id",
+            liquid_class=test_liq_class,
             volume=10,
-            source=[mock_well._core],
-            dest=[mock_well._core],
+            source=[(Location(Point(), labware=mock_well), mock_well._core)],
+            dest=[(Location(Point(), labware=mock_well), mock_well._core)],
             new_tip=TransferTipPolicyV2.ONCE,
+            tip_racks=[(Location(Point(), labware=tip_racks[0]), tip_racks[0]._core)],
             trash_location=trash_location.move(Point(1, 2, 3)),
         )
     )
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 94e6dd49205..ee269f378d5 100644
--- a/api/tests/opentrons/protocol_api/test_liquid_class_properties.py
+++ b/api/tests/opentrons/protocol_api/test_liquid_class_properties.py
@@ -58,6 +58,62 @@ def test_build_aspirate_settings() -> None:
     assert aspirate_properties.as_shared_data_model() == aspirate_data
 
 
+def test_aspirate_settings_overrides() -> None:
+    """It should allow aspirate properties to be overridden with new values."""
+    fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
+    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)
+
+    aspirate_properties.submerge.position_reference = "well-bottom"  # type: ignore[assignment]
+    assert aspirate_properties.submerge.position_reference.value == "well-bottom"
+    aspirate_properties.submerge.offset = 5, 0, 0  # type: ignore[assignment]
+    assert aspirate_properties.submerge.offset == Coordinate(x=5, y=0, z=0)
+    aspirate_properties.submerge.speed = 123
+    assert aspirate_properties.submerge.speed == 123
+    aspirate_properties.submerge.delay.enabled = False
+    assert aspirate_properties.submerge.delay.enabled is False
+    aspirate_properties.submerge.delay.duration = 5.1
+    assert aspirate_properties.submerge.delay.duration == 5.1
+
+    aspirate_properties.retract.position_reference = "well-center"  # type: ignore[assignment]
+    assert aspirate_properties.retract.position_reference.value == "well-center"
+    aspirate_properties.retract.offset = 0, 50, 0  # type: ignore[assignment]
+    assert aspirate_properties.retract.offset == Coordinate(x=0, y=50, z=0)
+    aspirate_properties.retract.speed = 987
+    assert aspirate_properties.retract.speed == 987
+    aspirate_properties.retract.touch_tip.enabled = False
+    assert aspirate_properties.retract.touch_tip.enabled is False
+    aspirate_properties.retract.touch_tip.z_offset = 2.34
+    assert aspirate_properties.retract.touch_tip.z_offset == 2.34
+    aspirate_properties.retract.touch_tip.mm_to_edge = 4.56
+    assert aspirate_properties.retract.touch_tip.mm_to_edge == 4.56
+    aspirate_properties.retract.touch_tip.speed = 501
+    assert aspirate_properties.retract.touch_tip.speed == 501
+    aspirate_properties.retract.delay.enabled = False
+    assert aspirate_properties.retract.delay.enabled is False
+    aspirate_properties.retract.delay.duration = 0.5
+    assert aspirate_properties.retract.delay.duration == 0.5
+
+    aspirate_properties.position_reference = "liquid-meniscus"  # type: ignore[assignment]
+    assert aspirate_properties.position_reference.value == "liquid-meniscus"
+    aspirate_properties.offset = -1, -2, -3  # type: ignore[assignment]
+    assert aspirate_properties.offset == Coordinate(x=-1, y=-2, z=-3)
+    aspirate_properties.pre_wet = False
+    assert aspirate_properties.pre_wet is False
+    aspirate_properties.mix.enabled = False
+    assert aspirate_properties.mix.enabled is False
+    aspirate_properties.mix.repetitions = 33
+    assert aspirate_properties.mix.repetitions == 33
+    aspirate_properties.mix.volume = 51
+    assert aspirate_properties.mix.volume == 51
+    aspirate_properties.delay.enabled = False
+    assert aspirate_properties.delay.enabled is False
+    aspirate_properties.delay.duration = 2.3
+    assert aspirate_properties.delay.duration == 2.3
+
+
 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")
@@ -115,6 +171,67 @@ def test_build_single_dispense_settings() -> None:
     assert single_dispense_properties.as_shared_data_model() == single_dispense_data
 
 
+def test_single_dispense_settings_override() -> None:
+    """It should allow single dispense properties to be overridden with new values."""
+    fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
+    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)
+
+    single_dispense_properties.submerge.position_reference = "well-bottom"  # type: ignore[assignment]
+    assert single_dispense_properties.submerge.position_reference.value == "well-bottom"
+    single_dispense_properties.submerge.offset = 3, -2, 1  # type: ignore[assignment]
+    assert single_dispense_properties.submerge.offset == Coordinate(x=3, y=-2, z=1)
+    single_dispense_properties.submerge.speed = 111
+    assert single_dispense_properties.submerge.speed == 111
+    single_dispense_properties.submerge.delay.enabled = False
+    assert single_dispense_properties.submerge.delay.enabled is False
+    single_dispense_properties.submerge.delay.duration = 5.1
+    assert single_dispense_properties.submerge.delay.duration == 5.1
+
+    single_dispense_properties.retract.position_reference = "well-center"  # type: ignore[assignment]
+    assert single_dispense_properties.retract.position_reference.value == "well-center"
+    single_dispense_properties.retract.offset = -9, -8, -7  # type: ignore[assignment]
+    assert single_dispense_properties.retract.offset == Coordinate(x=-9, y=-8, z=-7)
+    single_dispense_properties.retract.speed = 222
+    assert single_dispense_properties.retract.speed == 222
+    single_dispense_properties.retract.touch_tip.enabled = False
+    assert single_dispense_properties.retract.touch_tip.enabled is False
+    single_dispense_properties.retract.touch_tip.z_offset = 2.34
+    assert single_dispense_properties.retract.touch_tip.z_offset == 2.34
+    single_dispense_properties.retract.touch_tip.mm_to_edge = 1.11
+    assert single_dispense_properties.retract.touch_tip.mm_to_edge == 1.11
+    single_dispense_properties.retract.touch_tip.speed = 543
+    assert single_dispense_properties.retract.touch_tip.speed == 543
+    single_dispense_properties.retract.blowout.enabled = False
+    assert single_dispense_properties.retract.blowout.enabled is False
+    single_dispense_properties.retract.blowout.location = "destination"  # type: ignore[assignment]
+    assert single_dispense_properties.retract.blowout.location
+    assert single_dispense_properties.retract.blowout.location.value == "destination"
+    single_dispense_properties.retract.blowout.flow_rate = 3.21
+    assert single_dispense_properties.retract.blowout.flow_rate == 3.21
+    single_dispense_properties.retract.delay.enabled = False
+    assert single_dispense_properties.retract.delay.enabled is False
+    single_dispense_properties.retract.delay.duration = 0.1
+    assert single_dispense_properties.retract.delay.duration == 0.1
+
+    single_dispense_properties.position_reference = "liquid-meniscus"  # type: ignore[assignment]
+    assert single_dispense_properties.position_reference.value == "liquid-meniscus"
+    single_dispense_properties.offset = 11, 22, -33  # type: ignore[assignment]
+    assert single_dispense_properties.offset == Coordinate(x=11, y=22, z=-33)
+    single_dispense_properties.mix.enabled = False
+    assert single_dispense_properties.mix.enabled is False
+    single_dispense_properties.mix.repetitions = 15
+    assert single_dispense_properties.mix.repetitions == 15
+    single_dispense_properties.mix.volume = 3
+    assert single_dispense_properties.mix.volume == 3
+    single_dispense_properties.delay.enabled = False
+    assert single_dispense_properties.delay.enabled is False
+    single_dispense_properties.delay.duration = 25.25
+    assert single_dispense_properties.delay.duration == 25.25
+
+
 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")
@@ -171,6 +288,62 @@ def test_build_multi_dispense_settings() -> None:
     assert multi_dispense_properties.as_shared_data_model() == multi_dispense_data
 
 
+def test_multi_dispense_settings_override() -> None:
+    """It should allow multi dispense properties to be overridden with new values."""
+    fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
+    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
+    multi_dispense_properties = build_multi_dispense_properties(multi_dispense_data)
+    assert multi_dispense_properties is not None
+
+    multi_dispense_properties.submerge.position_reference = "well-bottom"  # type: ignore[assignment]
+    assert multi_dispense_properties.submerge.position_reference.value == "well-bottom"
+    multi_dispense_properties.submerge.offset = 3, -2, 1  # type: ignore[assignment]
+    assert multi_dispense_properties.submerge.offset == Coordinate(x=3, y=-2, z=1)
+    multi_dispense_properties.submerge.speed = 111
+    assert multi_dispense_properties.submerge.speed == 111
+    multi_dispense_properties.submerge.delay.enabled = False
+    assert multi_dispense_properties.submerge.delay.enabled is False
+    multi_dispense_properties.submerge.delay.duration = 5.1
+    assert multi_dispense_properties.submerge.delay.duration == 5.1
+
+    multi_dispense_properties.retract.position_reference = "well-center"  # type: ignore[assignment]
+    assert multi_dispense_properties.retract.position_reference.value == "well-center"
+    multi_dispense_properties.retract.offset = -9, -8, -7  # type: ignore[assignment]
+    assert multi_dispense_properties.retract.offset == Coordinate(x=-9, y=-8, z=-7)
+    multi_dispense_properties.retract.speed = 222
+    assert multi_dispense_properties.retract.speed == 222
+    multi_dispense_properties.retract.touch_tip.enabled = False
+    assert multi_dispense_properties.retract.touch_tip.enabled is False
+    multi_dispense_properties.retract.touch_tip.z_offset = 2.34
+    assert multi_dispense_properties.retract.touch_tip.z_offset == 2.34
+    multi_dispense_properties.retract.touch_tip.mm_to_edge = 1.11
+    assert multi_dispense_properties.retract.touch_tip.mm_to_edge == 1.11
+    multi_dispense_properties.retract.touch_tip.speed = 543
+    assert multi_dispense_properties.retract.touch_tip.speed == 543
+    multi_dispense_properties.retract.blowout.enabled = False
+    assert multi_dispense_properties.retract.blowout.enabled is False
+    multi_dispense_properties.retract.blowout.location = "destination"  # type: ignore[assignment]
+    assert multi_dispense_properties.retract.blowout.location
+    assert multi_dispense_properties.retract.blowout.location.value == "destination"
+    multi_dispense_properties.retract.blowout.flow_rate = 3.21
+    assert multi_dispense_properties.retract.blowout.flow_rate == 3.21
+    multi_dispense_properties.retract.delay.enabled = False
+    assert multi_dispense_properties.retract.delay.enabled is False
+    multi_dispense_properties.retract.delay.duration = 0.1
+    assert multi_dispense_properties.retract.delay.duration == 0.1
+
+    multi_dispense_properties.position_reference = "liquid-meniscus"  # type: ignore[assignment]
+    assert multi_dispense_properties.position_reference.value == "liquid-meniscus"
+    multi_dispense_properties.offset = 11, 22, -33  # type: ignore[assignment]
+    assert multi_dispense_properties.offset == Coordinate(x=11, y=22, z=-33)
+    multi_dispense_properties.delay.enabled = False
+    assert multi_dispense_properties.delay.enabled is False
+    multi_dispense_properties.delay.duration = 25.25
+    assert multi_dispense_properties.delay.duration == 25.25
+
+
 def test_build_multi_dispense_settings_none(
     minimal_liquid_class_def2: LiquidClassSchemaV1,
 ) -> None:
@@ -204,3 +377,15 @@ def test_liquid_handling_property_by_volume() -> None:
     # Test bounds
     assert subject.get_for_volume(1) == 50.0
     assert subject.get_for_volume(1000) == 250.0
+
+
+def test_non_existent_property_raises_error() -> None:
+    """It should raise an attribute error if the set property does not exist."""
+    fixture_data = load_shared_data("liquid-class/fixtures/1/fixture_glycerol50.json")
+    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)
+
+    with pytest.raises(AttributeError):
+        aspirate_properties.mix.enable = True  # type: ignore[attr-defined]
diff --git a/api/tests/opentrons/protocol_api/test_protocol_context.py b/api/tests/opentrons/protocol_api/test_protocol_context.py
index e804ac9dd11..80728b7820c 100644
--- a/api/tests/opentrons/protocol_api/test_protocol_context.py
+++ b/api/tests/opentrons/protocol_api/test_protocol_context.py
@@ -742,6 +742,115 @@ def test_load_labware_on_adapter(
     decoy.verify(mock_core_map.add(mock_labware_core, result), times=1)
 
 
+@pytest.mark.parametrize("api_version", [APIVersion(2, 23)])
+def test_load_labware_with_lid(
+    decoy: Decoy,
+    mock_core: ProtocolCore,
+    mock_core_map: LoadedCoreMap,
+    api_version: APIVersion,
+    subject: ProtocolContext,
+) -> None:
+    """It should create a labware with a lid on it using its execution core."""
+    mock_labware_core = decoy.mock(cls=LabwareCore)
+    mock_lid_core = decoy.mock(cls=LabwareCore)
+
+    decoy.when(mock_validation.ensure_lowercase_name("UPPERCASE_LABWARE")).then_return(
+        "lowercase_labware"
+    )
+
+    decoy.when(mock_validation.ensure_lowercase_name("UPPERCASE_LID")).then_return(
+        "lowercase_lid"
+    )
+    decoy.when(mock_core.robot_type).then_return("OT-3 Standard")
+    decoy.when(
+        mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard")
+    ).then_return(DeckSlotName.SLOT_C1)
+
+    decoy.when(
+        mock_core.load_labware(
+            load_name="lowercase_labware",
+            location=DeckSlotName.SLOT_C1,
+            label="some_display_name",
+            namespace="some_namespace",
+            version=1337,
+        )
+    ).then_return(mock_labware_core)
+    decoy.when(mock_lid_core.get_well_columns()).then_return([])
+
+    decoy.when(
+        mock_core.load_lid(
+            load_name="lowercase_lid",
+            location=mock_labware_core,
+            namespace="some_namespace",
+            version=None,
+        )
+    ).then_return(mock_lid_core)
+
+    decoy.when(mock_labware_core.get_name()).then_return("Full Name")
+    decoy.when(mock_labware_core.get_display_name()).then_return("Display Name")
+    decoy.when(mock_labware_core.get_well_columns()).then_return([])
+
+    result = subject.load_labware(
+        load_name="UPPERCASE_LABWARE",
+        location=42,
+        label="some_display_name",
+        namespace="some_namespace",
+        version=1337,
+        lid="UPPERCASE_LID",
+    )
+
+    assert isinstance(result, Labware)
+    assert result.name == "Full Name"
+
+    decoy.verify(mock_core_map.add(mock_labware_core, result), times=1)
+
+
+@pytest.mark.parametrize("api_version", [APIVersion(2, 23)])
+def test_load_lid_stack(
+    decoy: Decoy,
+    mock_core: ProtocolCore,
+    mock_core_map: LoadedCoreMap,
+    api_version: APIVersion,
+    subject: ProtocolContext,
+) -> None:
+    """It should create a labware with a lid on it using its execution core."""
+    mock_lid_core = decoy.mock(cls=LabwareCore)
+
+    decoy.when(mock_validation.ensure_lowercase_name("UPPERCASE_LID")).then_return(
+        "lowercase_lid"
+    )
+
+    decoy.when(mock_core.robot_type).then_return("OT-3 Standard")
+    decoy.when(
+        mock_validation.ensure_and_convert_deck_slot(42, api_version, "OT-3 Standard")
+    ).then_return(DeckSlotName.SLOT_C1)
+
+    decoy.when(
+        mock_core.load_lid_stack(
+            load_name="lowercase_lid",
+            location=DeckSlotName.SLOT_C1,
+            quantity=5,
+            namespace="some_namespace",
+            version=1337,
+        )
+    ).then_return(mock_lid_core)
+
+    decoy.when(mock_lid_core.get_name()).then_return("STACK_OBJECT")
+    decoy.when(mock_lid_core.get_display_name()).then_return("")
+    decoy.when(mock_lid_core.get_well_columns()).then_return([])
+
+    result = subject.load_lid_stack(
+        load_name="UPPERCASE_LID",
+        location=42,
+        quantity=5,
+        namespace="some_namespace",
+        version=1337,
+    )
+
+    assert isinstance(result, Labware)
+    assert result.name == "STACK_OBJECT"
+
+
 def test_loaded_labware(
     decoy: Decoy,
     mock_core_map: LoadedCoreMap,
diff --git a/api/tests/opentrons/protocol_api/test_validation.py b/api/tests/opentrons/protocol_api/test_validation.py
index ce12d1a8f53..1fb29fec6cc 100644
--- a/api/tests/opentrons/protocol_api/test_validation.py
+++ b/api/tests/opentrons/protocol_api/test_validation.py
@@ -9,6 +9,7 @@
 
 from opentrons.protocols.advanced_control.transfers.common import TransferTipPolicyV2
 from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
     LabwareRole,
     Parameters as LabwareDefinitionParameters,
 )
@@ -33,7 +34,6 @@
     HeaterShakerModuleModel,
     ThermocyclerStep,
 )
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.api_support.util import APIVersionError
 from opentrons.protocol_api import (
@@ -834,43 +834,48 @@ def test_ensure_valid_flat_wells_list(decoy: Decoy) -> None:
     ) == [target1, target1, target2, target2]
 
 
-def test_ensure_valid_tip_drop_location_for_transfer_v2(
+def test_ensure_valid_trash_location_for_transfer_v2(
     decoy: Decoy,
 ) -> None:
-    """It should check that the tip drop location is valid."""
+    """It should check that the trash location is valid."""
     mock_well = decoy.mock(cls=Well)
     mock_location = Location(point=Point(x=1, y=1, z=1), labware=mock_well)
     mock_trash_bin = decoy.mock(cls=TrashBin)
     mock_waste_chute = decoy.mock(cls=WasteChute)
-    assert (
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(mock_well) == mock_well
+    decoy.when(mock_well.top()).then_return(Location(Point(1, 2, 3), labware=mock_well))
+    assert subject.ensure_valid_trash_location_for_transfer_v2(mock_well) == Location(
+        Point(1, 2, 3), labware=mock_well
     )
     assert (
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(mock_location)
+        subject.ensure_valid_trash_location_for_transfer_v2(mock_location)
         == mock_location
     )
     assert (
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(mock_trash_bin)
+        subject.ensure_valid_trash_location_for_transfer_v2(mock_trash_bin)
         == mock_trash_bin
     )
     assert (
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(mock_waste_chute)
+        subject.ensure_valid_trash_location_for_transfer_v2(mock_waste_chute)
         == mock_waste_chute
     )
 
 
-def test_ensure_valid_tip_drop_location_for_transfer_v2_raises(decoy: Decoy) -> None:
-    """It should raise an error for invalid tip drop locations."""
+def test_ensure_valid_trash_location_for_transfer_v2_raises(decoy: Decoy) -> None:
+    """It should raise an error for invalid trash locations."""
     with pytest.raises(TypeError, match="However, it is '\\['a'\\]'"):
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(["a"])  # type: ignore[arg-type]
+        subject.ensure_valid_trash_location_for_transfer_v2(
+            ["a"]  # type: ignore[arg-type]
+        )
 
     mock_labware = decoy.mock(cls=Labware)
     with pytest.raises(TypeError, match=f"However, it is '{mock_labware}'"):
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(mock_labware)  # type: ignore[arg-type]
+        subject.ensure_valid_trash_location_for_transfer_v2(
+            mock_labware  # type: ignore[arg-type]
+        )
 
     with pytest.raises(
         TypeError, match="However, the given location doesn't refer to any well."
     ):
-        subject.ensure_valid_tip_drop_location_for_transfer_v2(
+        subject.ensure_valid_trash_location_for_transfer_v2(
             Location(point=Point(x=1, y=1, z=1), labware=None)
         )
diff --git a/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py b/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py
index 20bbd2b646c..54112941c4c 100644
--- a/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py
+++ b/api/tests/opentrons/protocol_api_integration/test_liquid_classes.py
@@ -31,20 +31,17 @@ def test_liquid_class_creation_and_property_fetching(
     # TODO (spp, 2024-10-17): update this to fetch pipette load name from instrument context
     assert (
         water.get_for(
-            pipette_load_name, tiprack.load_name
+            pipette_load_name, tiprack.uri
         ).dispense.flow_rate_by_volume.get_for_volume(1)
         == 50
     )
-    assert (
-        water.get_for(pipette_load_name, tiprack.load_name).aspirate.submerge.speed
-        == 100
-    )
+    assert water.get_for(pipette_load_name, tiprack.uri).aspirate.submerge.speed == 100
 
     with pytest.raises(
         ValueError,
         match="No properties found for non-existent-pipette in water liquid class",
     ):
-        water.get_for("non-existent-pipette", tiprack.load_name)
+        water.get_for("non-existent-pipette", tiprack.uri)
 
     with pytest.raises(AttributeError):
         water.name = "foo"  # type: ignore
diff --git a/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py b/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py
new file mode 100644
index 00000000000..24a5efc0dab
--- /dev/null
+++ b/api/tests/opentrons/protocol_api_integration/test_transfer_with_liquid_classes.py
@@ -0,0 +1,363 @@
+"""Tests for the transfer APIs using liquid classes."""
+import pytest
+import mock
+from decoy import Decoy
+from opentrons_shared_data.robot.types import RobotTypeEnum
+
+from opentrons.protocol_api import ProtocolContext
+from opentrons.config import feature_flags as ff
+from opentrons.protocol_api.core.engine import InstrumentCore
+from opentrons.protocol_api.core.engine.transfer_components_executor import (
+    TransferType,
+    LiquidAndAirGapPair,
+)
+
+
+@pytest.mark.ot3_only
+@pytest.mark.parametrize(
+    "simulated_protocol_context", [("2.20", "Flex")], indirect=True
+)
+def test_water_transfer_with_volume_more_than_tip_max(
+    decoy: Decoy, mock_feature_flags: None, simulated_protocol_context: ProtocolContext
+) -> None:
+    """It should run the transfer steps without any errors.
+
+    This test only checks that various supported configurations for a transfer
+    analyze successfully. It doesn't check whether the steps are as expected.
+    That will be covered in analysis snapshot tests.
+    """
+    decoy.when(ff.allow_liquid_classes(RobotTypeEnum.FLEX)).then_return(True)
+    trash = simulated_protocol_context.load_trash_bin("A3")
+    tiprack = simulated_protocol_context.load_labware(
+        "opentrons_flex_96_tiprack_50ul", "D1"
+    )
+    pipette_50 = simulated_protocol_context.load_instrument(
+        "flex_1channel_50", mount="left", tip_racks=[tiprack]
+    )
+    nest_plate = simulated_protocol_context.load_labware(
+        "nest_96_wellplate_200ul_flat", "C3"
+    )
+    arma_plate = simulated_protocol_context.load_labware(
+        "armadillo_96_wellplate_200ul_pcr_full_skirt", "C2"
+    )
+
+    water = simulated_protocol_context.define_liquid_class("water")
+    with mock.patch.object(
+        InstrumentCore,
+        "pick_up_tip",
+        side_effect=InstrumentCore.pick_up_tip,
+        autospec=True,
+    ) as patched_pick_up_tip:
+        mock_manager = mock.Mock()
+        mock_manager.attach_mock(patched_pick_up_tip, "pick_up_tip")
+
+        pipette_50.transfer_liquid(
+            liquid_class=water,
+            volume=60,
+            source=nest_plate.rows()[0],
+            dest=arma_plate.rows()[0],
+            new_tip="always",
+            trash_location=trash,
+        )
+        assert patched_pick_up_tip.call_count == 24
+        patched_pick_up_tip.reset_mock()
+
+        pipette_50.transfer_liquid(
+            liquid_class=water,
+            volume=100,
+            source=nest_plate.rows()[0],
+            dest=arma_plate.rows()[0],
+            new_tip="per source",
+            trash_location=trash,
+        )
+        assert patched_pick_up_tip.call_count == 12
+        patched_pick_up_tip.reset_mock()
+
+        pipette_50.pick_up_tip()
+        pipette_50.transfer_liquid(
+            liquid_class=water,
+            volume=50,
+            source=nest_plate.rows()[0],
+            dest=arma_plate.rows()[0],
+            new_tip="never",
+            trash_location=trash,
+        )
+        pipette_50.drop_tip()
+        assert patched_pick_up_tip.call_count == 1
+
+
+@pytest.mark.ot3_only
+@pytest.mark.parametrize(
+    "simulated_protocol_context", [("2.20", "Flex")], indirect=True
+)
+def test_order_of_water_transfer_steps(
+    decoy: Decoy, mock_feature_flags: None, simulated_protocol_context: ProtocolContext
+) -> None:
+    """It should run the transfer steps without any errors.
+
+    This test only checks that various supported configurations for a transfer
+    analyze successfully. It doesn't check whether the steps are as expected.
+    That will be covered in analysis snapshot tests.
+    """
+    decoy.when(ff.allow_liquid_classes(RobotTypeEnum.FLEX)).then_return(True)
+    trash = simulated_protocol_context.load_trash_bin("A3")
+    tiprack = simulated_protocol_context.load_labware(
+        "opentrons_flex_96_tiprack_50ul", "D1"
+    )
+    pipette_50 = simulated_protocol_context.load_instrument(
+        "flex_1channel_50", mount="left", tip_racks=[tiprack]
+    )
+    nest_plate = simulated_protocol_context.load_labware(
+        "nest_96_wellplate_200ul_flat", "C3"
+    )
+    arma_plate = simulated_protocol_context.load_labware(
+        "armadillo_96_wellplate_200ul_pcr_full_skirt", "C2"
+    )
+
+    water = simulated_protocol_context.define_liquid_class("water")
+    with (
+        mock.patch.object(
+            InstrumentCore,
+            "load_liquid_class",
+            side_effect=InstrumentCore.load_liquid_class,
+            autospec=True,
+        ) as patched_load_liquid_class,
+        mock.patch.object(
+            InstrumentCore,
+            "pick_up_tip",
+            side_effect=InstrumentCore.pick_up_tip,
+            autospec=True,
+        ) as patched_pick_up_tip,
+        mock.patch.object(
+            InstrumentCore,
+            "aspirate_liquid_class",
+            side_effect=InstrumentCore.aspirate_liquid_class,
+            autospec=True,
+        ) as patched_aspirate,
+        mock.patch.object(
+            InstrumentCore,
+            "dispense_liquid_class",
+            side_effect=InstrumentCore.dispense_liquid_class,
+            autospec=True,
+        ) as patched_dispense,
+        mock.patch.object(
+            InstrumentCore,
+            "drop_tip_in_disposal_location",
+            side_effect=InstrumentCore.drop_tip_in_disposal_location,
+            autospec=True,
+        ) as patched_drop_tip,
+    ):
+        mock_manager = mock.Mock()
+        mock_manager.attach_mock(patched_pick_up_tip, "pick_up_tip")
+        mock_manager.attach_mock(patched_load_liquid_class, "load_liquid_class")
+        mock_manager.attach_mock(patched_aspirate, "aspirate_liquid_class")
+        mock_manager.attach_mock(patched_dispense, "dispense_liquid_class")
+        mock_manager.attach_mock(patched_drop_tip, "drop_tip_in_disposal_location")
+        pipette_50.transfer_liquid(
+            liquid_class=water,
+            volume=40,
+            source=nest_plate.rows()[0][:2],
+            dest=arma_plate.rows()[0][:2],
+            new_tip="always",
+            trash_location=trash,
+        )
+        expected_calls = [
+            mock.call.load_liquid_class(
+                mock.ANY,
+                name="water",
+                transfer_properties=mock.ANY,
+                tiprack_uri="opentrons/opentrons_flex_96_tiprack_50ul/1",
+            ),
+            mock.call.pick_up_tip(
+                mock.ANY,
+                location=mock.ANY,
+                well_core=mock.ANY,
+                presses=mock.ANY,
+                increment=mock.ANY,
+            ),
+            mock.call.aspirate_liquid_class(
+                mock.ANY,
+                volume=40,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)],
+            ),
+            mock.call.dispense_liquid_class(
+                mock.ANY,
+                volume=40,
+                dest=mock.ANY,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=40, air_gap=0.1)],
+                add_final_air_gap=True,
+                trash_location=mock.ANY,
+            ),
+            mock.call.drop_tip_in_disposal_location(
+                mock.ANY,
+                disposal_location=trash,
+                home_after=False,
+                alternate_tip_drop=True,
+            ),
+            mock.call.pick_up_tip(
+                mock.ANY,
+                location=mock.ANY,
+                well_core=mock.ANY,
+                presses=mock.ANY,
+                increment=mock.ANY,
+            ),
+            mock.call.aspirate_liquid_class(
+                mock.ANY,
+                volume=40,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)],
+            ),
+            mock.call.dispense_liquid_class(
+                mock.ANY,
+                volume=40,
+                dest=mock.ANY,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=40, air_gap=0.1)],
+                add_final_air_gap=True,
+                trash_location=mock.ANY,
+            ),
+            mock.call.drop_tip_in_disposal_location(
+                mock.ANY,
+                disposal_location=trash,
+                home_after=False,
+                alternate_tip_drop=True,
+            ),
+        ]
+        assert len(mock_manager.mock_calls) == 9
+        assert mock_manager.mock_calls == expected_calls
+
+
+@pytest.mark.ot3_only
+@pytest.mark.parametrize(
+    "simulated_protocol_context", [("2.20", "Flex")], indirect=True
+)
+def test_order_of_water_transfer_steps_with_no_new_tips(
+    decoy: Decoy, mock_feature_flags: None, simulated_protocol_context: ProtocolContext
+) -> None:
+    """It should run the transfer steps without any errors.
+
+    This test only checks that various supported configurations for a transfer
+    analyze successfully. It doesn't check whether the steps are as expected.
+    That will be covered in analysis snapshot tests.
+    """
+    decoy.when(ff.allow_liquid_classes(RobotTypeEnum.FLEX)).then_return(True)
+    trash = simulated_protocol_context.load_trash_bin("A3")
+    tiprack = simulated_protocol_context.load_labware(
+        "opentrons_flex_96_tiprack_50ul", "D1"
+    )
+    pipette_50 = simulated_protocol_context.load_instrument(
+        "flex_1channel_50", mount="left", tip_racks=[tiprack]
+    )
+    nest_plate = simulated_protocol_context.load_labware(
+        "nest_96_wellplate_200ul_flat", "C3"
+    )
+    arma_plate = simulated_protocol_context.load_labware(
+        "armadillo_96_wellplate_200ul_pcr_full_skirt", "C2"
+    )
+
+    water = simulated_protocol_context.define_liquid_class("water")
+    pipette_50.pick_up_tip()
+    with (
+        mock.patch.object(
+            InstrumentCore,
+            "load_liquid_class",
+            side_effect=InstrumentCore.load_liquid_class,
+            autospec=True,
+        ) as patched_load_liquid_class,
+        mock.patch.object(
+            InstrumentCore,
+            "pick_up_tip",
+            side_effect=InstrumentCore.pick_up_tip,
+            autospec=True,
+        ) as patched_pick_up_tip,
+        mock.patch.object(
+            InstrumentCore,
+            "aspirate_liquid_class",
+            side_effect=InstrumentCore.aspirate_liquid_class,
+            autospec=True,
+        ) as patched_aspirate,
+        mock.patch.object(
+            InstrumentCore,
+            "dispense_liquid_class",
+            side_effect=InstrumentCore.dispense_liquid_class,
+            autospec=True,
+        ) as patched_dispense,
+        mock.patch.object(
+            InstrumentCore,
+            "drop_tip_in_disposal_location",
+            side_effect=InstrumentCore.drop_tip_in_disposal_location,
+            autospec=True,
+        ) as patched_drop_tip,
+    ):
+        mock_manager = mock.Mock()
+        mock_manager.attach_mock(patched_pick_up_tip, "pick_up_tip")
+        mock_manager.attach_mock(patched_load_liquid_class, "load_liquid_class")
+        mock_manager.attach_mock(patched_aspirate, "aspirate_liquid_class")
+        mock_manager.attach_mock(patched_dispense, "dispense_liquid_class")
+        mock_manager.attach_mock(patched_drop_tip, "drop_tip_in_disposal_location")
+        pipette_50.transfer_liquid(
+            liquid_class=water,
+            volume=40,
+            source=nest_plate.rows()[0][:2],
+            dest=arma_plate.rows()[0][:2],
+            new_tip="never",
+            trash_location=trash,
+        )
+        expected_calls = [
+            mock.call.load_liquid_class(
+                mock.ANY,
+                name="water",
+                transfer_properties=mock.ANY,
+                tiprack_uri="opentrons/opentrons_flex_96_tiprack_50ul/1",
+            ),
+            mock.call.aspirate_liquid_class(
+                mock.ANY,
+                volume=40,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0)],
+            ),
+            mock.call.dispense_liquid_class(
+                mock.ANY,
+                volume=40,
+                dest=mock.ANY,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=40, air_gap=0.1)],
+                add_final_air_gap=True,
+                trash_location=mock.ANY,
+            ),
+            mock.call.aspirate_liquid_class(
+                mock.ANY,
+                volume=40,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=0, air_gap=0.1)],
+            ),
+            mock.call.dispense_liquid_class(
+                mock.ANY,
+                volume=40,
+                dest=mock.ANY,
+                source=mock.ANY,
+                transfer_properties=mock.ANY,
+                transfer_type=TransferType.ONE_TO_ONE,
+                tip_contents=[LiquidAndAirGapPair(liquid=40, air_gap=0.1)],
+                add_final_air_gap=False,
+                trash_location=mock.ANY,
+            ),
+        ]
+        assert len(mock_manager.mock_calls) == len(expected_calls)
+        assert mock_manager.mock_calls[2] == expected_calls[2]
diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/__init__.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/__init__.py
new file mode 100644
index 00000000000..ebb91ede166
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/__init__.py
@@ -0,0 +1 @@
+"""Tests for absorbance reader commands."""
diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_close_lid.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_close_lid.py
new file mode 100644
index 00000000000..c40a825d9c6
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_close_lid.py
@@ -0,0 +1,221 @@
+"""Test absorbance reader initilize command."""
+import pytest
+from decoy import Decoy
+
+from opentrons.drivers.types import (
+    AbsorbanceReaderLidStatus,
+)
+from opentrons.hardware_control.modules import AbsorbanceReader
+from opentrons.protocol_engine import ModuleModel, DeckSlotLocation
+from opentrons.protocol_engine.errors import CannotPerformModuleAction
+
+from opentrons.protocol_engine.execution import EquipmentHandler, LabwareMovementHandler
+from opentrons.protocol_engine.state import update_types
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    AbsorbanceReaderSubState,
+    AbsorbanceReaderId,
+)
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.absorbance_reader import (
+    CloseLidResult,
+    CloseLidParams,
+)
+from opentrons.protocol_engine.commands.absorbance_reader.close_lid import (
+    CloseLidImpl,
+)
+from opentrons.protocol_engine.types import (
+    LabwareMovementOffsetData,
+    LabwareOffsetVector,
+)
+from opentrons.types import DeckSlotName
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    Parameters,
+)
+
+
+@pytest.fixture
+def absorbance_def() -> LabwareDefinition:
+    """Get a tip rack Pydantic model definition value object."""
+    return LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        namespace="test",
+        version=1,
+        parameters=Parameters.model_construct(  # type: ignore[call-arg]
+            loadName="cool-labware",
+            tipOverlap=None,  # add a None value to validate serialization to dictionary
+        ),
+    )
+
+
+@pytest.fixture
+def subject(
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    labware_movement: LabwareMovementHandler,
+) -> CloseLidImpl:
+    """Subject fixture."""
+    return CloseLidImpl(
+        state_view=state_view, equipment=equipment, labware_movement=labware_movement
+    )
+
+
+@pytest.mark.parametrize(
+    "hardware_lid_status",
+    (AbsorbanceReaderLidStatus.ON, AbsorbanceReaderLidStatus.OFF),
+)
+async def test_absorbance_reader_close_lid_implementation(
+    decoy: Decoy,
+    subject: CloseLidImpl,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    hardware_lid_status: AbsorbanceReaderLidStatus,
+    absorbance_def: LabwareDefinition,
+) -> None:
+    """It should validate, find hardware module if not virtualized, and close lid."""
+    params = CloseLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(await absorbance_module_hw.get_current_lid_status()).then_return(
+        hardware_lid_status
+    )
+    decoy.when(state_view.modules.get_requested_model(params.moduleId)).then_return(
+        ModuleModel.ABSORBANCE_READER_V1
+    )
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return()
+
+    decoy.when(state_view.modules.get_location(params.moduleId)).then_return(
+        DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
+    )
+    decoy.when(
+        state_view.modules.ensure_and_convert_module_fixture_location(
+            DeckSlotName.SLOT_D3, ModuleModel.ABSORBANCE_READER_V1
+        )
+    ).then_return("absorbanceReaderV1D3")
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return(
+        absorbance_def
+    )
+    decoy.when(
+        state_view.labware.get_child_gripper_offsets(
+            labware_definition=absorbance_def,
+            slot_name=None,
+        )
+    ).then_return(
+        LabwareMovementOffsetData(
+            pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
+            dropOffset=LabwareOffsetVector(x=0, y=0, z=0),
+        )
+    )
+
+    result = await subject.execute(params=params)
+
+    assert result == SuccessData(
+        public=CloseLidResult(),
+        state_update=update_types.StateUpdate(
+            absorbance_reader_state_update=update_types.AbsorbanceReaderStateUpdate(
+                module_id="module-id",
+                absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
+                    is_lid_on=True
+                ),
+            ),
+        ),
+    )
+
+
+async def test_close_lid_raises_no_module(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: CloseLidImpl,
+) -> None:
+    """Should raise an error that the hardware module not found."""
+    params = CloseLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+    decoy.when(state_view.config.use_virtual_modules).then_return(False)
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(None)
+    with pytest.raises(CannotPerformModuleAction):
+        await subject.execute(params=params)
+
+
+async def test_close_lid_raises_no_gripper_offset(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: CloseLidImpl,
+    absorbance_def: LabwareDefinition,
+) -> None:
+    """Should raise an error that gripper offset not found."""
+    params = CloseLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(await absorbance_module_hw.get_current_lid_status()).then_return(
+        AbsorbanceReaderLidStatus.OFF
+    )
+    decoy.when(state_view.modules.get_requested_model(params.moduleId)).then_return(
+        ModuleModel.ABSORBANCE_READER_V1
+    )
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return()
+
+    decoy.when(state_view.modules.get_location(params.moduleId)).then_return(
+        DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
+    )
+    decoy.when(
+        state_view.modules.ensure_and_convert_module_fixture_location(
+            DeckSlotName.SLOT_D3, ModuleModel.ABSORBANCE_READER_V1
+        )
+    ).then_return("absorbanceReaderV1D3")
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return(
+        absorbance_def
+    )
+    decoy.when(
+        state_view.labware.get_child_gripper_offsets(
+            labware_definition=absorbance_def,
+            slot_name=None,
+        )
+    ).then_return(None)
+    with pytest.raises(ValueError):
+        await subject.execute(params=params)
diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_initialize.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_initialize.py
new file mode 100644
index 00000000000..efdd8908583
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_initialize.py
@@ -0,0 +1,238 @@
+"""Test absorbance reader initilize command."""
+import pytest
+from decoy import Decoy
+from typing import List
+
+from opentrons.drivers.types import ABSMeasurementMode
+from opentrons.hardware_control.modules import AbsorbanceReader
+from opentrons.protocol_engine.errors import InvalidWavelengthError
+
+from opentrons.protocol_engine.execution import EquipmentHandler
+from opentrons.protocol_engine.state import update_types
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    AbsorbanceReaderSubState,
+    AbsorbanceReaderId,
+)
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.absorbance_reader import (
+    InitializeParams,
+    InitializeResult,
+)
+from opentrons.protocol_engine.commands.absorbance_reader.initialize import (
+    InitializeImpl,
+)
+
+
+@pytest.fixture
+def subject(
+    state_view: StateView,
+    equipment: EquipmentHandler,
+) -> InitializeImpl:
+    """Subject command implementation to test."""
+    return InitializeImpl(state_view=state_view, equipment=equipment)
+
+
+@pytest.mark.parametrize(
+    "input_sample_wave_length, input_measure_mode", [([1, 2], "multi"), ([1], "single")]
+)
+async def test_absorbance_reader_implementation(
+    decoy: Decoy,
+    input_sample_wave_length: List[int],
+    input_measure_mode: str,
+    subject: InitializeImpl,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+) -> None:
+    """It should validate, find hardware module if not virtualized, and disengage."""
+    params = InitializeParams(
+        moduleId="unverified-module-id",
+        measureMode=input_measure_mode,  # type: ignore[arg-type]
+        sampleWavelengths=input_sample_wave_length,
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when((absorbance_module_hw.supported_wavelengths)).then_return([1, 2])
+
+    result = await subject.execute(params=params)
+
+    decoy.verify(
+        await absorbance_module_hw.set_sample_wavelength(
+            ABSMeasurementMode(params.measureMode),
+            params.sampleWavelengths,
+            reference_wavelength=params.referenceWavelength,
+        ),
+        times=1,
+    )
+    assert result == SuccessData(
+        public=InitializeResult(),
+        state_update=update_types.StateUpdate(
+            absorbance_reader_state_update=update_types.AbsorbanceReaderStateUpdate(
+                module_id="module-id",
+                initialize_absorbance_reader_update=update_types.AbsorbanceReaderInitializeUpdate(
+                    measure_mode=input_measure_mode,  # type: ignore[arg-type]
+                    sample_wave_lengths=input_sample_wave_length,
+                    reference_wave_length=None,
+                ),
+            )
+        ),
+    )
+
+
+@pytest.mark.parametrize(
+    "input_sample_wave_length, input_measure_mode",
+    [([1, 2, 3], "multi"), ([3], "single")],
+)
+async def test_initialize_raises_invalid_wave_length(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: InitializeImpl,
+    input_sample_wave_length: List[int],
+    input_measure_mode: str,
+) -> None:
+    """Should raise an InvalidWavelengthError error."""
+    params = InitializeParams(
+        moduleId="unverified-module-id",
+        measureMode=input_measure_mode,  # type: ignore[arg-type]
+        sampleWavelengths=input_sample_wave_length,
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when((absorbance_module_hw.supported_wavelengths)).then_return([1, 2])
+
+    with pytest.raises(InvalidWavelengthError):
+        await subject.execute(params=params)
+
+
+@pytest.mark.parametrize(
+    "input_sample_wave_length, input_measure_mode",
+    [([], "multi"), ([], "single")],
+)
+async def test_initialize_raises_measure_mode_not_matching(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: InitializeImpl,
+    input_sample_wave_length: List[int],
+    input_measure_mode: str,
+) -> None:
+    """Should raise an error that the measure mode does not match sample wave."""
+    params = InitializeParams(
+        moduleId="unverified-module-id",
+        measureMode=input_measure_mode,  # type: ignore[arg-type]
+        sampleWavelengths=input_sample_wave_length,
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when((absorbance_module_hw.supported_wavelengths)).then_return([1, 2])
+
+    with pytest.raises(ValueError):
+        await subject.execute(params=params)
+
+
+async def test_initialize_single_raises_reference_wave_length_not_matching(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: InitializeImpl,
+) -> None:
+    """Should raise an error that the measure mode does not match sample wave."""
+    params = InitializeParams(
+        moduleId="unverified-module-id",
+        measureMode="single",
+        sampleWavelengths=[1],
+        referenceWavelength=3,
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when((absorbance_module_hw.supported_wavelengths)).then_return([1, 2])
+
+    with pytest.raises(InvalidWavelengthError):
+        await subject.execute(params=params)
+
+
+async def test_initialize_multi_raises_no_reference_wave_length(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: InitializeImpl,
+) -> None:
+    """Should raise an error that the measure mode does not match sample wave."""
+    params = InitializeParams(
+        moduleId="unverified-module-id",
+        measureMode="multi",
+        sampleWavelengths=[1, 2],
+        referenceWavelength=3,
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when((absorbance_module_hw.supported_wavelengths)).then_return([1, 2])
+
+    with pytest.raises(ValueError):
+        await subject.execute(params=params)
diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_open_lid.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_open_lid.py
new file mode 100644
index 00000000000..bc555a9bb18
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_open_lid.py
@@ -0,0 +1,222 @@
+"""Test absorbance reader initilize command."""
+import pytest
+from decoy import Decoy
+
+from opentrons.drivers.types import (
+    AbsorbanceReaderLidStatus,
+)
+from opentrons.hardware_control.modules import AbsorbanceReader
+from opentrons.protocol_engine import ModuleModel, DeckSlotLocation
+from opentrons.protocol_engine.errors import CannotPerformModuleAction
+
+from opentrons.protocol_engine.execution import EquipmentHandler, LabwareMovementHandler
+from opentrons.protocol_engine.state import update_types
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    AbsorbanceReaderSubState,
+    AbsorbanceReaderId,
+)
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.absorbance_reader import (
+    OpenLidResult,
+    OpenLidParams,
+)
+from opentrons.protocol_engine.commands.absorbance_reader.open_lid import (
+    OpenLidImpl,
+)
+from opentrons.protocol_engine.types import (
+    LabwareMovementOffsetData,
+    LabwareOffsetVector,
+)
+from opentrons.types import DeckSlotName
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    Parameters,
+)
+
+
+@pytest.fixture
+def absorbance_def() -> LabwareDefinition:
+    """Get a tip rack Pydantic model definition value object."""
+    return LabwareDefinition.model_construct(  # type: ignore[call-arg]
+        namespace="test",
+        version=1,
+        parameters=Parameters.model_construct(  # type: ignore[call-arg]
+            loadName="cool-labware",
+            tipOverlap=None,  # add a None value to validate serialization to dictionary
+        ),
+    )
+
+
+@pytest.fixture
+def subject(
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    labware_movement: LabwareMovementHandler,
+) -> OpenLidImpl:
+    """Command implementation subject for testing."""
+    return OpenLidImpl(
+        state_view=state_view, equipment=equipment, labware_movement=labware_movement
+    )
+
+
+@pytest.mark.parametrize(
+    "hardware_lid_status",
+    (AbsorbanceReaderLidStatus.ON, AbsorbanceReaderLidStatus.OFF),
+)
+async def test_absorbance_reader_implementation(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    labware_movement: LabwareMovementHandler,
+    hardware_lid_status: AbsorbanceReaderLidStatus,
+    absorbance_def: LabwareDefinition,
+    subject: OpenLidImpl,
+) -> None:
+    """It should validate, find hardware module if not virtualized, and disengage."""
+    params = OpenLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(await absorbance_module_hw.get_current_lid_status()).then_return(
+        hardware_lid_status
+    )
+    decoy.when(state_view.modules.get_requested_model(params.moduleId)).then_return(
+        ModuleModel.ABSORBANCE_READER_V1
+    )
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return()
+
+    decoy.when(state_view.modules.get_location(params.moduleId)).then_return(
+        DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
+    )
+    decoy.when(
+        state_view.modules.ensure_and_convert_module_fixture_location(
+            DeckSlotName.SLOT_D3, ModuleModel.ABSORBANCE_READER_V1
+        )
+    ).then_return("absorbanceReaderV1D3")
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return(
+        absorbance_def
+    )
+    decoy.when(
+        state_view.labware.get_child_gripper_offsets(
+            labware_definition=absorbance_def,
+            slot_name=None,
+        )
+    ).then_return(
+        LabwareMovementOffsetData(
+            pickUpOffset=LabwareOffsetVector(x=0, y=0, z=0),
+            dropOffset=LabwareOffsetVector(x=0, y=0, z=0),
+        )
+    )
+
+    result = await subject.execute(params=params)
+
+    assert result == SuccessData(
+        public=OpenLidResult(),
+        state_update=update_types.StateUpdate(
+            absorbance_reader_state_update=update_types.AbsorbanceReaderStateUpdate(
+                module_id="module-id",
+                absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
+                    is_lid_on=False
+                ),
+            ),
+        ),
+    )
+
+
+async def test_open_lid_raises_no_module(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: OpenLidImpl,
+) -> None:
+    """Should raise an error that the hardware module not found."""
+    params = OpenLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+    decoy.when(state_view.config.use_virtual_modules).then_return(False)
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(None)
+    with pytest.raises(CannotPerformModuleAction):
+        await subject.execute(params=params)
+
+
+async def test_open_lid_raises_no_gripper_offset(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    subject: OpenLidImpl,
+    absorbance_def: LabwareDefinition,
+) -> None:
+    """Should raise an error that gripper offset not found."""
+    params = OpenLidParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(await absorbance_module_hw.get_current_lid_status()).then_return(
+        AbsorbanceReaderLidStatus.OFF
+    )
+    decoy.when(state_view.modules.get_requested_model(params.moduleId)).then_return(
+        ModuleModel.ABSORBANCE_READER_V1
+    )
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return()
+
+    decoy.when(state_view.modules.get_location(params.moduleId)).then_return(
+        DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
+    )
+    decoy.when(
+        state_view.modules.ensure_and_convert_module_fixture_location(
+            DeckSlotName.SLOT_D3, ModuleModel.ABSORBANCE_READER_V1
+        )
+    ).then_return("absorbanceReaderV1D3")
+
+    decoy.when(state_view.labware.get_absorbance_reader_lid_definition()).then_return(
+        absorbance_def
+    )
+    decoy.when(
+        state_view.labware.get_child_gripper_offsets(
+            labware_definition=absorbance_def,
+            slot_name=None,
+        )
+    ).then_return(None)
+    with pytest.raises(ValueError):
+        await subject.execute(params=params)
diff --git a/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py
new file mode 100644
index 00000000000..6ba7619f219
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/absorbance_reader/test_read.py
@@ -0,0 +1,176 @@
+"""Test absorbance reader initilize command."""
+import pytest
+from decoy import Decoy
+
+from opentrons.drivers.types import ABSMeasurementMode, ABSMeasurementConfig
+from opentrons.hardware_control.modules import AbsorbanceReader
+from opentrons.protocol_engine.errors import (
+    CannotPerformModuleAction,
+    StorageLimitReachedError,
+)
+
+from opentrons.protocol_engine.execution import EquipmentHandler
+from opentrons.protocol_engine.resources import FileProvider
+from opentrons.protocol_engine.state import update_types
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    AbsorbanceReaderSubState,
+    AbsorbanceReaderId,
+)
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.absorbance_reader import (
+    ReadAbsorbanceResult,
+    ReadAbsorbanceParams,
+)
+from opentrons.protocol_engine.commands.absorbance_reader.read import (
+    ReadAbsorbanceImpl,
+)
+
+
+async def test_absorbance_reader_implementation(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    file_provider: FileProvider,
+) -> None:
+    """It should validate, find hardware module if not virtualized, and disengage."""
+    subject = ReadAbsorbanceImpl(
+        state_view=state_view, equipment=equipment, file_provider=file_provider
+    )
+
+    params = ReadAbsorbanceParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+    verified_module_id = AbsorbanceReaderId("module-id")
+    asbsorbance_result = {1: {"A1": 1.2}}
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(await absorbance_module_hw.start_measure()).then_return([[1.2, 1.3]])
+    decoy.when(absorbance_module_hw._measurement_config).then_return(
+        ABSMeasurementConfig(
+            measure_mode=ABSMeasurementMode.SINGLE,
+            sample_wavelengths=[1, 2],
+            reference_wavelength=None,
+        )
+    )
+    decoy.when(
+        state_view.modules.convert_absorbance_reader_data_points([1.2, 1.3])
+    ).then_return({"A1": 1.2})
+
+    result = await subject.execute(params=params)
+
+    assert result == SuccessData(
+        public=ReadAbsorbanceResult(
+            data=asbsorbance_result,
+            fileIds=[],
+        ),
+        state_update=update_types.StateUpdate(
+            files_added=update_types.FilesAddedUpdate(file_ids=[]),
+            absorbance_reader_state_update=update_types.AbsorbanceReaderStateUpdate(
+                module_id="module-id",
+                absorbance_reader_data=update_types.AbsorbanceReaderDataUpdate(
+                    read_result=asbsorbance_result
+                ),
+            ),
+        ),
+    )
+
+
+async def test_read_raises_cannot_preform_action(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    file_provider: FileProvider,
+) -> None:
+    """It should raise CannotPerformModuleAction when not configured/lid is not on."""
+    subject = ReadAbsorbanceImpl(
+        state_view=state_view, equipment=equipment, file_provider=file_provider
+    )
+
+    params = ReadAbsorbanceParams(
+        moduleId="unverified-module-id",
+    )
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+
+    decoy.when(mabsorbance_module_substate.configured).then_return(False)
+
+    with pytest.raises(CannotPerformModuleAction):
+        await subject.execute(params=params)
+
+    decoy.when(mabsorbance_module_substate.configured).then_return(True)
+
+    decoy.when(mabsorbance_module_substate.is_lid_on).then_return(False)
+
+    with pytest.raises(CannotPerformModuleAction):
+        await subject.execute(params=params)
+
+
+async def test_read_raises_storage_limit(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+    file_provider: FileProvider,
+) -> None:
+    """It should raise StorageLimitReachedError when not configured/lid is not on."""
+    subject = ReadAbsorbanceImpl(
+        state_view=state_view, equipment=equipment, file_provider=file_provider
+    )
+
+    params = ReadAbsorbanceParams(moduleId="unverified-module-id", fileName="test")
+
+    mabsorbance_module_substate = decoy.mock(cls=AbsorbanceReaderSubState)
+    absorbance_module_hw = decoy.mock(cls=AbsorbanceReader)
+
+    verified_module_id = AbsorbanceReaderId("module-id")
+
+    decoy.when(
+        state_view.modules.get_absorbance_reader_substate("unverified-module-id")
+    ).then_return(mabsorbance_module_substate)
+
+    decoy.when(mabsorbance_module_substate.module_id).then_return(verified_module_id)
+
+    decoy.when(equipment.get_module_hardware_api(verified_module_id)).then_return(
+        absorbance_module_hw
+    )
+    decoy.when(await absorbance_module_hw.start_measure()).then_return([[1.2, 1.3]])
+
+    decoy.when(absorbance_module_hw._measurement_config).then_return(
+        ABSMeasurementConfig(
+            measure_mode=ABSMeasurementMode.SINGLE,
+            sample_wavelengths=[1, 2],
+            reference_wavelength=None,
+        )
+    )
+    decoy.when(mabsorbance_module_substate.configured_wavelengths).then_return(
+        [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+    )
+
+    decoy.when(state_view.files.get_filecount()).then_return(390)
+    with pytest.raises(StorageLimitReachedError):
+        await subject.execute(params=params)
diff --git a/api/tests/opentrons/protocol_engine/commands/conftest.py b/api/tests/opentrons/protocol_engine/commands/conftest.py
index 1d27dea0536..cf2d36b092e 100644
--- a/api/tests/opentrons/protocol_engine/commands/conftest.py
+++ b/api/tests/opentrons/protocol_engine/commands/conftest.py
@@ -15,6 +15,7 @@
     TipHandler,
     GantryMover,
 )
+from opentrons.protocol_engine.resources import FileProvider
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
 from opentrons.protocol_engine.state.state import StateView
 
@@ -83,3 +84,9 @@ def status_bar(decoy: Decoy) -> StatusBarHandler:
 def gantry_mover(decoy: Decoy) -> GantryMover:
     """Get a mocked out GantryMover."""
     return decoy.mock(cls=GantryMover)
+
+
+@pytest.fixture
+def file_provider(decoy: Decoy) -> FileProvider:
+    """Get a mocked out StateView."""
+    return decoy.mock(cls=FileProvider)
diff --git a/api/tests/opentrons/protocol_engine/commands/flex_stacker/__init__.py b/api/tests/opentrons/protocol_engine/commands/flex_stacker/__init__.py
new file mode 100644
index 00000000000..231be5fd291
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/flex_stacker/__init__.py
@@ -0,0 +1 @@
+"""Tests for flex stacker commands."""
diff --git a/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_retrieve.py b/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_retrieve.py
new file mode 100644
index 00000000000..2a2eda85375
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_retrieve.py
@@ -0,0 +1,45 @@
+"""Test Flex Stacker retrieve command implementation."""
+from decoy import Decoy
+
+from opentrons.hardware_control.modules import FlexStacker
+
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    FlexStackerSubState,
+    FlexStackerId,
+)
+from opentrons.protocol_engine.execution import EquipmentHandler
+from opentrons.protocol_engine.commands import flex_stacker
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.flex_stacker.retrieve import RetrieveImpl
+
+
+async def test_retrieve(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+) -> None:
+    """It should be able to retrieve a labware."""
+    subject = RetrieveImpl(state_view=state_view, equipment=equipment)
+    data = flex_stacker.RetrieveParams(moduleId="flex-stacker-id")
+
+    fs_module_substate = decoy.mock(cls=FlexStackerSubState)
+    fs_hardware = decoy.mock(cls=FlexStacker)
+
+    decoy.when(
+        state_view.modules.get_flex_stacker_substate(module_id="flex-stacker-id")
+    ).then_return(fs_module_substate)
+
+    decoy.when(fs_module_substate.module_id).then_return(
+        FlexStackerId("flex-stacker-id")
+    )
+
+    decoy.when(
+        equipment.get_module_hardware_api(FlexStackerId("flex-stacker-id"))
+    ).then_return(fs_hardware)
+
+    result = await subject.execute(data)
+    decoy.verify(await fs_hardware.dispense_labware(labware_height=50.0), times=1)
+    assert result == SuccessData(
+        public=flex_stacker.RetrieveResult(),
+    )
diff --git a/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_store.py b/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_store.py
new file mode 100644
index 00000000000..e12bde858c2
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/commands/flex_stacker/test_store.py
@@ -0,0 +1,45 @@
+"""Test Flex Stacker store command implementation."""
+from decoy import Decoy
+
+from opentrons.hardware_control.modules import FlexStacker
+
+from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.module_substates import (
+    FlexStackerSubState,
+    FlexStackerId,
+)
+from opentrons.protocol_engine.execution import EquipmentHandler
+from opentrons.protocol_engine.commands import flex_stacker
+from opentrons.protocol_engine.commands.command import SuccessData
+from opentrons.protocol_engine.commands.flex_stacker.store import StoreImpl
+
+
+async def test_store(
+    decoy: Decoy,
+    state_view: StateView,
+    equipment: EquipmentHandler,
+) -> None:
+    """It should be able to store a labware."""
+    subject = StoreImpl(state_view=state_view, equipment=equipment)
+    data = flex_stacker.StoreParams(moduleId="flex-stacker-id")
+
+    fs_module_substate = decoy.mock(cls=FlexStackerSubState)
+    fs_hardware = decoy.mock(cls=FlexStacker)
+
+    decoy.when(
+        state_view.modules.get_flex_stacker_substate(module_id="flex-stacker-id")
+    ).then_return(fs_module_substate)
+
+    decoy.when(fs_module_substate.module_id).then_return(
+        FlexStackerId("flex-stacker-id")
+    )
+
+    decoy.when(
+        equipment.get_module_hardware_api(FlexStackerId("flex-stacker-id"))
+    ).then_return(fs_hardware)
+
+    result = await subject.execute(data)
+    decoy.verify(await fs_hardware.store_labware(labware_height=50.0), times=1)
+    assert result == SuccessData(
+        public=flex_stacker.StoreResult(),
+    )
diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_labware.py b/api/tests/opentrons/protocol_engine/commands/test_load_labware.py
index 8229d7f4265..c8cdcbec147 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_load_labware.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_load_labware.py
@@ -6,8 +6,9 @@
 import pytest
 from decoy import Decoy
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
 from opentrons.types import DeckSlotName
-from opentrons.protocols.models import LabwareDefinition
 
 from opentrons.protocol_engine.errors import (
     LabwareIsNotAllowedInLocationError,
diff --git a/api/tests/opentrons/protocol_engine/commands/test_load_module.py b/api/tests/opentrons/protocol_engine/commands/test_load_module.py
index 65ee30e7a88..ae121e9adab 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_load_module.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_load_module.py
@@ -13,7 +13,6 @@
 from opentrons.protocol_engine.types import (
     DeckSlotLocation,
     ModuleModel,
-    ModuleDefinition,
 )
 from opentrons.protocol_engine.execution import EquipmentHandler, LoadedModuleData
 from opentrons.protocol_engine import ModuleModel as EngineModuleModel
@@ -43,107 +42,71 @@
 )
 
 
+@pytest.mark.parametrize(
+    "module_model,module_def_fixture_name,load_slot_name",
+    [
+        (ModuleModel.TEMPERATURE_MODULE_V2, "tempdeck_v2_def", DeckSlotName.SLOT_D1),
+        (ModuleModel.MAGNETIC_BLOCK_V1, "mag_block_v1_def", DeckSlotName.SLOT_D1),
+        (
+            ModuleModel.THERMOCYCLER_MODULE_V2,
+            "thermocycler_v2_def",
+            # only B1 provides addressable area for thermocycler v2
+            # so we use it here with decoy
+            DeckSlotName.SLOT_B1,
+        ),
+        (
+            ModuleModel.HEATER_SHAKER_MODULE_V1,
+            "heater_shaker_v1_def",
+            DeckSlotName.SLOT_D3,
+        ),
+        (ModuleModel.ABSORBANCE_READER_V1, "abs_reader_v1_def", DeckSlotName.SLOT_D3),
+        (
+            ModuleModel.FLEX_STACKER_MODULE_V1,
+            "flex_stacker_v1_def",
+            DeckSlotName.SLOT_D3,
+        ),
+    ],
+)
 async def test_load_module_implementation(
+    request: pytest.FixtureRequest,
     decoy: Decoy,
     equipment: EquipmentHandler,
     state_view: StateView,
-    tempdeck_v2_def: ModuleDefinition,
+    ot3_standard_deck_def: DeckDefinitionV5,
+    module_model: ModuleModel,
+    module_def_fixture_name: str,
+    load_slot_name: DeckSlotName,
 ) -> None:
     """A loadModule command should have an execution implementation."""
-    subject = LoadModuleImplementation(equipment=equipment, state_view=state_view)
+    module_definition = request.getfixturevalue(module_def_fixture_name)
 
-    data = LoadModuleParams(
-        model=ModuleModel.TEMPERATURE_MODULE_V2,
-        location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D1),
-        moduleId="some-id",
+    # Load module function is different for magnetic block v1
+    load_module_func = (
+        equipment.load_magnetic_block
+        if module_model == ModuleModel.MAGNETIC_BLOCK_V1
+        else equipment.load_module
     )
 
-    deck_def = load_deck(STANDARD_OT3_DECK, 5)
-
-    decoy.when(state_view.labware.get_deck_definition()).then_return(deck_def)
-    decoy.when(
-        state_view.addressable_areas.get_cutout_id_by_deck_slot_name(
-            DeckSlotName.SLOT_D1
-        )
-    ).then_return("cutout" + DeckSlotName.SLOT_D1.value)
-
-    decoy.when(
-        state_view.geometry.ensure_location_not_occupied(
-            DeckSlotLocation(slotName=DeckSlotName.SLOT_D1)
-        )
-    ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_2))
-
-    decoy.when(
-        state_view.modules.ensure_and_convert_module_fixture_location(
-            deck_slot=data.location.slotName,
-            model=data.model,
-        )
-    ).then_return(sentinel.addressable_area_provided_by_module)
-
-    decoy.when(
-        await equipment.load_module(
-            model=ModuleModel.TEMPERATURE_MODULE_V2,
-            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2),
-            module_id="some-id",
-        )
-    ).then_return(
-        LoadedModuleData(
-            module_id="module-id",
-            serial_number="mod-serial",
-            definition=tempdeck_v2_def,
-        )
-    )
-
-    result = await subject.execute(data)
-    decoy.verify(
-        state_view.addressable_areas.raise_if_area_not_in_deck_configuration(
-            sentinel.addressable_area_provided_by_module
-        )
-    )
-    assert result == SuccessData(
-        public=LoadModuleResult(
-            moduleId="module-id",
-            serialNumber="mod-serial",
-            model=ModuleModel.TEMPERATURE_MODULE_V2,
-            definition=tempdeck_v2_def,
-        ),
-        state_update=update_types.StateUpdate(
-            addressable_area_used=update_types.AddressableAreaUsedUpdate(
-                addressable_area_name=data.location.slotName.id
-            )
-        ),
-    )
-
-
-async def test_load_module_implementation_mag_block(
-    decoy: Decoy,
-    equipment: EquipmentHandler,
-    state_view: StateView,
-    mag_block_v1_def: ModuleDefinition,
-) -> None:
-    """A loadModule command for mag block should have an execution implementation."""
     subject = LoadModuleImplementation(equipment=equipment, state_view=state_view)
 
     data = LoadModuleParams(
-        model=ModuleModel.MAGNETIC_BLOCK_V1,
-        location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D1),
+        model=module_model,
+        location=DeckSlotLocation(slotName=load_slot_name),
         moduleId="some-id",
     )
 
-    deck_def = load_deck(STANDARD_OT3_DECK, 5)
-
-    decoy.when(state_view.labware.get_deck_definition()).then_return(deck_def)
+    decoy.when(state_view.labware.get_deck_definition()).then_return(
+        ot3_standard_deck_def
+    )
     decoy.when(
-        state_view.addressable_areas.get_cutout_id_by_deck_slot_name(
-            DeckSlotName.SLOT_D1
-        )
-    ).then_return("cutout" + DeckSlotName.SLOT_D1.value)
+        state_view.addressable_areas.get_cutout_id_by_deck_slot_name(load_slot_name)
+    ).then_return("cutout" + load_slot_name.value)
 
     decoy.when(
         state_view.geometry.ensure_location_not_occupied(
-            DeckSlotLocation(slotName=DeckSlotName.SLOT_D1)
+            DeckSlotLocation(slotName=load_slot_name)
         )
-    ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_2))
+    ).then_return(DeckSlotLocation(slotName=load_slot_name))
 
     decoy.when(
         state_view.modules.ensure_and_convert_module_fixture_location(
@@ -153,16 +116,16 @@ async def test_load_module_implementation_mag_block(
     ).then_return(sentinel.addressable_area_provided_by_module)
 
     decoy.when(
-        await equipment.load_magnetic_block(
-            model=ModuleModel.MAGNETIC_BLOCK_V1,
-            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_2),
+        await load_module_func(
+            model=module_model,
+            location=DeckSlotLocation(slotName=load_slot_name),
             module_id="some-id",
         )
     ).then_return(
         LoadedModuleData(
             module_id="module-id",
-            serial_number=None,
-            definition=mag_block_v1_def,
+            serial_number="mod-serial",
+            definition=module_definition,
         )
     )
 
@@ -175,76 +138,9 @@ async def test_load_module_implementation_mag_block(
     assert result == SuccessData(
         public=LoadModuleResult(
             moduleId="module-id",
-            serialNumber=None,
-            model=ModuleModel.MAGNETIC_BLOCK_V1,
-            definition=mag_block_v1_def,
-        ),
-        state_update=update_types.StateUpdate(
-            addressable_area_used=update_types.AddressableAreaUsedUpdate(
-                addressable_area_name=data.location.slotName.id
-            )
-        ),
-    )
-
-
-async def test_load_module_implementation_abs_reader(
-    decoy: Decoy,
-    equipment: EquipmentHandler,
-    state_view: StateView,
-    abs_reader_v1_def: ModuleDefinition,
-) -> None:
-    """A loadModule command for abs reader should have an execution implementation."""
-    subject = LoadModuleImplementation(equipment=equipment, state_view=state_view)
-
-    data = LoadModuleParams(
-        model=ModuleModel.ABSORBANCE_READER_V1,
-        location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3),
-        moduleId="some-id",
-    )
-
-    deck_def = load_deck(STANDARD_OT3_DECK, 5)
-
-    decoy.when(state_view.labware.get_deck_definition()).then_return(deck_def)
-    decoy.when(
-        state_view.addressable_areas.get_cutout_id_by_deck_slot_name(
-            DeckSlotName.SLOT_D3
-        )
-    ).then_return("cutout" + DeckSlotName.SLOT_D3.value)
-
-    decoy.when(
-        state_view.geometry.ensure_location_not_occupied(
-            DeckSlotLocation(slotName=DeckSlotName.SLOT_D3)
-        )
-    ).then_return(DeckSlotLocation(slotName=DeckSlotName.SLOT_D3))
-
-    decoy.when(
-        state_view.modules.ensure_and_convert_module_fixture_location(
-            deck_slot=data.location.slotName,
-            model=data.model,
-        )
-    ).then_return(sentinel.addressable_area_name)
-
-    decoy.when(
-        await equipment.load_module(
-            model=ModuleModel.ABSORBANCE_READER_V1,
-            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_D3),
-            module_id="some-id",
-        )
-    ).then_return(
-        LoadedModuleData(
-            module_id="module-id",
-            serial_number=None,
-            definition=abs_reader_v1_def,
-        )
-    )
-
-    result = await subject.execute(data)
-    assert result == SuccessData(
-        public=LoadModuleResult(
-            moduleId="module-id",
-            serialNumber=None,
-            model=ModuleModel.ABSORBANCE_READER_V1,
-            definition=abs_reader_v1_def,
+            serialNumber="mod-serial",
+            model=module_model,
+            definition=module_definition,
         ),
         state_update=update_types.StateUpdate(
             addressable_area_used=update_types.AddressableAreaUsedUpdate(
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 2036bda558a..3a1e8c47b02 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_move_labware.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_move_labware.py
@@ -7,7 +7,11 @@
 import pytest
 from decoy import Decoy, matchers
 
-from opentrons_shared_data.labware.labware_definition import Parameters, Dimensions
+from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
+    Parameters,
+    Dimensions,
+)
 from opentrons_shared_data.errors.exceptions import (
     EnumeratedError,
     FailedGripperPickupError,
@@ -18,7 +22,6 @@
 
 from opentrons.protocol_engine.state import update_types
 from opentrons.types import DeckSlotName, Point
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocol_engine import errors, Config
 from opentrons.protocol_engine.resources import labware_validation
 from opentrons.protocol_engine.resources.model_utils import ModelUtils
diff --git a/api/tests/opentrons/protocol_engine/commands/test_reload_labware.py b/api/tests/opentrons/protocol_engine/commands/test_reload_labware.py
index 51779c427d7..6b13f464e77 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_reload_labware.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_reload_labware.py
@@ -1,15 +1,12 @@
 """Test load labware commands."""
 import inspect
-from opentrons.protocol_engine.state.update_types import (
-    LabwareLocationUpdate,
-    StateUpdate,
-)
-import pytest
 
+import pytest
 from decoy import Decoy
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
+
 from opentrons.types import DeckSlotName
-from opentrons.protocols.models import LabwareDefinition
 
 from opentrons.protocol_engine.errors import (
     LabwareNotLoadedError,
@@ -21,6 +18,10 @@
 from opentrons.protocol_engine.execution import ReloadedLabwareData, EquipmentHandler
 from opentrons.protocol_engine.resources import labware_validation
 from opentrons.protocol_engine.state.state import StateView
+from opentrons.protocol_engine.state.update_types import (
+    LabwareLocationUpdate,
+    StateUpdate,
+)
 
 from opentrons.protocol_engine.commands.command import SuccessData
 from opentrons.protocol_engine.commands.reload_labware import (
diff --git a/api/tests/opentrons/protocol_engine/conftest.py b/api/tests/opentrons/protocol_engine/conftest.py
index 48ce28e7a98..acc7d2e8829 100644
--- a/api/tests/opentrons/protocol_engine/conftest.py
+++ b/api/tests/opentrons/protocol_engine/conftest.py
@@ -9,8 +9,8 @@
 from opentrons_shared_data.deck import load as load_deck
 from opentrons_shared_data.deck.types import DeckDefinitionV5
 from opentrons_shared_data.labware import load_definition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.pipette import pipette_definition
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocols.api_support.deck_type import (
     STANDARD_OT2_DECK,
     SHORT_TRASH_DECK,
@@ -234,6 +234,13 @@ def abs_reader_v1_def() -> ModuleDefinition:
     return ModuleDefinition.model_validate_json(definition)
 
 
+@pytest.fixture(scope="session")
+def flex_stacker_v1_def() -> ModuleDefinition:
+    """Get the definition of a V1 Flex Stacker."""
+    definition = load_shared_data("module/definitions/3/flexStackerModuleV1.json")
+    return ModuleDefinition.model_validate_json(definition)
+
+
 @pytest.fixture(scope="session")
 def supported_tip_fixture() -> pipette_definition.SupportedTipsDefinition:
     """Get a mock supported tip definition."""
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 29117a894b5..5d3edc307bd 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_equipment_handler.py
@@ -9,6 +9,7 @@
 
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.pipette import pipette_definition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.types import LabwareUri
 
 from opentrons.calibration_storage.helpers import uri_from_details
@@ -21,7 +22,6 @@
     AbstractModule,
 )
 from opentrons.hardware_control.dev_types import PipetteDict
-from opentrons.protocols.models import LabwareDefinition
 
 from opentrons.protocol_engine import errors
 from opentrons.protocol_engine.types import (
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 23f701db80b..b04bdd25b67 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
@@ -11,7 +11,6 @@
 from opentrons.hardware_control.types import TipStateType
 from opentrons.hardware_control.protocols.types import OT2RobotType, FlexRobotType
 
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocol_engine.state.state import StateView
 from opentrons.protocol_engine.types import TipGeometry, TipPresenceStatus
 from opentrons.protocol_engine.resources import LabwareDataProvider
@@ -20,6 +19,7 @@
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
 )
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons.protocol_engine.execution.tip_handler import (
     HardwareTipHandler,
     VirtualTipHandler,
diff --git a/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py b/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py
index 174c101f8b1..ba9c93e03cf 100644
--- a/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py
+++ b/api/tests/opentrons/protocol_engine/resources/test_deck_configuration_provider.py
@@ -203,6 +203,13 @@ def test_get_provided_addressable_area_names(
                     cutout_fixture_id="stagingAreaRightSlot",
                     provided_addressable_areas=frozenset({"D3", "D4"}),
                 ),
+                PotentialCutoutFixture(
+                    cutout_id="cutoutD3",
+                    cutout_fixture_id="flexStackerModuleV1",
+                    provided_addressable_areas=frozenset(
+                        {"D3", "flexStackerModuleV1D4"}
+                    ),
+                ),
             },
             lazy_fixture("ot3_standard_deck_def"),
         ),
diff --git a/api/tests/opentrons/protocol_engine/resources/test_deck_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_deck_data_provider.py
index e051f155113..2c6ed1589dd 100644
--- a/api/tests/opentrons/protocol_engine/resources/test_deck_data_provider.py
+++ b/api/tests/opentrons/protocol_engine/resources/test_deck_data_provider.py
@@ -4,7 +4,7 @@
 from decoy import Decoy
 
 from opentrons_shared_data.deck.types import DeckDefinitionV5
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons.types import DeckSlotName
 
 from opentrons.protocol_engine.types import (
diff --git a/api/tests/opentrons/protocol_engine/resources/test_labware_data_provider.py b/api/tests/opentrons/protocol_engine/resources/test_labware_data_provider.py
index a666e7a697d..80c9775ad2d 100644
--- a/api/tests/opentrons/protocol_engine/resources/test_labware_data_provider.py
+++ b/api/tests/opentrons/protocol_engine/resources/test_labware_data_provider.py
@@ -1,9 +1,9 @@
 """Functional tests for the LabwareDataProvider."""
 from typing import cast
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict
 from opentrons.calibration_storage.helpers import hash_labware_def
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocol_api.labware import get_labware_definition
 
 from opentrons.protocol_engine.resources import LabwareDataProvider
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 fbe9d6c21a4..bb0db528598 100644
--- a/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py
+++ b/api/tests/opentrons/protocol_engine/resources/test_labware_validation.py
@@ -2,11 +2,11 @@
 import pytest
 
 from opentrons_shared_data.labware.labware_definition import (
+    LabwareDefinition,
     LabwareRole,
     OverlapOffset,
     Parameters,
 )
-from opentrons.protocols.models import LabwareDefinition
 
 from opentrons.protocol_engine.resources import labware_validation as subject
 
diff --git a/api/tests/opentrons/protocol_engine/state/command_fixtures.py b/api/tests/opentrons/protocol_engine/state/command_fixtures.py
index 31f06858b53..a50d6ebc1b4 100644
--- a/api/tests/opentrons/protocol_engine/state/command_fixtures.py
+++ b/api/tests/opentrons/protocol_engine/state/command_fixtures.py
@@ -4,9 +4,9 @@
 from pydantic import BaseModel
 from typing import Optional, cast, Dict
 
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons.types import MountType
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocol_engine import ErrorOccurrence, commands as cmd
 from opentrons.protocol_engine.types import (
     DeckPoint,
diff --git a/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py b/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py
new file mode 100644
index 00000000000..0a60bf4206c
--- /dev/null
+++ b/api/tests/opentrons/protocol_engine/state/inner_geometry_test_params.py
@@ -0,0 +1,150 @@
+"""Arguments needed to test inner geometry.
+
+Each labware has 2 nominal volumes calculated in solidworks.
+- One is a nominal bottom volume, calculated some set distance from the bottom of the inside of the well.
+- The other is a nominal top volume, calculated some set distance from the top of the inside of the well.
+"""
+INNER_WELL_GEOMETRY_TEST_PARAMS = [
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell15mL",
+        16.7,
+        15546.9,
+        3.0,
+        5.0,
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell50mL",
+        111.2,
+        56110.3,
+        3.0,
+        5.0,
+    ],
+    ["opentrons_24_tuberack_nest_2ml_screwcap", "conicalWell", 66.6, 2104.9, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_nest_1.5ml_screwcap",
+        "conicalWell",
+        19.5,
+        1750.8,
+        3.0,
+        3.0,
+    ],
+    ["nest_1_reservoir_290ml", "cuboidalWell", 16570.380, 271690.520, 3.0, 3.0],
+    ["opentrons_24_tuberack_nest_2ml_snapcap", "conicalWell", 69.62, 2148.5, 3.0, 3.0],
+    ["nest_96_wellplate_2ml_deep", "cuboidalWell", 118.3, 2060.4, 3.0, 3.0],
+    ["opentrons_24_tuberack_nest_1.5ml_snapcap", "conicalWell", 27.8, 1682.3, 3.0, 3.0],
+    ["nest_12_reservoir_15ml", "cuboidalWell", 1219.0, 13236.1, 3.0, 3.0],
+    ["nest_1_reservoir_195ml", "cuboidalWell", 14034.2, 172301.9, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_nest_0.5ml_screwcap",
+        "conicalWell",
+        21.95,
+        795.4,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_96_wellplate_200ul_pcr_full_skirt",
+        "conicalWell",
+        14.3,
+        150.2,
+        3.0,
+        3.0,
+    ],
+    ["nest_96_wellplate_100ul_pcr_full_skirt", "conicalWell", 15.5, 150.8, 3.0, 3.0],
+    ["nest_96_wellplate_200ul_flat", "conicalWell", 96.3, 259.8, 3.0, 3.0],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "50mlconicalWell",
+        163.9,
+        57720.5,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "15mlconicalWell",
+        40.8,
+        15956.6,
+        3.0,
+        3.0,
+    ],
+    ["usascientific_12_reservoir_22ml", "cuboidalWell", 529.36, 21111.5, 3.0, 3.0],
+    ["thermoscientificnunc_96_wellplate_2000ul", "conicalWell", 73.5, 1768.0, 3.0, 3.0],
+    [
+        "usascientific_96_wellplate_2.4ml_deep",
+        "cuboidalWell",
+        72.220,
+        2241.360,
+        3.0,
+        3.0,
+    ],
+    ["agilent_1_reservoir_290ml", "cuboidalWell", 15652.9, 268813.8, 3.0, 3.0],
+    [
+        "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
+        "conicalWell",
+        25.8,
+        1576.1,
+        3.0,
+        3.0,
+    ],
+    ["thermoscientificnunc_96_wellplate_1300ul", "conicalWell", 73.5, 1155.1, 3.0, 3.0],
+    ["corning_12_wellplate_6.9ml_flat", "conicalWell", 1156.3, 5654.8, 3.0, 3.0],
+    ["corning_24_wellplate_3.4ml_flat", "conicalWell", 579.0, 2853.4, 3.0, 3.0],
+    ["corning_6_wellplate_16.8ml_flat", "conicalWell", 2862.1, 13901.9, 3.0, 3.0],
+    ["corning_48_wellplate_1.6ml_flat", "conicalWell", 268.9, 1327.0, 3.0, 3.0],
+    ["biorad_96_wellplate_200ul_pcr", "conicalWell", 17.9, 161.2, 3.0, 3.0],
+    ["axygen_1_reservoir_90ml", "cuboidalWell", 22373.4, 70450.6, 3.0, 3.0],
+    ["corning_384_wellplate_112ul_flat", "flatWell", 22.4, 77.4, 2.88, 3.0],
+    ["corning_96_wellplate_360ul_flat", "conicalWell", 97.2, 257.1, 3.0, 3.0],
+    ["biorad_384_wellplate_50ul", "conicalWell", 7.7, 27.8, 3.0, 3.0],
+    [
+        "appliedbiosystemsmicroamp_384_wellplate_40ul",
+        "conicalWell",
+        7.44,
+        26.19,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap",
+        "conicalWell",
+        60.940,
+        2163.980,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell15mL",
+        16.690,
+        15546.930,
+        3.0,
+        5.0,
+    ],
+    [
+        "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical",
+        "conicalWell50mL",
+        111.200,
+        56110.279,
+        3.0,
+        5.0,
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "15mlconicalWell",
+        40.830,
+        15956.600,
+        3.0,
+        3.0,
+    ],
+    [
+        "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical",
+        "50mlconicalWell",
+        163.860,
+        57720.510,
+        3.0,
+        3.0,
+    ],
+]
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 fda32a56ce0..bf82c17c6bc 100644
--- a/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
+++ b/api/tests/opentrons/protocol_engine/state/test_geometry_view.py
@@ -6,6 +6,7 @@
 from math import isclose
 from typing import cast, List, Tuple, Optional, NamedTuple, Dict
 from unittest.mock import sentinel
+from os import listdir, path
 
 import pytest
 from decoy import Decoy
@@ -15,20 +16,21 @@
     StateUpdate,
 )
 
+from opentrons_shared_data import get_shared_data_root, load_shared_data
 from opentrons_shared_data.deck.types import DeckDefinitionV5
 from opentrons_shared_data.deck import load as load_deck
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.labware.types import LabwareUri
 from opentrons_shared_data.pipette import pipette_definition
 from opentrons.calibration_storage.helpers import uri_from_details
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import Point, DeckSlotName, MountType, StagingSlotName
 from opentrons_shared_data.pipette.types import PipetteNameType
 from opentrons_shared_data.labware.labware_definition import (
     Dimensions as LabwareDimensions,
     Parameters as LabwareDefinitionParameters,
     CornerOffsetFromSlot,
+    ConicalFrustum,
 )
-from opentrons_shared_data import load_shared_data
 
 from opentrons.protocol_engine import errors
 from opentrons.protocol_engine.types import (
@@ -96,6 +98,7 @@
     _volume_from_height_circular,
     _volume_from_height_rectangular,
 )
+from .inner_geometry_test_params import INNER_WELL_GEOMETRY_TEST_PARAMS
 from ..pipette_fixtures import get_default_nozzle_map
 from ..mock_circular_frusta import TEST_EXAMPLES as CIRCULAR_TEST_EXAMPLES
 from ..mock_rectangular_frusta import TEST_EXAMPLES as RECTANGULAR_TEST_EXAMPLES
@@ -3278,19 +3281,23 @@ def _find_volume_from_height_(index: int) -> None:
         nonlocal total_frustum_height, bottom_radius
         top_radius = frustum["radius"][index]
         target_height = frustum["height"][index]
-
+        segment = ConicalFrustum(
+            shape="conical",
+            bottomDiameter=bottom_radius * 2,
+            topDiameter=top_radius * 2,
+            topHeight=total_frustum_height,
+            bottomHeight=0.0,
+            xCount=1,
+            yCount=1,
+        )
         found_volume = _volume_from_height_circular(
             target_height=target_height,
-            total_frustum_height=total_frustum_height,
-            top_radius=top_radius,
-            bottom_radius=bottom_radius,
+            segment=segment,
         )
 
         found_height = _height_from_volume_circular(
-            volume=found_volume,
-            total_frustum_height=total_frustum_height,
-            top_radius=top_radius,
-            bottom_radius=bottom_radius,
+            target_volume=found_volume,
+            segment=segment,
         )
 
         assert isclose(found_height, frustum["height"][index])
@@ -3360,3 +3367,133 @@ def test_validate_dispense_volume_into_well_meniscus(
             ),
             volume=1100000.0,
         )
+
+
+@pytest.mark.parametrize(
+    [
+        "labware_id",
+        "well_name",
+        "input_volume_bottom",
+        "input_volume_top",
+        "expected_height_from_bottom_mm",
+        "expected_height_from_top_mm",
+    ],
+    INNER_WELL_GEOMETRY_TEST_PARAMS,
+)
+def test_get_well_height_at_volume(
+    decoy: Decoy,
+    subject: GeometryView,
+    labware_id: str,
+    well_name: str,
+    input_volume_bottom: float,
+    input_volume_top: float,
+    expected_height_from_bottom_mm: float,
+    expected_height_from_top_mm: float,
+    mock_labware_view: LabwareView,
+) -> None:
+    """Test getting the well height at a given volume."""
+
+    def _get_labware_def() -> LabwareDefinition:
+        def_dir = str(get_shared_data_root()) + f"/labware/definitions/3/{labware_id}"
+        version_str = max([str(version) for version in listdir(def_dir)])
+        def_path = path.join(def_dir, version_str)
+        _labware_def = LabwareDefinition.model_validate(
+            json.loads(load_shared_data(def_path).decode("utf-8"))
+        )
+        return _labware_def
+
+    labware_def = _get_labware_def()
+    assert labware_def.innerLabwareGeometry is not None
+    well_geometry = labware_def.innerLabwareGeometry.get(well_name)
+    assert well_geometry is not None
+    well_definition = [
+        well
+        for well in labware_def.wells.values()
+        if well.geometryDefinitionId == well_name
+    ][0]
+
+    decoy.when(mock_labware_view.get_well_geometry(labware_id, well_name)).then_return(
+        well_geometry
+    )
+    decoy.when(
+        mock_labware_view.get_well_definition(labware_id, well_name)
+    ).then_return(well_definition)
+
+    found_height_bottom = subject.get_well_height_at_volume(
+        labware_id=labware_id, well_name=well_name, volume=input_volume_bottom
+    )
+    found_height_top = subject.get_well_height_at_volume(
+        labware_id=labware_id, well_name=well_name, volume=input_volume_top
+    )
+    assert isclose(found_height_bottom, expected_height_from_bottom_mm, rel_tol=0.01)
+    vol_2_expected_height_from_bottom = (
+        subject.get_well_height(labware_id=labware_id, well_name=well_name)
+        - expected_height_from_top_mm
+    )
+    assert isclose(found_height_top, vol_2_expected_height_from_bottom, rel_tol=0.01)
+
+
+@pytest.mark.parametrize(
+    [
+        "labware_id",
+        "well_name",
+        "expected_volume_bottom",
+        "expected_volume_top",
+        "input_height_from_bottom_mm",
+        "input_height_from_top_mm",
+    ],
+    INNER_WELL_GEOMETRY_TEST_PARAMS,
+)
+def test_get_well_volume_at_height(
+    decoy: Decoy,
+    subject: GeometryView,
+    labware_id: str,
+    well_name: str,
+    expected_volume_bottom: float,
+    expected_volume_top: float,
+    input_height_from_bottom_mm: float,
+    input_height_from_top_mm: float,
+    mock_labware_view: LabwareView,
+) -> None:
+    """Test getting the volume at a given height."""
+
+    def _get_labware_def() -> LabwareDefinition:
+        def_dir = str(get_shared_data_root()) + f"/labware/definitions/3/{labware_id}"
+        version_str = max([str(version) for version in listdir(def_dir)])
+        def_path = path.join(def_dir, version_str)
+        _labware_def = LabwareDefinition.model_validate(
+            json.loads(load_shared_data(def_path).decode("utf-8"))
+        )
+        return _labware_def
+
+    labware_def = _get_labware_def()
+    assert labware_def.innerLabwareGeometry is not None
+    well_geometry = labware_def.innerLabwareGeometry.get(well_name)
+    assert well_geometry is not None
+    well_definition = [
+        well
+        for well in labware_def.wells.values()
+        if well.geometryDefinitionId == well_name
+    ][0]
+
+    decoy.when(mock_labware_view.get_well_geometry(labware_id, well_name)).then_return(
+        well_geometry
+    )
+    decoy.when(
+        mock_labware_view.get_well_definition(labware_id, well_name)
+    ).then_return(well_definition)
+
+    found_volume_bottom = subject.get_well_volume_at_height(
+        labware_id=labware_id, well_name=well_name, height=input_height_from_bottom_mm
+    )
+    vol_2_input_height_from_bottom = (
+        subject.get_well_height(labware_id=labware_id, well_name=well_name)
+        - input_height_from_top_mm
+    )
+    found_volume_top = subject.get_well_volume_at_height(
+        labware_id=labware_id,
+        well_name=well_name,
+        height=vol_2_input_height_from_bottom,
+    )
+    assert isclose(found_volume_bottom, expected_volume_bottom, rel_tol=0.01)
+    assert isclose(found_volume_top, expected_volume_top, rel_tol=0.01)
diff --git a/api/tests/opentrons/protocol_engine/state/test_labware_store_old.py b/api/tests/opentrons/protocol_engine/state/test_labware_store_old.py
index 3b539df58e3..d5e7e41770e 100644
--- a/api/tests/opentrons/protocol_engine/state/test_labware_store_old.py
+++ b/api/tests/opentrons/protocol_engine/state/test_labware_store_old.py
@@ -12,7 +12,7 @@
 
 from opentrons.calibration_storage.helpers import uri_from_details
 from opentrons_shared_data.deck.types import DeckDefinitionV5
-from opentrons.protocols.models import LabwareDefinition
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons.types import DeckSlotName
 
 from opentrons.protocol_engine.types import (
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 7ace6d767ad..c657ec2a7ae 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
@@ -15,6 +15,7 @@
 from opentrons_shared_data.labware import load_definition
 from opentrons_shared_data.labware.labware_definition import (
     Parameters,
+    LabwareDefinition,
     LabwareRole,
     OverlapOffset as SharedDataOverlapOffset,
     GripperOffsets,
@@ -25,7 +26,6 @@
     STANDARD_OT2_DECK,
     STANDARD_OT3_DECK,
 )
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.types import DeckSlotName, MountType
 
 from opentrons.protocol_engine import errors
@@ -1414,25 +1414,25 @@ def test_raise_if_labware_cannot_be_stacked_on_labware_on_adapter() -> None:
 @pytest.mark.parametrize(
     argnames=[
         "allowed_roles",
-        "stacking_quirks",
+        "stack_limit",
         "exception",
     ],
     argvalues=[
         [
             [LabwareRole.labware],
-            [],
+            1,
             pytest.raises(errors.LabwareCannotBeStackedError),
         ],
         [
             [LabwareRole.lid],
-            ["stackingMaxFive"],
+            5,
             does_not_raise(),
         ],
     ],
 )
 def test_labware_stacking_height_passes_or_raises(
     allowed_roles: List[LabwareRole],
-    stacking_quirks: List[str],
+    stack_limit: int,
     exception: ContextManager[None],
 ) -> None:
     """It should raise if the labware is stacked too high, and pass if the labware definition allowed this."""
@@ -1468,11 +1468,11 @@ def test_labware_stacking_height_passes_or_raises(
                 allowedRoles=allowed_roles,
                 parameters=Parameters.model_construct(
                     format="irregular",
-                    quirks=stacking_quirks,
                     isTiprack=False,
                     loadName="name",
                     isMagneticModuleCompatible=False,
                 ),
+                stackLimit=stack_limit,
             )
         },
     )
@@ -1482,7 +1482,6 @@ def test_labware_stacking_height_passes_or_raises(
             top_labware_definition=LabwareDefinition.model_construct(  # type: ignore[call-arg]
                 parameters=Parameters.model_construct(
                     format="irregular",
-                    quirks=stacking_quirks,
                     isTiprack=False,
                     loadName="name",
                     isMagneticModuleCompatible=False,
@@ -1490,6 +1489,7 @@ def test_labware_stacking_height_passes_or_raises(
                 stackingOffsetWithLabware={
                     "test": SharedDataOverlapOffset(x=0, y=0, z=0)
                 },
+                stackLimit=stack_limit,
             ),
             bottom_labware_id="labware-id4",
         )
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 4767ecad16b..b3125865ba6 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
@@ -7,6 +7,8 @@
 from typing import List, Set, cast, Dict, Optional
 
 import pytest
+
+from opentrons.protocol_engine.state import update_types
 from opentrons_shared_data.robot.types import RobotType
 from opentrons_shared_data.deck.types import DeckDefinitionV5
 from pytest_lazyfixture import lazy_fixture  # type: ignore[import-untyped]
@@ -44,6 +46,8 @@
     TemperatureModuleSubState,
     ThermocyclerModuleId,
     ThermocyclerModuleSubState,
+    AbsorbanceReaderSubState,
+    AbsorbanceReaderId,
     ModuleSubStateType,
 )
 
@@ -723,3 +727,134 @@ def test_handle_thermocycler_lid_commands(
             target_lid_temperature=None,
         )
     }
+
+
+def test_handle_absorbance_reader_commands(
+    abs_reader_v1_def: ModuleDefinition,
+) -> None:
+    """It should update absorbance reader state."""
+    load_module_cmd = commands.LoadModule.model_construct(  # type: ignore[call-arg]
+        params=commands.LoadModuleParams(
+            model=ModuleModel.ABSORBANCE_READER_V1,
+            location=DeckSlotLocation(slotName=DeckSlotName.SLOT_1),
+        ),
+        result=commands.LoadModuleResult(
+            moduleId="module-id",
+            model=ModuleModel.ABSORBANCE_READER_V1,
+            serialNumber="serial-number",
+            definition=abs_reader_v1_def,
+        ),
+    )
+
+    initialize_reader = commands.Comment.model_construct(  # type: ignore[call-arg]
+        params=commands.CommentParams(message="hello"),
+        result=commands.CommentResult(),
+    )
+    open_lid = commands.Comment.model_construct(  # type: ignore[call-arg]
+        params=commands.CommentParams(message="hello dude"),
+        result=commands.CommentResult(),
+    )
+
+    read_data = commands.Comment.model_construct(  # type: ignore[call-arg]
+        params=commands.CommentParams(message="hello man"),
+        result=commands.CommentResult(),
+    )
+
+    close_lid = commands.Comment.model_construct(  # type: ignore[call-arg]
+        params=commands.CommentParams(message="hello ladies"),
+        result=commands.CommentResult(),
+    )
+
+    subject = ModuleStore(
+        Config(
+            use_simulated_deck_config=False,
+            robot_type="OT-3 Standard",
+            deck_type=DeckType.OT3_STANDARD,
+        ),
+        deck_fixed_labware=[],
+    )
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            command=load_module_cmd,
+            state_update=update_types.StateUpdate().initialize_absorbance_reader(
+                "module-id", "single", [1], None
+            ),
+        )
+    )
+    subject.handle_action(actions.SucceedCommandAction(command=initialize_reader))
+    assert subject.state.substate_by_module_id == {
+        "module-id": AbsorbanceReaderSubState(
+            module_id=AbsorbanceReaderId("module-id"),
+            is_lid_on=True,
+            configured=True,
+            measured=False,
+            data=None,
+            configured_wavelengths=[1],
+            measure_mode="single",  # type: ignore[arg-type]
+            reference_wavelength=None,
+        )
+    }
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            command=open_lid,
+            state_update=update_types.StateUpdate().set_absorbance_reader_lid(
+                module_id="module-id", is_lid_on=False
+            ),
+        )
+    )
+    assert subject.state.substate_by_module_id == {
+        "module-id": AbsorbanceReaderSubState(
+            module_id=AbsorbanceReaderId("module-id"),
+            is_lid_on=False,
+            configured=True,
+            measured=True,
+            data=None,
+            configured_wavelengths=[1],
+            measure_mode="single",  # type: ignore[arg-type]
+            reference_wavelength=None,
+        )
+    }
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            command=read_data,
+            state_update=update_types.StateUpdate().set_absorbance_reader_data(
+                module_id="module-id", read_result={1: {"A1": 1.2}}
+            ),
+        )
+    )
+    assert subject.state.substate_by_module_id == {
+        "module-id": AbsorbanceReaderSubState(
+            module_id=AbsorbanceReaderId("module-id"),
+            is_lid_on=False,
+            configured=True,
+            measured=True,
+            data={1: {"A1": 1.2}},
+            configured_wavelengths=[1],
+            measure_mode="single",  # type: ignore[arg-type]
+            reference_wavelength=None,
+        )
+    }
+
+    subject.handle_action(
+        actions.SucceedCommandAction(
+            command=close_lid,
+            state_update=update_types.StateUpdate().set_absorbance_reader_lid(
+                module_id="module-id", is_lid_on=True
+            ),
+        )
+    )
+    assert subject.state.substate_by_module_id == {
+        "module-id": AbsorbanceReaderSubState(
+            module_id=AbsorbanceReaderId("module-id"),
+            is_lid_on=True,
+            configured=True,
+            measured=True,
+            data={1: {"A1": 1.2}},
+            configured_wavelengths=[1],
+            measure_mode="single",  # type: ignore[arg-type]
+            reference_wavelength=None,
+        )
+    }
diff --git a/api/tests/opentrons/protocol_engine/state/test_update_types.py b/api/tests/opentrons/protocol_engine/state/test_update_types.py
index 741df813e19..325f2611f37 100644
--- a/api/tests/opentrons/protocol_engine/state/test_update_types.py
+++ b/api/tests/opentrons/protocol_engine/state/test_update_types.py
@@ -1,14 +1,16 @@
 """Unit tests for the utilities in `update_types`."""
-
-
+from opentrons.protocol_engine import DeckSlotLocation, ModuleLocation
 from opentrons.protocol_engine.state import update_types
+from opentrons.types import DeckSlotName
 
 
 def test_append() -> None:
     """Test `StateUpdate.append()`."""
     state_update = update_types.StateUpdate(
-        absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-            module_id="module_id", is_lid_on=True
+        labware_location=update_types.LabwareLocationUpdate(
+            labware_id="test-123",
+            new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1),
+            offset_id=None,
         )
     )
 
@@ -17,22 +19,28 @@ def test_append() -> None:
         update_types.StateUpdate(pipette_location=update_types.CLEAR)
     )
     assert result is state_update
-    assert state_update.absorbance_reader_lid == update_types.AbsorbanceReaderLidUpdate(
-        module_id="module_id", is_lid_on=True
+    assert state_update.labware_location == update_types.LabwareLocationUpdate(
+        labware_id="test-123",
+        new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1),
+        offset_id=None,
     )
     assert state_update.pipette_location == update_types.CLEAR
 
     # Populating a field that's already been populated should overwrite it.
     result = state_update.append(
         update_types.StateUpdate(
-            absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-                module_id="module_id", is_lid_on=False
+            labware_location=update_types.LabwareLocationUpdate(
+                labware_id="test-123",
+                new_location=ModuleLocation(moduleId="module-123"),
+                offset_id=None,
             )
         )
     )
     assert result is state_update
-    assert state_update.absorbance_reader_lid == update_types.AbsorbanceReaderLidUpdate(
-        module_id="module_id", is_lid_on=False
+    assert state_update.labware_location == update_types.LabwareLocationUpdate(
+        labware_id="test-123",
+        new_location=ModuleLocation(moduleId="module-123"),
+        offset_id=None,
     )
     assert state_update.pipette_location == update_types.CLEAR
 
@@ -44,14 +52,18 @@ def test_reduce() -> None:
     # It should union all the set fields together.
     assert update_types.StateUpdate.reduce(
         update_types.StateUpdate(
-            absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-                module_id="module_id", is_lid_on=True
+            labware_location=update_types.LabwareLocationUpdate(
+                labware_id="test-123",
+                new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1),
+                offset_id=None,
             )
         ),
         update_types.StateUpdate(pipette_location=update_types.CLEAR),
     ) == update_types.StateUpdate(
-        absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-            module_id="module_id", is_lid_on=True
+        labware_location=update_types.LabwareLocationUpdate(
+            labware_id="test-123",
+            new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1),
+            offset_id=None,
         ),
         pipette_location=update_types.CLEAR,
     )
@@ -59,17 +71,23 @@ def test_reduce() -> None:
     # When one field appears multiple times, the last write wins.
     assert update_types.StateUpdate.reduce(
         update_types.StateUpdate(
-            absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-                module_id="module_id", is_lid_on=True
+            labware_location=update_types.LabwareLocationUpdate(
+                labware_id="test-123",
+                new_location=DeckSlotLocation(slotName=DeckSlotName.SLOT_A1),
+                offset_id=None,
             )
         ),
         update_types.StateUpdate(
-            absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-                module_id="module_id", is_lid_on=False
+            labware_location=update_types.LabwareLocationUpdate(
+                labware_id="test-123",
+                new_location=ModuleLocation(moduleId="module-123"),
+                offset_id=None,
             )
         ),
     ) == update_types.StateUpdate(
-        absorbance_reader_lid=update_types.AbsorbanceReaderLidUpdate(
-            module_id="module_id", is_lid_on=False
+        labware_location=update_types.LabwareLocationUpdate(
+            labware_id="test-123",
+            new_location=ModuleLocation(moduleId="module-123"),
+            offset_id=None,
         )
     )
diff --git a/api/tests/opentrons/protocol_engine/test_create_protocol_engine.py b/api/tests/opentrons/protocol_engine/test_create_protocol_engine.py
index b5733cda6b8..a7cb708df75 100644
--- a/api/tests/opentrons/protocol_engine/test_create_protocol_engine.py
+++ b/api/tests/opentrons/protocol_engine/test_create_protocol_engine.py
@@ -2,14 +2,14 @@
 import pytest
 from pytest_lazyfixture import lazy_fixture  # type: ignore[import-untyped]
 
+from opentrons_shared_data.deck import load as load_deck
 from opentrons_shared_data.deck.types import DeckDefinitionV5
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from opentrons_shared_data.robot.types import RobotType
-from opentrons_shared_data.deck import load as load_deck
 
 from opentrons.calibration_storage.helpers import uri_from_details
 from opentrons.hardware_control import API as HardwareAPI
 from opentrons.hardware_control.types import DoorState
-from opentrons.protocols.models import LabwareDefinition
 from opentrons.protocol_engine import (
     ProtocolEngine,
     Config as EngineConfig,
diff --git a/api/tests/opentrons/protocol_engine/test_protocol_engine.py b/api/tests/opentrons/protocol_engine/test_protocol_engine.py
index 95289d681b8..6c1efcc55d7 100644
--- a/api/tests/opentrons/protocol_engine/test_protocol_engine.py
+++ b/api/tests/opentrons/protocol_engine/test_protocol_engine.py
@@ -9,6 +9,7 @@
 from decoy import Decoy
 
 from opentrons_shared_data.robot.types import RobotType
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from opentrons.protocol_engine.actions.actions import SetErrorRecoveryPolicyAction
 from opentrons.protocol_engine.state.update_types import StateUpdate
@@ -16,7 +17,6 @@
 from opentrons.hardware_control import HardwareControlAPI, OT2HardwareControlAPI
 from opentrons.hardware_control.modules import MagDeck, TempDeck
 from opentrons.hardware_control.types import PauseType as HardwarePauseType
-from opentrons.protocols.models import LabwareDefinition
 
 from opentrons.protocol_engine import ProtocolEngine, commands, slot_standardization
 from opentrons.protocol_engine.errors.exceptions import (
diff --git a/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py b/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py
index 644c2b7094f..b80667a302b 100644
--- a/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py
+++ b/api/tests/opentrons/protocols/advanced_control/transfers/test_common_functions.py
@@ -44,20 +44,20 @@ def test_check_valid_volume_parameters(
     argvalues=[
         (
             [60, 70, 75],
-            [("a", "b"), ("c", "d"), ("e", "f")],
+            [(("a", "b"), (1, 2)), (("c", "d"), (3, 4)), (("e", "f"), (5, 6))],
             20,
             [
-                (20, ("a", "b")),
-                (20, ("a", "b")),
-                (20, ("a", "b")),
-                (20, ("c", "d")),
-                (20, ("c", "d")),
-                (15, ("c", "d")),
-                (15, ("c", "d")),
-                (20, ("e", "f")),
-                (20, ("e", "f")),
-                (17.5, ("e", "f")),
-                (17.5, ("e", "f")),
+                (20, (("a", "b"), (1, 2))),
+                (20, (("a", "b"), (1, 2))),
+                (20, (("a", "b"), (1, 2))),
+                (20, (("c", "d"), (3, 4))),
+                (20, (("c", "d"), (3, 4))),
+                (15, (("c", "d"), (3, 4))),
+                (15, (("c", "d"), (3, 4))),
+                (20, (("e", "f"), (5, 6))),
+                (20, (("e", "f"), (5, 6))),
+                (17.5, (("e", "f"), (5, 6))),
+                (17.5, (("e", "f"), (5, 6))),
             ],
         ),
     ],
diff --git a/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py b/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py
index 0b8d3429527..d9bd8173834 100644
--- a/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py
+++ b/api/tests/opentrons/protocols/geometry/test_frustum_helpers.py
@@ -11,7 +11,6 @@
     _cross_section_area_rectangular,
     _cross_section_area_circular,
     _reject_unacceptable_heights,
-    _circular_frustum_polynomial_roots,
     _rectangular_frustum_polynomial_roots,
     _volume_from_height_rectangular,
     _volume_from_height_circular,
@@ -211,39 +210,25 @@ def test_volume_and_height_circular(well: List[Any]) -> None:
     """Test both volume and height calculations for circular frusta."""
     if well[-1].shape == "spherical":
         return
-    total_height = well[0].topHeight
     for segment in well:
         if segment.shape == "conical":
-            top_radius = segment.topDiameter / 2
-            bottom_radius = segment.bottomDiameter / 2
-            a = pi * ((top_radius - bottom_radius) ** 2) / (3 * total_height**2)
-            b = pi * bottom_radius * (top_radius - bottom_radius) / total_height
-            c = pi * bottom_radius**2
-            assert _circular_frustum_polynomial_roots(
-                top_radius=top_radius,
-                bottom_radius=bottom_radius,
-                total_frustum_height=total_height,
-            ) == (a, b, c)
+            a = segment.topDiameter / 2
+            b = segment.bottomDiameter / 2
             # test volume within a bunch of arbitrary heights
-            for target_height in range(round(total_height)):
-                expected_volume = (
-                    a * (target_height**3)
-                    + b * (target_height**2)
-                    + c * target_height
+            segment_height = segment.topHeight - segment.bottomHeight
+            for target_height in range(round(segment_height)):
+                r_y = (target_height / segment_height) * (a - b) + b
+                expected_volume = (pi * target_height / 3) * (
+                    b**2 + b * r_y + r_y**2
                 )
                 found_volume = _volume_from_height_circular(
                     target_height=target_height,
-                    total_frustum_height=total_height,
-                    bottom_radius=bottom_radius,
-                    top_radius=top_radius,
+                    segment=segment,
                 )
-                assert found_volume == expected_volume
+                assert isclose(found_volume, expected_volume)
                 # test going backwards to get height back
                 found_height = _height_from_volume_circular(
-                    volume=found_volume,
-                    total_frustum_height=total_height,
-                    bottom_radius=bottom_radius,
-                    top_radius=top_radius,
+                    target_volume=found_volume, segment=segment
                 )
                 assert isclose(found_height, target_height)
 
diff --git a/app/src/App/OnDeviceDisplayApp.tsx b/app/src/App/OnDeviceDisplayApp.tsx
index 6e8c78449f0..5337965fc52 100644
--- a/app/src/App/OnDeviceDisplayApp.tsx
+++ b/app/src/App/OnDeviceDisplayApp.tsx
@@ -9,7 +9,6 @@ import {
   COLORS,
   OVERFLOW_AUTO,
   POSITION_RELATIVE,
-  useIdle,
   useScrolling,
 } from '@opentrons/components'
 import { ApiHostProvider } from '@opentrons/react-api-client'
@@ -52,7 +51,7 @@ import {
   updateConfigValue,
 } from '/app/redux/config'
 import { updateBrightness } from '/app/redux/shell'
-import { SLEEP_NEVER_MS } from '/app/local-resources/config'
+import { useScreenIdle, SLEEP_NEVER_MS } from '/app/local-resources/dom-utils'
 import { useProtocolReceiptToast, useSoftwareUpdatePoll } from './hooks'
 import { ODDTopLevelRedirects } from './ODDTopLevelRedirects'
 import { ReactQueryDevtools } from '/app/App/tools'
@@ -166,7 +165,7 @@ export const OnDeviceDisplayApp = (): JSX.Element => {
     initialState: false,
   }
   const dispatch = useDispatch<Dispatch>()
-  const isIdle = useIdle(sleepTime, options)
+  const isIdle = useScreenIdle(sleepTime, options)
 
   useEffect(() => {
     if (isIdle) {
diff --git a/app/src/DesignTokens/Spacing/Spacing.stories.tsx b/app/src/DesignTokens/Spacing/Spacing.stories.tsx
index 3b12ae833db..11c9125a45f 100644
--- a/app/src/DesignTokens/Spacing/Spacing.stories.tsx
+++ b/app/src/DesignTokens/Spacing/Spacing.stories.tsx
@@ -1,3 +1,6 @@
+import styled from 'styled-components'
+// eslint-disable-next-line @typescript-eslint/no-unused-vars
+import React from 'react'
 import {
   ALIGN_FLEX_START,
   Box,
@@ -5,8 +8,7 @@ import {
   DIRECTION_COLUMN,
   Flex,
   SPACING,
-  LegacyStyledText,
-  TYPOGRAPHY,
+  StyledText,
 } from '@opentrons/components'
 
 import type { Story, Meta } from '@storybook/react'
@@ -21,6 +23,12 @@ interface SpacingsStorybookProps {
 
 const Template: Story<SpacingsStorybookProps> = args => {
   const targetSpacings = args.spacings.filter(s => !s[1].includes('auto'))
+  // sort by rem value
+  const sortedSpacing = targetSpacings.sort((a, b) => {
+    const aValue = parseFloat(a[1].replace('rem', ''))
+    const bValue = parseFloat(b[1].replace('rem', ''))
+    return aValue - bValue
+  })
 
   const convertToPx = (remFormat: string): string => {
     const pxVal = Number(remFormat.replace('rem', '')) * 16
@@ -33,7 +41,7 @@ const Template: Story<SpacingsStorybookProps> = args => {
       gridGap={SPACING.spacing8}
       padding={SPACING.spacing24}
     >
-      {targetSpacings.map((spacing, index) => (
+      {sortedSpacing.map((spacing, index) => (
         <Flex
           key={`spacing_${index}`}
           flexDirection={DIRECTION_COLUMN}
@@ -43,14 +51,13 @@ const Template: Story<SpacingsStorybookProps> = args => {
           width="100%"
           height="6rem"
         >
-          <LegacyStyledText as="h2" fontWeight={TYPOGRAPHY.fontWeightRegular}>
+          <StyledText desktopStyle="bodyLargeSemiBold">
             {`${spacing[0]} - ${spacing[1]}: ${convertToPx(spacing[1])}`}
-          </LegacyStyledText>
-          <Box
-            width={spacing[1]}
-            height="2rem"
-            backgroundColor={COLORS.blue50}
-          />
+          </StyledText>
+          <Flex gridGap={spacing[1]} backgroundColor={COLORS.blue50}>
+            <StyledBox />
+            <StyledBox />
+          </Flex>
         </Flex>
       ))}
     </Flex>
@@ -62,3 +69,9 @@ const allSpacings = Object.entries(SPACING)
 AllSpacing.args = {
   spacings: allSpacings,
 }
+
+const StyledBox = styled(Box)`
+  width: 2rem;
+  height: 2rem;
+  background-color: ${COLORS.blue35};
+`
diff --git a/app/src/local-resources/config/constants.ts b/app/src/local-resources/config/constants.ts
deleted file mode 100644
index 1c7b0e2727d..00000000000
--- a/app/src/local-resources/config/constants.ts
+++ /dev/null
@@ -1 +0,0 @@
-export const SLEEP_NEVER_MS = 604800000
diff --git a/app/src/local-resources/config/index.ts b/app/src/local-resources/config/index.ts
deleted file mode 100644
index f87cf0102a1..00000000000
--- a/app/src/local-resources/config/index.ts
+++ /dev/null
@@ -1 +0,0 @@
-export * from './constants'
diff --git a/app/src/local-resources/dom-utils/constants.ts b/app/src/local-resources/dom-utils/constants.ts
new file mode 100644
index 00000000000..f48e8566837
--- /dev/null
+++ b/app/src/local-resources/dom-utils/constants.ts
@@ -0,0 +1,2 @@
+// See RQA-3813 and associated PR. We are stuck using this hardcoded number to mean "never" or migrate the on-filesystem value.
+export const SLEEP_NEVER_MS = 604800000
diff --git a/components/src/hooks/__tests__/useIdle.test.ts b/app/src/local-resources/dom-utils/hooks/__tests__/useScreenIdle.test.ts
similarity index 62%
rename from components/src/hooks/__tests__/useIdle.test.ts
rename to app/src/local-resources/dom-utils/hooks/__tests__/useScreenIdle.test.ts
index 8063c317325..e449b0cd82e 100644
--- a/components/src/hooks/__tests__/useIdle.test.ts
+++ b/app/src/local-resources/dom-utils/hooks/__tests__/useScreenIdle.test.ts
@@ -1,6 +1,7 @@
 import { describe, it, expect, vi, beforeEach } from 'vitest'
 import { renderHook } from '@testing-library/react'
-import { useIdle } from '../useIdle'
+import { useScreenIdle } from '../useScreenIdle'
+import { SLEEP_NEVER_MS } from '/app/local-resources/dom-utils'
 
 const MOCK_EVENTS: Array<keyof DocumentEventMap> = [
   'mousedown',
@@ -20,19 +21,19 @@ describe('useIdle', () => {
 
   it('should return the default initialState', () => {
     const mockTime = 1000
-    const { result } = renderHook(() => useIdle(mockTime))
+    const { result } = renderHook(() => useScreenIdle(mockTime))
     expect(result.current).toBe(true)
   })
 
   it('should return the given initialState', () => {
     const mockTime = 1000
-    const { result } = renderHook(() => useIdle(mockTime, MOCK_OPTIONS))
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
     expect(result.current).toBe(false)
   })
 
   it('should return true after 1000ms', () => {
     const mockTime = 1000
-    const { result } = renderHook(() => useIdle(mockTime, MOCK_OPTIONS))
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
     expect(result.current).toBe(false)
     setTimeout(() => {
       expect(result.current).toBe(true)
@@ -41,7 +42,7 @@ describe('useIdle', () => {
 
   it('should return true after 180,000ms - 3min', () => {
     const mockTime = 60 * 1000 * 3
-    const { result } = renderHook(() => useIdle(mockTime, MOCK_OPTIONS))
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
     expect(result.current).toBe(false)
     setTimeout(() => {
       expect(result.current).toBe(true)
@@ -50,7 +51,7 @@ describe('useIdle', () => {
 
   it('should return true after 180,0000ms - 30min', () => {
     const mockTime = 60 * 1000 * 30
-    const { result } = renderHook(() => useIdle(mockTime, MOCK_OPTIONS))
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
     expect(result.current).toBe(false)
     setTimeout(() => {
       expect(result.current).toBe(true)
@@ -59,10 +60,19 @@ describe('useIdle', () => {
 
   it('should return true after 3,600,000ms - 1 hour', () => {
     const mockTime = 60 * 1000 * 60
-    const { result } = renderHook(() => useIdle(mockTime, MOCK_OPTIONS))
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
     expect(result.current).toBe(false)
     setTimeout(() => {
       expect(result.current).toBe(true)
     }, 3600001)
   })
+
+  it(`should always return false if the idle time is exactly ${SLEEP_NEVER_MS}`, () => {
+    const mockTime = SLEEP_NEVER_MS
+    const { result } = renderHook(() => useScreenIdle(mockTime, MOCK_OPTIONS))
+    expect(result.current).toBe(false)
+    setTimeout(() => {
+      expect(result.current).toBe(false)
+    }, 604800001)
+  })
 })
diff --git a/app/src/local-resources/dom-utils/hooks/index.ts b/app/src/local-resources/dom-utils/hooks/index.ts
index 2098c90e0c3..97edf1a5b1d 100644
--- a/app/src/local-resources/dom-utils/hooks/index.ts
+++ b/app/src/local-resources/dom-utils/hooks/index.ts
@@ -1 +1,2 @@
 export * from './useScrollPosition'
+export * from './useScreenIdle'
diff --git a/components/src/hooks/useIdle.ts b/app/src/local-resources/dom-utils/hooks/useScreenIdle.ts
similarity index 82%
rename from components/src/hooks/useIdle.ts
rename to app/src/local-resources/dom-utils/hooks/useScreenIdle.ts
index 7fea9f832ca..d36c6cfb326 100644
--- a/components/src/hooks/useIdle.ts
+++ b/app/src/local-resources/dom-utils/hooks/useScreenIdle.ts
@@ -1,4 +1,5 @@
 import { useState, useEffect, useRef } from 'react'
+import { SLEEP_NEVER_MS } from '/app/local-resources/dom-utils'
 
 const USER_EVENTS: Array<keyof DocumentEventMap> = [
   'click',
@@ -29,7 +30,7 @@ const DEFAULT_OPTIONS = {
  * @param {object} options (events that the app need to check, initialState: initial state true => idle)
  * @returns {boolean}
  */
-export function useIdle(
+export function useScreenIdle(
   idleTime: number,
   options?: Partial<{
     events: Array<keyof DocumentEventMap>
@@ -48,9 +49,12 @@ export function useIdle(
         window.clearTimeout(idleTimer.current)
       }
 
-      idleTimer.current = window.setTimeout(() => {
-        setIdle(true)
-      }, idleTime)
+      // See RQA-3813 and associated PR.
+      if (idleTime !== SLEEP_NEVER_MS) {
+        idleTimer.current = window.setTimeout(() => {
+          setIdle(true)
+        }, idleTime)
+      }
     }
 
     events.forEach(event => {
diff --git a/app/src/local-resources/dom-utils/index.ts b/app/src/local-resources/dom-utils/index.ts
index fc78d35129c..907d7e254c1 100644
--- a/app/src/local-resources/dom-utils/index.ts
+++ b/app/src/local-resources/dom-utils/index.ts
@@ -1 +1,2 @@
 export * from './hooks'
+export * from './constants'
diff --git a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupModuleAndDeck/OT2MultipleModulesHelp.tsx b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupModuleAndDeck/OT2MultipleModulesHelp.tsx
index 6533828d803..2d35ca9925c 100644
--- a/app/src/organisms/Desktop/Devices/ProtocolRun/SetupModuleAndDeck/OT2MultipleModulesHelp.tsx
+++ b/app/src/organisms/Desktop/Devices/ProtocolRun/SetupModuleAndDeck/OT2MultipleModulesHelp.tsx
@@ -9,11 +9,11 @@ import {
   DIRECTION_ROW,
   Flex,
   Icon,
+  LegacyStyledText,
   Link,
+  Modal,
   PrimaryButton,
   SPACING,
-  Modal,
-  LegacyStyledText,
   TYPOGRAPHY,
 } from '@opentrons/components'
 import { getTopPortalEl } from '/app/App/portal'
diff --git a/app/src/organisms/EmergencyStop/DesktopEstopMissingModal.stories.tsx b/app/src/organisms/EmergencyStop/DesktopEstopMissingModal.stories.tsx
index f8729d48263..e089b8cee20 100644
--- a/app/src/organisms/EmergencyStop/DesktopEstopMissingModal.stories.tsx
+++ b/app/src/organisms/EmergencyStop/DesktopEstopMissingModal.stories.tsx
@@ -2,7 +2,7 @@ import type * as React from 'react'
 import { Provider } from 'react-redux'
 import { createStore } from 'redux'
 
-import { configReducer } from '/app/redux/config/reducer'
+import { configReducer } from '../../redux/config/reducer'
 import { EstopMissingModal } from '.'
 
 import type { Store, StoreEnhancer } from 'redux'
diff --git a/app/src/organisms/EmergencyStop/DesktopEstopPressedModal.stories.tsx b/app/src/organisms/EmergencyStop/DesktopEstopPressedModal.stories.tsx
index 5b999ce2bc5..917e92143c6 100644
--- a/app/src/organisms/EmergencyStop/DesktopEstopPressedModal.stories.tsx
+++ b/app/src/organisms/EmergencyStop/DesktopEstopPressedModal.stories.tsx
@@ -3,7 +3,7 @@ import { Provider } from 'react-redux'
 import { createStore } from 'redux'
 import { QueryClient, QueryClientProvider } from 'react-query'
 
-import { configReducer } from '/app/redux/config/reducer'
+import { configReducer } from '../../redux/config/reducer'
 import { EstopPressedModal } from '.'
 
 import type { Store, StoreEnhancer } from 'redux'
diff --git a/app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx b/app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx
index 86ae69e4107..09a144a84a2 100644
--- a/app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx
+++ b/app/src/organisms/ODD/InstrumentMountItem/ProtocolInstrumentMountItem.tsx
@@ -76,8 +76,11 @@ export function ProtocolInstrumentMountItem(
     []
   )
   const [flowType, setFlowType] = useState<string>(FLOWS.ATTACH)
-  const selectedPipette =
-    speccedName === 'p1000_96' ? NINETY_SIX_CHANNEL : SINGLE_MOUNT_PIPETTES
+  const is96ChannelPipette =
+    speccedName === 'p1000_96' || speccedName === 'p200_96'
+  const selectedPipette = is96ChannelPipette
+    ? NINETY_SIX_CHANNEL
+    : SINGLE_MOUNT_PIPETTES
 
   const handleCalibrate: MouseEventHandler = () => {
     setFlowType(FLOWS.CALIBRATE)
@@ -95,7 +98,7 @@ export function ProtocolInstrumentMountItem(
       setShowPipetteWizardFlow(true)
     }
   }
-  const is96ChannelPipette = speccedName === 'p1000_96'
+
   const isAttachedWithCal =
     attachedInstrument != null &&
     attachedInstrument.ok &&
diff --git a/app/src/organisms/ODD/RobotSettingsDashboard/TouchScreenSleep.tsx b/app/src/organisms/ODD/RobotSettingsDashboard/TouchScreenSleep.tsx
index cb123b261be..3872d79ba21 100644
--- a/app/src/organisms/ODD/RobotSettingsDashboard/TouchScreenSleep.tsx
+++ b/app/src/organisms/ODD/RobotSettingsDashboard/TouchScreenSleep.tsx
@@ -14,7 +14,7 @@ import {
   getOnDeviceDisplaySettings,
   updateConfigValue,
 } from '/app/redux/config'
-import { SLEEP_NEVER_MS } from '/app/local-resources/config'
+import { SLEEP_NEVER_MS } from '/app/local-resources/dom-utils'
 
 import type { ChangeEvent } from 'react'
 import type { Dispatch } from '/app/redux/types'
diff --git a/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx b/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx
index a69e095a674..88143b83a69 100644
--- a/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx
+++ b/app/src/organisms/PipetteWizardFlows/BeforeBeginning.tsx
@@ -148,7 +148,10 @@ export const BeforeBeginning = (
         const displayName = pipetteDisplayName ?? requiredPipette.pipetteName
         bodyTranslationKey = 'remove_labware'
 
-        if (requiredPipette.pipetteName === 'p1000_96') {
+        if (
+          requiredPipette.pipetteName === 'p1000_96' ||
+          requiredPipette.pipetteName === 'p200_96'
+        ) {
           equipmentList = [
             { ...NINETY_SIX_CHANNEL_PIPETTE, displayName },
             CALIBRATION_PROBE,
diff --git a/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx b/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx
index 9d83f3d3e75..b026c40484c 100644
--- a/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx
+++ b/app/src/organisms/PipetteWizardFlows/DetachPipette.tsx
@@ -86,7 +86,8 @@ export const DetachPipette = (props: DetachPipetteProps): JSX.Element => {
   }
   const memoizedAttachedPipettes = useMemo(() => attachedPipettes, [])
   const is96ChannelPipette =
-    memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96'
+    memoizedAttachedPipettes[mount]?.instrumentName === 'p1000_96' ||
+    memoizedAttachedPipettes[mount]?.instrumentName === 'p200_96'
   const pipetteName =
     attachedPipettes[mount] != null
       ? attachedPipettes[mount]?.displayName
diff --git a/app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts b/app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts
index 296c428bc75..f0c40e3b408 100644
--- a/app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts
+++ b/app/src/organisms/PipetteWizardFlows/getPipetteWizardStepsForProtocol.ts
@@ -413,8 +413,11 @@ export const getPipetteWizardStepsForProtocol = (
 ): PipetteWizardStep[] | null => {
   const requiredPipette = pipetteInfo.find(pipette => pipette.mount === mount)
   const ninetySixChannelAttached =
-    attachedPipettes[LEFT]?.instrumentName === 'p1000_96'
-  const ninetySixChannelRequested = requiredPipette?.pipetteName === 'p1000_96'
+    attachedPipettes[LEFT]?.instrumentName === 'p1000_96' ||
+    attachedPipettes[LEFT]?.instrumentName === 'p200_96'
+  const ninetySixChannelRequested =
+    requiredPipette?.pipetteName === 'p1000_96' ||
+    requiredPipette?.pipetteName === 'p200_96'
 
   if (requiredPipette == null) {
     //  return empty array if no pipette is required in the protocol
diff --git a/app/src/organisms/PipetteWizardFlows/hooks.tsx b/app/src/organisms/PipetteWizardFlows/hooks.tsx
index 4d07586c9de..00b7ede1dd9 100644
--- a/app/src/organisms/PipetteWizardFlows/hooks.tsx
+++ b/app/src/organisms/PipetteWizardFlows/hooks.tsx
@@ -90,10 +90,14 @@ export function usePipetteFlowWizardHeaderText(
       )
     } else if (
       attachedPipettes[LEFT]?.data.channels === 96 &&
-      mountPipette?.pipetteName !== 'p1000_96'
+      mountPipette?.pipetteName !== 'p1000_96' &&
+      mountPipette?.pipetteName !== 'p200_96'
     ) {
       return t('detach_96_attach_mount', { mount: capitalizedMount })
-    } else if (leftPipette?.pipetteName === 'p1000_96') {
+    } else if (
+      leftPipette?.pipetteName === 'p1000_96' ||
+      leftPipette?.pipetteName === 'p200_96'
+    ) {
       if (isGantryEmpty) {
         return t('attach_96_channel')
       } else if (
diff --git a/app/src/redux/config/selectors.ts b/app/src/redux/config/selectors.ts
index dea9cc3f171..cdbe9bb22c6 100644
--- a/app/src/redux/config/selectors.ts
+++ b/app/src/redux/config/selectors.ts
@@ -1,5 +1,5 @@
 import { createSelector } from 'reselect'
-import { SLEEP_NEVER_MS } from '/app/local-resources/config'
+import { SLEEP_NEVER_MS } from '/app/local-resources/dom-utils'
 import type { State } from '../types'
 import type {
   Config,
diff --git a/components/src/atoms/buttons/LargeButton.tsx b/components/src/atoms/buttons/LargeButton.tsx
index 7bfcf4b6533..cea665221fe 100644
--- a/components/src/atoms/buttons/LargeButton.tsx
+++ b/components/src/atoms/buttons/LargeButton.tsx
@@ -217,14 +217,14 @@ export function LargeButton(props: LargeButtonProps): JSX.Element {
       color: ${LARGE_BUTTON_PROPS_BY_TYPE[buttonType].disabledColor};
       background-color: ${LARGE_BUTTON_PROPS_BY_TYPE[buttonType]
         .disabledBackgroundColor};
-      border: none;
+      border: 4px solid ${COLORS.grey35};
     }
 
     &[aria-disabled='true'] {
       color: ${LARGE_BUTTON_PROPS_BY_TYPE[buttonType].disabledColor};
       background-color: ${LARGE_BUTTON_PROPS_BY_TYPE[buttonType]
         .disabledBackgroundColor};
-      border: none;
+      border: 4px solid ${COLORS.grey35};
     }
 
     @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} {
@@ -311,8 +311,8 @@ export function LargeButton(props: LargeButtonProps): JSX.Element {
 }
 
 const ICON_STYLE = css`
-  width: 1.5rem;
-  height: 1.5rem;
+  width: 1.25rem;
+  height: 1.25rem;
   @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} {
     width: 5rem;
     height: 5rem;
diff --git a/components/src/hooks/index.ts b/components/src/hooks/index.ts
index 6ae0015d1e0..14a4de52c71 100644
--- a/components/src/hooks/index.ts
+++ b/components/src/hooks/index.ts
@@ -2,7 +2,6 @@
 
 export * from './useConditionalConfirm'
 export * from './useDrag'
-export * from './useIdle'
 export * from './useInterval'
 export * from './useLongPress'
 export * from './useMountEffect'
diff --git a/components/src/modals/Modal.stories.tsx b/components/src/modals/Modal.stories.tsx
index 6adfcbc3274..76cef153d47 100644
--- a/components/src/modals/Modal.stories.tsx
+++ b/components/src/modals/Modal.stories.tsx
@@ -1,52 +1,36 @@
-import type * as React from 'react'
+import { PrimaryButton, StyledText } from '../atoms'
+import { SPACING } from '../ui-style-constants'
+import { Flex } from '../primitives'
+import { JUSTIFY_END } from '../styles'
+import { Modal as ModalComponent } from './Modal'
 
-import { LegacyStyledText } from '../atoms'
-import { SPACING, TYPOGRAPHY } from '../ui-style-constants'
-import { PrimaryBtn } from '../primitives'
-import { COLORS } from '../helix-design-system'
-import { Modal } from './Modal'
+import type { Meta, StoryObj } from '@storybook/react'
 
-import type { Story, Meta } from '@storybook/react'
-
-export default {
+const meta: Meta<typeof ModalComponent> = {
   title: 'Library/Molecules/modals/Modal',
-  component: Modal,
-} as Meta
-
-const Template: Story<React.ComponentProps<typeof Modal>> = args => (
-  <Modal {...args} />
-)
+  component: ModalComponent,
+}
+export default meta
+type Story = StoryObj<typeof ModalComponent>
+const bodyText = 'Modal body goes here'
 
 const Children = (
-  <>
-    <LegacyStyledText
-      fontWeight={TYPOGRAPHY.fontWeightSemiBold}
-      fontSize={TYPOGRAPHY.fontSizeP}
-      paddingTop={SPACING.spacing4}
-    >
-      {'Modal body goes here'}
-    </LegacyStyledText>
+  <StyledText desktopStyle="bodyDefaultRegular">{bodyText}</StyledText>
+)
 
-    <PrimaryBtn
-      backgroundColor={COLORS.blue50}
-      marginTop="28rem"
-      textTransform={TYPOGRAPHY.textTransformNone}
-    >
-      <LegacyStyledText
-        fontWeight={TYPOGRAPHY.fontWeightRegular}
-        fontSize={TYPOGRAPHY.fontSizeP}
-      >
-        {'btn text'}
-      </LegacyStyledText>
-    </PrimaryBtn>
-  </>
+const Footer = (
+  <Flex justifyContent={JUSTIFY_END} padding={SPACING.spacing24}>
+    <PrimaryButton onClick={() => {}}>{'btn text'}</PrimaryButton>
+  </Flex>
 )
 
-export const Primary = Template.bind({})
-Primary.args = {
-  type: 'info',
-  onClose: () => {},
-  closeOnOutsideClick: false,
-  title: 'Modal Title',
-  children: Children,
+export const Modal: Story = {
+  args: {
+    type: 'info',
+    onClose: () => {},
+    closeOnOutsideClick: false,
+    title: 'Modal Title',
+    children: Children,
+    footer: Footer,
+  },
 }
diff --git a/components/src/modals/Modal.tsx b/components/src/modals/Modal.tsx
index 304b733de8a..7c10694981c 100644
--- a/components/src/modals/Modal.tsx
+++ b/components/src/modals/Modal.tsx
@@ -66,7 +66,6 @@ export const Modal = (props: ModalProps): JSX.Element => {
     name: 'ot-alert',
     color: iconColor(type),
     size: '1.25rem',
-    marginRight: SPACING.spacing8,
   }
 
   const modalHeader = (
diff --git a/components/src/modals/ModalHeader.tsx b/components/src/modals/ModalHeader.tsx
index b505b1f1a47..6472157400f 100644
--- a/components/src/modals/ModalHeader.tsx
+++ b/components/src/modals/ModalHeader.tsx
@@ -1,10 +1,15 @@
-import { css } from 'styled-components'
+import styled, { css } from 'styled-components'
 
 import { Icon } from '../icons'
 import { Box, Btn, Flex } from '../primitives'
-import { LegacyStyledText } from '../atoms'
-import { ALIGN_CENTER, JUSTIFY_CENTER, JUSTIFY_SPACE_BETWEEN } from '../styles'
-import { SPACING, TYPOGRAPHY } from '../ui-style-constants'
+import { StyledText } from '../atoms'
+import {
+  ALIGN_CENTER,
+  DISPLAY_FLEX,
+  JUSTIFY_CENTER,
+  JUSTIFY_SPACE_BETWEEN,
+} from '../styles'
+import { SPACING } from '../ui-style-constants'
 import { COLORS } from '../helix-design-system'
 
 import type { MouseEventHandler, ReactNode } from 'react'
@@ -21,22 +26,6 @@ export interface ModalHeaderProps {
   closeButton?: ReactNode
 }
 
-const closeIconStyles = css`
-  display: flex;
-  justify-content: ${JUSTIFY_CENTER};
-  align-items: ${ALIGN_CENTER};
-  border-radius: 0.875rem;
-  width: 1.625rem;
-  height: 1.625rem;
-  &:hover {
-    background-color: ${COLORS.grey30};
-  }
-
-  &:active {
-    background-color: ${COLORS.grey35};
-  }
-`
-
 export const ModalHeader = (props: ModalHeaderProps): JSX.Element => {
   const {
     icon,
@@ -45,57 +34,72 @@ export const ModalHeader = (props: ModalHeaderProps): JSX.Element => {
     titleElement1,
     titleElement2,
     backgroundColor,
-    color,
+    color = COLORS.black90,
     closeButton,
   } = props
   return (
     <>
-      <Flex
-        alignItems={ALIGN_CENTER}
-        justifyContent={JUSTIFY_SPACE_BETWEEN}
-        paddingX={SPACING.spacing24}
-        paddingY={SPACING.spacing16}
+      <StyledModalHeader
         backgroundColor={backgroundColor}
         data-testid="Modal_header"
+        role="heading"
       >
-        <Flex alignItems={ALIGN_CENTER} gridGap={SPACING.spacing8}>
+        <Flex alignItems={ALIGN_CENTER} gridGap={SPACING.spacing16}>
           {icon != null && <Icon {...icon} data-testid="Modal_header_icon" />}
           {titleElement1}
           {titleElement2}
-          {/* TODO (nd: 08/07/2024) Convert to StyledText once designs are resolved */}
-          <LegacyStyledText
-            as="h3"
-            fontWeight={TYPOGRAPHY.fontWeightSemiBold}
-            color={color}
-          >
+          <StyledText color={color} desktopStyle="bodyLargeSemiBold">
             {title}
-          </LegacyStyledText>
+          </StyledText>
         </Flex>
-        {closeButton != null
-          ? closeButton
-          : onClose != null && (
-              <Btn
-                onClick={onClose}
-                css={closeIconStyles}
-                data-testid={`ModalHeader_icon_close${
-                  typeof title === 'string' ? `_${title}` : ''
-                }`}
-              >
-                <Icon
-                  name="close"
-                  width={SPACING.spacing24}
-                  height={SPACING.spacing24}
-                  color={color}
-                />
-              </Btn>
-            )}
-      </Flex>
-      <Box
-        borderBottom={`1px solid ${COLORS.grey30}`}
-        marginY="0"
-        width="100%"
-        data-testid="divider"
-      />
+        {closeButton != null ||
+          (onClose != null && (
+            <Btn
+              onClick={onClose}
+              css={closeIconStyles}
+              data-testid={`ModalHeader_icon_close${
+                typeof title === 'string' ? `_${title}` : ''
+              }`}
+            >
+              <Icon
+                name="close"
+                width={SPACING.spacing24}
+                height={SPACING.spacing24}
+                color={color}
+              />
+            </Btn>
+          ))}
+      </StyledModalHeader>
+      <StyledDivider data-testid="divider" />
     </>
   )
 }
+
+const StyledModalHeader = styled(Flex)`
+  padding: ${SPACING.spacing16} ${SPACING.spacing24};
+  justify-content: ${JUSTIFY_SPACE_BETWEEN};
+  align-items: ${ALIGN_CENTER};
+  background-color: ${props => props.backgroundColor};
+`
+
+const StyledDivider = styled(Box)`
+  border-bottom: 1px solid ${COLORS.grey30};
+  margin: 0;
+  width: 100%;
+`
+
+const closeIconStyles = css`
+  display: ${DISPLAY_FLEX};
+  justify-content: ${JUSTIFY_CENTER};
+  align-items: ${ALIGN_CENTER};
+  border-radius: 0.875rem;
+  width: 1.625rem;
+  height: 1.625rem;
+  &:hover {
+    background-color: ${COLORS.grey30};
+  }
+
+  &:active {
+    background-color: ${COLORS.grey35};
+  }
+`
diff --git a/components/src/modals/ModalShell.tsx b/components/src/modals/ModalShell.tsx
index c6fa7e5ccb3..82ae09b8868 100644
--- a/components/src/modals/ModalShell.tsx
+++ b/components/src/modals/ModalShell.tsx
@@ -3,6 +3,7 @@ import {
   ALIGN_CENTER,
   ALIGN_END,
   CURSOR_DEFAULT,
+  DISPLAY_FLEX,
   JUSTIFY_CENTER,
   JUSTIFY_END,
   OVERFLOW_AUTO,
@@ -110,7 +111,7 @@ const ContentArea = styled.div<{
   position: Position
   noPadding: boolean
 }>`
-  display: flex;
+  display: ${DISPLAY_FLEX};
   position: ${POSITION_ABSOLUTE};
   align-items: ${({ position }) =>
     position === 'center' ? ALIGN_CENTER : ALIGN_END};
@@ -137,6 +138,7 @@ const ModalArea = styled.div<
   box-shadow: ${BORDERS.smallDropShadow};
   height: ${({ isFullPage }) => (isFullPage ? '100%' : 'auto')};
   background-color: ${COLORS.white};
+
   @media ${RESPONSIVENESS.touchscreenMediaQuerySpecs} {
     border-radius: ${BORDERS.borderRadius16};
   }
diff --git a/components/src/modals/__tests__/ModalHeader.test.tsx b/components/src/modals/__tests__/ModalHeader.test.tsx
index bf55110b63f..051dfea623d 100644
--- a/components/src/modals/__tests__/ModalHeader.test.tsx
+++ b/components/src/modals/__tests__/ModalHeader.test.tsx
@@ -3,10 +3,9 @@ import '@testing-library/jest-dom/vitest'
 import { describe, it, expect, vi, beforeEach } from 'vitest'
 
 import { renderWithProviders } from '../../testing/utils'
-import { ModalHeader } from '../ModalHeader'
 import { COLORS } from '../../helix-design-system'
-import { SPACING } from '../../ui-style-constants'
 import { ALIGN_CENTER, JUSTIFY_CENTER } from '../../styles'
+import { ModalHeader } from '../ModalHeader'
 
 import type { ComponentProps } from 'react'
 
@@ -40,7 +39,6 @@ describe('ModalHeader', () => {
       name: 'ot-alert',
       color: COLORS.black90,
       size: '1.25rem',
-      marginRight: SPACING.spacing8,
     }
     render(props)
     expect(screen.getByTestId('Modal_header_icon')).toHaveStyle(
@@ -52,9 +50,6 @@ describe('ModalHeader', () => {
     expect(screen.getByTestId('Modal_header_icon')).toHaveStyle(
       `height: 1.25rem`
     )
-    expect(screen.getByTestId('Modal_header_icon')).toHaveStyle(
-      `margin-right: ${SPACING.spacing8}`
-    )
   })
 
   it('should call a mock function when clicking close icon', () => {
diff --git a/components/src/molecules/DeckInfoLabel/index.tsx b/components/src/molecules/DeckInfoLabel/index.tsx
index 12fba78b93b..d79652da38f 100644
--- a/components/src/molecules/DeckInfoLabel/index.tsx
+++ b/components/src/molecules/DeckInfoLabel/index.tsx
@@ -7,19 +7,19 @@ import { Flex } from '../../primitives'
 import { ALIGN_CENTER, JUSTIFY_CENTER } from '../../styles'
 import { RESPONSIVENESS, SPACING } from '../../ui-style-constants'
 
-import type { ModuleIconName } from '../../icons'
+import type { IconName, ModuleIconName } from '../../icons'
 import type { StyleProps } from '../../primitives'
 
 interface DeckLabelProps extends StyleProps {
   /** deck label to display */
   deckLabel: string
-  iconName?: undefined
+  iconName?: IconName
 }
 
 interface HardwareIconProps extends StyleProps {
   /** hardware icon name */
   iconName: ModuleIconName | 'stacked'
-  deckLabel?: undefined
+  deckLabel?: string
 }
 
 // type union requires one of deckLabel or iconName, but not both
diff --git a/components/src/molecules/InfoScreen/__tests__/InfoScreen.test.tsx b/components/src/molecules/InfoScreen/__tests__/InfoScreen.test.tsx
index d248ca2a669..7a48299e7dc 100644
--- a/components/src/molecules/InfoScreen/__tests__/InfoScreen.test.tsx
+++ b/components/src/molecules/InfoScreen/__tests__/InfoScreen.test.tsx
@@ -37,5 +37,21 @@ describe('InfoScreen', () => {
     expect(screen.getByLabelText('alert')).toHaveStyle(
       `color: ${COLORS.grey60}`
     )
+    expect(screen.getByTestId('InfoScreen')).toHaveStyle(`height: 100%`)
+  })
+
+  it('should render set height, subContent and backgroundColor', () => {
+    props = {
+      ...props,
+      subContent: 'mock sub content',
+      backgroundColor: COLORS.blue50,
+      height: '10rem',
+    }
+    render(props)
+    screen.getByText('mock sub content')
+    expect(screen.getByTestId('InfoScreen')).toHaveStyle(
+      `background-color: ${COLORS.blue50}`
+    )
+    expect(screen.getByTestId('InfoScreen')).toHaveStyle(`height: 10rem`)
   })
 })
diff --git a/components/src/molecules/InfoScreen/index.tsx b/components/src/molecules/InfoScreen/index.tsx
index a70e2c409d7..d92f7cd64e7 100644
--- a/components/src/molecules/InfoScreen/index.tsx
+++ b/components/src/molecules/InfoScreen/index.tsx
@@ -16,7 +16,7 @@ export function InfoScreen({
   content,
   subContent,
   backgroundColor = COLORS.grey30,
-  height,
+  height = '100%',
 }: InfoScreenProps): JSX.Element {
   return (
     <Flex
diff --git a/components/src/organisms/DeckLabelSet/DeckLabelSet.stories.tsx b/components/src/organisms/DeckLabelSet/DeckLabelSet.stories.tsx
index 5836fe5b947..73542cce99a 100644
--- a/components/src/organisms/DeckLabelSet/DeckLabelSet.stories.tsx
+++ b/components/src/organisms/DeckLabelSet/DeckLabelSet.stories.tsx
@@ -8,14 +8,17 @@ import type { Meta, StoryObj } from '@storybook/react'
 
 const mockDeckLabels = [
   {
+    isZoomed: false,
     text: 'Label',
     isSelected: false,
     labelBorderRadius: BORDERS.borderRadius4,
   },
   {
+    isZoomed: false,
     text: 'Label',
     isSelected: false,
     labelBorderRadius: BORDERS.borderRadius4,
+    isLast: true,
   },
 ]
 
@@ -24,7 +27,7 @@ const meta: Meta<typeof DeckLabelSetComponent> = {
   component: DeckLabelSetComponent,
   decorators: [
     Story => (
-      <Flex padding={SPACING.spacing16}>
+      <Flex padding={SPACING.spacing16} transform="scaleY(-1.0)">
         <Story />
       </Flex>
     ),
@@ -38,8 +41,8 @@ export const DeckLabel: Story = {
   args: {
     // width and height from Figma
     deckLabels: mockDeckLabels,
-    width: 31.9375,
-    height: 5.75,
+    width: 31.9375 * 16,
+    height: 5.75 * 16,
     x: 0,
     y: 0,
   },
diff --git a/hardware-testing/Makefile b/hardware-testing/Makefile
index 45b50b5a579..a3cdbe28417 100755
--- a/hardware-testing/Makefile
+++ b/hardware-testing/Makefile
@@ -100,6 +100,7 @@ test-photometric:
 	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 50 --trials 1
 	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 1000 --channels 96 --tip 200 --trials 1
 	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 50 --trials 1
+	$(python) -m hardware_testing.gravimetric --photometric --simulate --pipette 200 --channels 96 --tip 20 --trials 1
 
 .PHONY: test-gravimetric-single
 test-gravimetric-single:
@@ -123,6 +124,7 @@ test-gravimetric-multi:
 test-gravimetric-96:
 	$(python) -m hardware_testing.gravimetric --simulate --pipette 1000 --channels 96 --trials 2 --no-blank
 	$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 2 --no-blank
+	$(python) -m hardware_testing.gravimetric --simulate --pipette 200 --channels 96 --trials 1 --no-blank --increment --tip 20
 
 .PHONY: test-gravimetric
 test-gravimetric:
@@ -229,6 +231,11 @@ push-no-restart-ot3: sdist Pipfile.lock
 .PHONY: push-ot3
 push-ot3: push-no-restart-ot3 push-plot-webpage-ot3 push-description-ot3 push-labware-ot3
 
+.PHONE: open-dev-app
+open-dev-app:
+	cd .. && $(MAKE) -C app dev
+
+
 .PHONY: push-all
 push-all: clean wheel push-no-restart push-plot-webpage-ot3
 
diff --git a/hardware-testing/hardware_testing/gravimetric/__main__.py b/hardware-testing/hardware_testing/gravimetric/__main__.py
index f297f0e7e3a..0c32f1f70b4 100644
--- a/hardware-testing/hardware_testing/gravimetric/__main__.py
+++ b/hardware-testing/hardware_testing/gravimetric/__main__.py
@@ -70,11 +70,12 @@
 
 GRAVIMETRIC_CFG_INCREMENT = {
     50: {
-        1: {50: gravimetric_ot3_p50_single},
+        1: {20: gravimetric_ot3_p50_single, 50: gravimetric_ot3_p50_single},
         8: {50: gravimetric_ot3_p50_multi_50ul_tip_increment},
     },
     200: {
         96: {
+            20: gravimetric_ot3_p200_96,
             50: gravimetric_ot3_p200_96,
             200: gravimetric_ot3_p200_96,
         },
@@ -117,6 +118,7 @@
 PHOTOMETRIC_CFG = {
     50: {
         1: {
+            20: photometric_ot3_p50_single,
             50: photometric_ot3_p50_single,
         },
         8: {
@@ -124,7 +126,11 @@
         },
     },
     200: {
-        96: {50: photometric_ot3_p200_96, 200: photometric_ot3_p200_96},
+        96: {
+            20: photometric_ot3_p200_96,
+            50: photometric_ot3_p200_96,
+            200: photometric_ot3_p200_96,
+        },
     },
     1000: {
         1: {
@@ -137,7 +143,11 @@
             200: photometric_ot3_p1000_multi,
             1000: photometric_ot3_p1000_multi,
         },
-        96: {50: photometric_ot3_p1000_96, 200: photometric_ot3_p1000_96},
+        96: {
+            20: photometric_ot3_p1000_96,
+            50: photometric_ot3_p1000_96,
+            200: photometric_ot3_p1000_96,
+        },
     },
 }
 
@@ -177,11 +187,11 @@ def _get_protocol_context(cls, args: argparse.Namespace) -> ProtocolContext:
                 "Starting opentrons-robot-server, so we can http GET labware offsets"
             )
             LABWARE_OFFSETS.extend(workarounds.http_get_all_labware_offsets())
-            ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
-            for offset in LABWARE_OFFSETS:
-                ui.print_info(f"\t{offset.createdAt}:")
-                ui.print_info(f"\t\t{offset.definitionUri}")
-                ui.print_info(f"\t\t{offset.vector}")
+            # ui.print_info(f"found {len(LABWARE_OFFSETS)} offsets:")
+            # for offset in LABWARE_OFFSETS:
+            #    ui.print_info(f"\t{offset.createdAt}:")
+            #    ui.print_info(f"\t\t{offset.definitionUri}")
+            #    ui.print_info(f"\t\t{offset.vector}")
         # gather the custom labware (for simulation)
         custom_defs = {}
         if args.simulate:
@@ -572,7 +582,7 @@ def _main(
     parser.add_argument("--simulate", action="store_true")
     parser.add_argument("--pipette", type=int, choices=[50, 200, 1000], required=True)
     parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
-    parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
+    parser.add_argument("--tip", type=int, choices=[0, 20, 50, 200, 1000], default=0)
     parser.add_argument("--trials", type=int, default=0)
     parser.add_argument("--increment", action="store_true")
     parser.add_argument("--return-tip", action="store_true")
diff --git a/hardware-testing/hardware_testing/gravimetric/config.py b/hardware-testing/hardware_testing/gravimetric/config.py
index 968de3ecca7..ef7f989faa4 100644
--- a/hardware-testing/hardware_testing/gravimetric/config.py
+++ b/hardware-testing/hardware_testing/gravimetric/config.py
@@ -88,30 +88,40 @@ class PhotometricConfig(VolumetricConfig):
 LIQUID_PROBE_SETTINGS: Dict[int, Dict[int, Dict[int, Dict[str, int]]]] = {
     50: {
         1: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 15,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         8: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
     },
     200: {
         96: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 5,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
         }
@@ -120,51 +130,56 @@ class PhotometricConfig(VolumetricConfig):
         1: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         8: {
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 15,
                 "sensor_threshold_pascals": 15,
             },
         },
         96: {
+            20: {
+                "mount_speed": 5,
+                "plunger_speed": 5,
+                "sensor_threshold_pascals": 15,
+            },
             50: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             200: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
             1000: {
                 "mount_speed": 5,
-                "plunger_speed": 20,
+                "plunger_speed": 5,
                 "sensor_threshold_pascals": 15,
             },
         },
@@ -194,6 +209,7 @@ def _get_liquid_probe_settings(
 QC_VOLUMES_G: Dict[int, Dict[int, List[Tuple[int, List[float]]]]] = {
     1: {
         50: [  # P50
+            (20, [1.0, 20.0]),
             (50, [1.0, 50.0]),  # T50
         ],
         1000: [  # P1000
@@ -214,10 +230,12 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: [
+            (20, [0.5, 1.0]),  # T20
             (50, [1.0, 50.0]),  # T50
             (200, [200.0]),  # T200
         ],
         1000: [  # P1000
+            (20, [5.0]),
             (50, [5.0]),  # T50
             (200, [200.0]),  # T200
             (1000, [1000.0]),  # T1000
@@ -279,7 +297,8 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: [
-            (50, [1.0, 5.0]),  # T50
+            (20, [1.0, 0.5]),  # T50
+            (50, [50.0]),  # T50
             (200, [200.0]),  # T200
         ],
         1000: [  # P1000
@@ -311,6 +330,11 @@ def _get_liquid_probe_settings(
     # channels: [Pipette: [tip: [Volume: (%d, Cv)]]]
     1: {
         50: {  # P50
+            20: {
+                1.0: (5.0, 4.0),
+                10.0: (1.0, 0.5),
+                20.0: (1, 0.4),
+            },
             50: {
                 1.0: (5.0, 4.0),
                 10.0: (1.0, 0.5),
@@ -363,12 +387,16 @@ def _get_liquid_probe_settings(
     },
     96: {
         200: {
-            50: {  # T50
+            20: {  # T20
+                0.5: (2.5, 2.0),
                 1.0: (2.5, 2.0),
                 2.0: (2.5, 2.0),
                 3.0: (2.5, 2.0),
                 5.0: (2.5, 2.0),
                 10.0: (3.1, 1.7),
+            },
+            50: {  # T50
+                1.0: (2.5, 2.0),
                 50.0: (1.5, 0.75),
             },
             200: {  # T200
@@ -378,6 +406,14 @@ def _get_liquid_probe_settings(
             },
         },
         1000: {  # P1000
+            20: {  # T20
+                1.0: (2.5, 2.0),
+                2.0: (2.5, 2.0),
+                3.0: (2.5, 2.0),
+                5.0: (2.5, 2.0),
+                10.0: (3.1, 1.7),
+                20.0: (3.1, 1.7),
+            },
             50: {  # T50
                 1.0: (2.5, 2.0),
                 2.0: (2.5, 2.0),
diff --git a/hardware-testing/hardware_testing/gravimetric/execute.py b/hardware-testing/hardware_testing/gravimetric/execute.py
index 44752543fd5..118eb164bcb 100644
--- a/hardware-testing/hardware_testing/gravimetric/execute.py
+++ b/hardware-testing/hardware_testing/gravimetric/execute.py
@@ -591,7 +591,7 @@ def run(cfg: config.GravimetricConfig, resources: TestResources) -> None:  # noq
     assert resources.recorder is not None
     recorder = resources.recorder
     if resources.ctx.is_simulating():
-        start_sim_mass = {50: 15, 200: 200, 1000: 200}
+        start_sim_mass = {20: 5, 50: 15, 200: 200, 1000: 200}
         resources.recorder.set_simulation_mass(start_sim_mass[cfg.tip_volume])
     os.makedirs(
         f"{resources.test_report.parent}/{resources.test_report._run_id}", exist_ok=True
diff --git a/hardware-testing/hardware_testing/gravimetric/execute_photometric.py b/hardware-testing/hardware_testing/gravimetric/execute_photometric.py
index 217109dd89d..a13da2785af 100644
--- a/hardware-testing/hardware_testing/gravimetric/execute_photometric.py
+++ b/hardware-testing/hardware_testing/gravimetric/execute_photometric.py
@@ -46,6 +46,7 @@
     "B": {"min": 10, "max": 49.99},
     "C": {"min": 2, "max": 9.999},
     "D": {"min": 1, "max": 1.999},
+    "E": {"min": 0, "max": 0.9999},
 }
 _MIN_START_VOLUME_UL = {1: 500, 8: 3000, 96: 30000}
 _MIN_END_VOLUME_UL = {1: 400, 8: 3000, 96: 10000}
@@ -191,6 +192,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
     )
 
     _record_measurement_and_store(MeasurementType.ASPIRATE)
+    if not trial.ctx.is_simulating():
+        input("请记录吸液状态，并尝试拍摄清晰的吸液后的针管照片..........")
     for i in range(num_dispenses):
         dest_name = _get_photo_plate_dest(trial.cfg, trial.trial)
         dest_well = trial.dest[dest_name]
@@ -215,6 +218,8 @@ def _record_measurement_and_store(m_type: MeasurementType) -> EnvironmentData:
             touch_tip=trial.cfg.touch_tip,
         )
         _record_measurement_and_store(MeasurementType.DISPENSE)
+        if not trial.ctx.is_simulating():
+            input("请记录排液状态，并尝试拍摄清晰的排液后的针管照片..........")
         trial.pipette._retract()  # retract to top of gantry
         if (i + 1) == num_dispenses:
             if not trial.cfg.same_tip:
diff --git a/hardware-testing/hardware_testing/gravimetric/helpers.py b/hardware-testing/hardware_testing/gravimetric/helpers.py
index fdeb8fa636e..5b3fcdc7a7e 100644
--- a/hardware-testing/hardware_testing/gravimetric/helpers.py
+++ b/hardware-testing/hardware_testing/gravimetric/helpers.py
@@ -485,6 +485,7 @@ def _load_tipracks(
         )
         for slot in cfg.slots_tiprack
     ]
+    print(f"LOAD TIPRack{use_adapters}")
     for ls in tiprack_load_settings:
         ui.print_info(f'Loading tiprack "{ls[1]}" in slot #{ls[0]}')
 
diff --git a/hardware-testing/hardware_testing/gravimetric/increments.py b/hardware-testing/hardware_testing/gravimetric/increments.py
index 76c90a45b44..069e879438c 100644
--- a/hardware-testing/hardware_testing/gravimetric/increments.py
+++ b/hardware-testing/hardware_testing/gravimetric/increments.py
@@ -267,9 +267,27 @@
     },
     96: {
         200: {
+            20: {
+                "default": [
+                    0.800,
+                    1.000,
+                    1.300,
+                    1.700,
+                    3.000,
+                    5.000,
+                    10.000,
+                    15.000,
+                    20.000,
+                    24.000,
+                ],
+            },
             50: {
                 "default": [
+                    0.700,
+                    1.000,
+                    1.500,
                     2.000,
+                    2.500,
                     3.000,
                     4.000,
                     5.000,
@@ -283,41 +301,21 @@
                     40.000,
                     60.000,
                 ],
-                "lowVolumeDefault": [
-                    1.100,
-                    1.200,
-                    1.370,
-                    1.700,
-                    2.040,
-                    2.660,
-                    3.470,
-                    3.960,
-                    4.350,
-                    4.800,
-                    5.160,
-                    5.890,
-                    6.730,
-                    8.200,
-                    10.020,
-                    11.100,
-                    14.910,
-                    28.940,
-                    48.27,
-                ],
             },
             200: {
                 "default": [
+                    1.000,
                     2.000,
-                    3.000,
                     4.000,
-                    5.000,
                     6.000,
-                    7.000,
                     8.000,
-                    9.000,
                     10.000,
+                    20.000,
                     50.000,
                     100.000,
+                    150.000,
+                    200.000,
+                    210.000,
                     220.000,
                 ],
             },
diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py
index c7021e60585..e9fc477446f 100644
--- a/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py
+++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/defaults.py
@@ -11,6 +11,8 @@
 _default_submerge_aspirate_mm = 1.5
 _p50_multi_submerge_aspirate_mm = 1.5
 _default_submerge_dispense_mm = 1.5
+_p200_default_submerge_aspirate_mm = 2.5
+_p200_default_submerge_dispense_mm = 3.0
 _default_retract_mm = 5.0
 _default_retract_discontinuity = 20
 
@@ -25,6 +27,38 @@
 _dispense_defaults: Dict[int, Dict[int, Dict[int, Dict[int, DispenseSettings]]]] = {
     1: {
         50: {  # P50
+            20: {  # T20
+                1: DispenseSettings(  # 1uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=57,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=7,
+                    blow_out_flow_rate=57,
+                ),
+                10: DispenseSettings(  # 10uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=57,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=2,
+                    blow_out_flow_rate=57,
+                ),
+                20: DispenseSettings(  # 20uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=57,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=2,
+                    blow_out_flow_rate=57,
+                ),
+            },
             50: {  # T50
                 1: DispenseSettings(  # 1uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -34,6 +68,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=7,
+                    blow_out_flow_rate=57,
                 ),
                 10: DispenseSettings(  # 10uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -43,6 +78,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=2,
+                    blow_out_flow_rate=57,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -52,6 +88,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=2,
+                    blow_out_flow_rate=57,
                 ),
             },
         },
@@ -65,6 +102,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=318,
                 ),
                 10: DispenseSettings(  # 10uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -74,6 +112,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=418,
                 ),
                 50: DispenseSettings(  # 10uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -83,6 +122,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=418,
                 ),
             },
             200: {  # T200
@@ -94,6 +134,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -103,6 +144,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
                 200: DispenseSettings(  # 200uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -112,6 +154,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
             },
             1000: {  # T1000
@@ -123,6 +166,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=160,
                 ),
                 100: DispenseSettings(  # 100uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -132,6 +176,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=716,
                 ),
                 1000: DispenseSettings(  # 1000uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -141,6 +186,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=716,
                 ),
             },
         },
@@ -156,6 +202,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=6,
+                    blow_out_flow_rate=57,
                 ),
                 10: DispenseSettings(  # 5uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -165,6 +212,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=2,
+                    blow_out_flow_rate=57,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -174,6 +222,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=2,
+                    blow_out_flow_rate=57,
                 ),
             },
         },
@@ -187,6 +236,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=318,
                 ),
                 10: DispenseSettings(  # 10uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -196,6 +246,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=478,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -205,6 +256,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=478,
                 ),
             },
             200: {  # T200
@@ -216,6 +268,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -225,6 +278,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
                 200: DispenseSettings(  # 200uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -234,6 +288,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=716,
                 ),
             },
             1000: {  # T1000
@@ -245,6 +300,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=160,
                 ),
                 100: DispenseSettings(  # 100uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -254,6 +310,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=716,
                 ),
                 1000: DispenseSettings(  # 1000uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -263,12 +320,45 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=716,
                 ),
             },
         },
     },
     96: {
         1000: {  # P1000
+            20: {  # T20
+                1: DispenseSettings(  # 5uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=80,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=5,
+                    blow_out_flow_rate=80,
+                ),
+                5: DispenseSettings(  # 10uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=80,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=5,
+                    blow_out_flow_rate=80,
+                ),
+                20: DispenseSettings(  # 50uL
+                    z_submerge_depth=_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=80,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=5,
+                    blow_out_flow_rate=80,
+                ),
+            },
             50: {  # T50
                 5: DispenseSettings(  # 5uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -278,6 +368,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
                 10: DispenseSettings(  # 10uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -287,6 +378,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -296,6 +388,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
             },
             200: {  # T200
@@ -307,6 +400,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
                 50: DispenseSettings(  # 50uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -316,6 +410,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
                 200: DispenseSettings(  # 200uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -325,6 +420,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=80,
                 ),
             },
             1000: {  # T1000
@@ -336,6 +432,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=80,
                 ),
                 100: DispenseSettings(  # 100uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -345,6 +442,7 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=80,
                 ),
                 1000: DispenseSettings(  # 1000uL
                     z_submerge_depth=_default_submerge_dispense_mm,
@@ -354,66 +452,105 @@
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=20,
+                    blow_out_flow_rate=80,
                 ),
             },
         },
         200: {  # P200
+            20: {  # T20
+                1: DispenseSettings(  # 5uL
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=3.5,
+                    blow_out_flow_rate=22,
+                ),
+                5: DispenseSettings(  # 10uL
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=7,
+                    blow_out_flow_rate=5,
+                ),
+                20: DispenseSettings(  # 20uL
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_dispense_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    blow_out_submerged=7,
+                    blow_out_flow_rate=5,
+                ),
+            },
             50: {  # T50
                 5: DispenseSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=10,
                 ),
                 10: DispenseSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=10,
                 ),
                 50: DispenseSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
                     blow_out_submerged=5,
+                    blow_out_flow_rate=10,
                 ),
             },
             200: {  # T200
                 5: DispenseSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
-                    blow_out_submerged=5,
+                    blow_out_submerged=15,
+                    blow_out_flow_rate=10,
                 ),
                 50: DispenseSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
-                    blow_out_submerged=5,
+                    blow_out_submerged=15,
+                    blow_out_flow_rate=10,
                 ),
                 200: DispenseSettings(  # 200uL
-                    z_submerge_depth=_default_submerge_dispense_mm,
+                    z_submerge_depth=_p200_default_submerge_dispense_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_dispense_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
-                    blow_out_submerged=5,
+                    blow_out_submerged=15,
+                    blow_out_flow_rate=10,
                 ),
             },
         },
@@ -423,6 +560,38 @@
 _aspirate_defaults: Dict[int, Dict[int, Dict[int, Dict[int, AspirateSettings]]]] = {
     1: {
         50: {  # P50
+            20: {  # T20
+                1: AspirateSettings(  # 1uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=35,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                10: AspirateSettings(  # 10uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=23.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                20: AspirateSettings(  # 20uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_p50_ul_sec_sec,
+                    plunger_flow_rate=35,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+            },
             50: {  # T50
                 1: AspirateSettings(  # 1uL
                     z_submerge_depth=_default_submerge_aspirate_mm,
@@ -691,6 +860,38 @@
     },
     96: {
         1000: {  # P1000
+            20: {  # T20
+                1: AspirateSettings(  # 5uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                5: AspirateSettings(  # 10uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                20: AspirateSettings(  # 50uL
+                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+            },
             50: {  # T50
                 5: AspirateSettings(  # 5uL
                     z_submerge_depth=_default_submerge_aspirate_mm,
@@ -789,9 +990,41 @@
             },
         },
         200: {  # P200
+            20: {  # T20
+                1: AspirateSettings(  # 5uL
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                5: AspirateSettings(  # 10uL
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+                20: AspirateSettings(  # 20uL
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
+                    plunger_acceleration=_default_accel_96ch_ul_sec_sec,
+                    plunger_flow_rate=6.5,  # ul/sec
+                    delay=_default_aspirate_delay_seconds,
+                    z_retract_discontinuity=_default_retract_discontinuity,
+                    z_retract_height=_default_retract_mm,
+                    leading_air_gap=0,
+                    trailing_air_gap=0.1,
+                ),
+            },
             50: {  # T50
                 5: AspirateSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -801,7 +1034,7 @@
                     trailing_air_gap=0.1,
                 ),
                 10: AspirateSettings(  # 10uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -811,7 +1044,7 @@
                     trailing_air_gap=0.1,
                 ),
                 50: AspirateSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
                     plunger_flow_rate=6.5,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
@@ -823,9 +1056,9 @@
             },
             200: {  # T200
                 5: AspirateSettings(  # 5uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
@@ -833,9 +1066,9 @@
                     trailing_air_gap=2,
                 ),
                 50: AspirateSettings(  # 50uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
@@ -843,9 +1076,9 @@
                     trailing_air_gap=3.5,
                 ),
                 200: AspirateSettings(  # 200uL
-                    z_submerge_depth=_default_submerge_aspirate_mm,
+                    z_submerge_depth=_p200_default_submerge_aspirate_mm,
                     plunger_acceleration=_default_accel_96ch_ul_sec_sec,
-                    plunger_flow_rate=80,  # ul/sec
+                    plunger_flow_rate=15,  # ul/sec
                     delay=_default_aspirate_delay_seconds,
                     z_retract_discontinuity=_default_retract_discontinuity,
                     z_retract_height=_default_retract_mm,
diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py
index 229d16c4b1a..9f03efe759a 100644
--- a/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py
+++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/definition.py
@@ -27,6 +27,7 @@ class DispenseSettings(LiquidSettings):
     """Dispense Settings."""
 
     blow_out_submerged: float  # microliters
+    blow_out_flow_rate: float  # ul/s
 
 
 @dataclass
@@ -90,5 +91,8 @@ def _interp(lower: float, upper: float) -> float:
             blow_out_submerged=_interp(
                 a.dispense.blow_out_submerged, b.dispense.blow_out_submerged
             ),
+            blow_out_flow_rate=_interp(
+                a.dispense.blow_out_flow_rate, b.dispense.blow_out_flow_rate
+            ),
         ),
     )
diff --git a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
index 9f059559f13..81fb1180580 100644
--- a/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
+++ b/hardware-testing/hardware_testing/gravimetric/liquid_class/pipetting.py
@@ -313,7 +313,7 @@ def _dispense_on_retract() -> None:
     # PHASE 1: APPROACH
     pipette.flow_rate.aspirate = liquid_class.aspirate.plunger_flow_rate
     pipette.flow_rate.dispense = liquid_class.dispense.plunger_flow_rate
-    pipette.flow_rate.blow_out = liquid_class.dispense.plunger_flow_rate
+    pipette.flow_rate.blow_out = liquid_class.dispense.blow_out_flow_rate
     pipette.move_to(well.bottom(approach_mm).move(channel_offset))
     _aspirate_on_approach() if aspirate or mix else _dispense_on_approach()
 
@@ -388,10 +388,20 @@ def aspirate_with_liquid_class(
     clear_accuracy_function: bool = False,
 ) -> None:
     """Aspirate with liquid class."""
-    pip_size = 50 if "50" in pipette.name else 1000
+    if "50" in pipette.name:
+        pip_size = 50
+    elif "200" in pipette.name:
+        pip_size = 200
+    else:
+        pip_size = 1000
+    print(f"pip_size:{pip_size}")
+    print(f"pipette channels :{pipette.channels}")
+    print(f"tip volume :{tip_volume}")
+    # pip_size = 50 if "50" in pipette.name else 1000
     liquid_class = get_liquid_class(
         pip_size, pipette.channels, tip_volume, int(aspirate_volume)
     )
+    print(f"aspirate liquid class : {(liquid_class.aspirate)}")
     _pipette_with_liquid_settings(
         ctx,
         pipette,
@@ -426,10 +436,20 @@ def dispense_with_liquid_class(
     clear_accuracy_function: bool = False,
 ) -> None:
     """Dispense with liquid class."""
-    pip_size = 50 if "50" in pipette.name else 1000
+    if "50" in pipette.name:
+        pip_size = 50
+    elif "200" in pipette.name:
+        pip_size = 200
+    else:
+        pip_size = 1000
+    print(f"pip_size:{pip_size}")
+    print(f"pipette channels :{pipette.channels}")
+    print(f"tip volume :{tip_volume}")
+    # pip_size = 50 if "50" in pipette.name else 1000
     liquid_class = get_liquid_class(
         pip_size, pipette.channels, tip_volume, int(dispense_volume)
     )
+    print(f"dispense liquid class : {(liquid_class.dispense)}")
     _pipette_with_liquid_settings(
         ctx,
         pipette,
diff --git a/hardware-testing/hardware_testing/gravimetric/report.py b/hardware-testing/hardware_testing/gravimetric/report.py
index 3a15e0b213e..94b80978e1d 100644
--- a/hardware-testing/hardware_testing/gravimetric/report.py
+++ b/hardware-testing/hardware_testing/gravimetric/report.py
@@ -104,6 +104,7 @@ def create_csv_test_report_photometric(
                 lines=[
                     CSVLine("robot", [str]),
                     CSVLine("pipette", [str]),
+                    CSVLine("tips_20ul", [str]),
                     CSVLine("tips_50ul", [str]),
                     CSVLine("tips_200ul", [str]),
                     CSVLine("tips_1000ul", [str]),
@@ -205,6 +206,7 @@ def _field_type_not_using_typing(t: Any) -> Any:
                 lines=[
                     CSVLine("robot", [str]),
                     CSVLine("pipette", [str]),
+                    CSVLine("tips_20ul", [str]),
                     CSVLine("tips_50ul", [str]),
                     CSVLine("tips_200ul", [str]),
                     CSVLine("tips_1000ul", [str]),
diff --git a/hardware-testing/hardware_testing/gravimetric/workarounds.py b/hardware-testing/hardware_testing/gravimetric/workarounds.py
index 7c182ddd079..5bb00de5575 100644
--- a/hardware-testing/hardware_testing/gravimetric/workarounds.py
+++ b/hardware-testing/hardware_testing/gravimetric/workarounds.py
@@ -4,7 +4,6 @@
 from typing import List
 import platform
 from json import loads as json_loads
-from hardware_testing.data import ui
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.protocol_api.labware import Labware
 from opentrons.protocol_api import InstrumentContext, ProtocolContext
@@ -96,7 +95,7 @@ def _offset_applies_to_labware(_o: dict) -> bool:
             return False
         offset_uri = _o["definitionUri"]
         if offset_uri[0:-1] != lw_uri[0:-1]:  # drop schema version number
-            ui.print_info(f"{_o} does not apply {offset_uri} != {lw_uri}")
+            # ui.print_info(f"{_o} does not apply {offset_uri} != {lw_uri}")
             # NOTE: we're allowing tip-rack adapters to share offsets
             #       because it doesn't make a difference which volume
             #       of tip it holds
diff --git a/hardware-testing/hardware_testing/liquid_sense/__main__.py b/hardware-testing/hardware_testing/liquid_sense/__main__.py
index 084f99eadee..6d3bf8e6031 100644
--- a/hardware-testing/hardware_testing/liquid_sense/__main__.py
+++ b/hardware-testing/hardware_testing/liquid_sense/__main__.py
@@ -38,6 +38,7 @@
 from hardware_testing.protocols.liquid_sense_lpc import (
     liquid_sense_ot3_p50_single_vial,
     liquid_sense_ot3_p50_multi_vial,
+    liquid_sense_ot3_p200_96_vial,
     liquid_sense_ot3_p1000_96_vial,
     liquid_sense_ot3_p1000_single_vial,
     liquid_sense_ot3_p1000_multi_vial,
@@ -53,7 +54,7 @@
 
 CREDENTIALS_PATH = "/var/lib/jupyter/notebooks/abr.json"
 
-API_LEVEL = "2.18"
+API_LEVEL = "2.21"
 
 LABWARE_OFFSETS: List[LabwareOffset] = []
 
@@ -75,6 +76,9 @@
         1: liquid_sense_ot3_p50_single_vial,
         8: liquid_sense_ot3_p50_multi_vial,
     },
+    200: {
+        96: liquid_sense_ot3_p200_96_vial,
+    },
     1000: {
         1: liquid_sense_ot3_p1000_single_vial,
         8: liquid_sense_ot3_p1000_multi_vial,
@@ -92,6 +96,7 @@
         8: "p1000_multi_flex",
         96: "p1000_96_flex",
     },
+    200: {96: "p200_96_flex"},
 }
 
 
@@ -188,8 +193,10 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
         if args.tip == 0:
             if args.pipette == 1000:
                 tip_volumes: List[int] = [50, 200, 1000]
-            else:
+            elif args.pipette == 50:
                 tip_volumes = [50]
+            else:
+                tip_volumes = [20, 50, 200]
         else:
             tip_volumes = [args.tip]
 
@@ -265,22 +272,24 @@ def build_run_args(cls, args: argparse.Namespace) -> "RunArgs":
 
     parser = argparse.ArgumentParser("Pipette Testing")
     parser.add_argument("--simulate", action="store_true")
-    parser.add_argument("--pipette", type=int, choices=[50, 1000], required=True)
+    parser.add_argument("--pipette", type=int, choices=[50, 200, 1000], required=True)
     parser.add_argument("--mount", type=str, choices=["left", "right"], default="left")
     parser.add_argument("--channels", type=int, choices=[1, 8, 96], default=1)
-    parser.add_argument("--tip", type=int, choices=[0, 50, 200, 1000], default=0)
+    parser.add_argument("--tip", type=int, choices=[0, 20, 50, 200, 1000], default=0)
     parser.add_argument("--return-tip", action="store_true")
-    parser.add_argument("--trials", type=int, default=7)
-    parser.add_argument("--trials-before-jog", type=int, default=7)
+    parser.add_argument("--trials", type=int, default=10)
+    parser.add_argument("--trials-before-jog", type=int, default=10)
     parser.add_argument("--z-speed", type=float, default=5)
     parser.add_argument("--aspirate", action="store_true")
-    parser.add_argument("--plunger-speed", type=float, default=15)
+    parser.add_argument("--plunger-speed", type=float, default=5)
     parser.add_argument("--no-multi-pass", action="store_true")
     parser.add_argument("--wet", action="store_true")
     parser.add_argument("--starting-tip", type=str, default="A1")
     parser.add_argument("--test-well", type=str, default="A1")
     parser.add_argument("--p-solo-time", type=float, default=0)
-    parser.add_argument("--google-sheet-name", type=str, default="LLD-Shared-Data")
+    parser.add_argument(
+        "--google-sheet-name", type=str, default="LLD-Shared-Data-96ch-200ul"
+    )
     parser.add_argument(
         "--gd-parent-folder", type=str, default="1b2V85fDPA0tNqjEhyHOGCWRZYgn8KsGf"
     )
diff --git a/hardware-testing/hardware_testing/liquid_sense/execute.py b/hardware-testing/hardware_testing/liquid_sense/execute.py
index 001abdaa82f..76f5a9f2799 100644
--- a/hardware-testing/hardware_testing/liquid_sense/execute.py
+++ b/hardware-testing/hardware_testing/liquid_sense/execute.py
@@ -15,9 +15,11 @@
 from hardware_testing.data import ui, get_testing_data_directory
 from opentrons.hardware_control.types import (
     InstrumentProbeType,
+    PipetteSensorId,
     OT3Mount,
     Axis,
     top_types,
+    PipetteSensorResponseQueue,
 )
 from opentrons.hardware_control.dev_types import PipetteDict
 
@@ -420,6 +422,7 @@ def _run_trial(
         probes.append(InstrumentProbeType.SECONDARY)
         probe_target = InstrumentProbeType.BOTH
     data_files: Dict[InstrumentProbeType, str] = {}
+    data_capture: PipetteSensorResponseQueue = PipetteSensorResponseQueue()
     for probe in probes:
         data_filename = f"pressure_sensor_data-trial{trial}-tip{tip}-{probe.name}.csv"
         data_file = f"{data_dir}/{run_args.name}/{run_args.run_id}/{data_filename}"
@@ -456,8 +459,42 @@ def _run_trial(
     run_args.recorder.set_sample_tag(f"trial-{trial}-{tip}ul")
     # TODO add in stuff for secondary probe
     try:
-        height = hw_api.liquid_probe(hw_mount, z_distance, lps, probe_target)
+        height = hw_api.liquid_probe(
+            hw_mount, z_distance, lps, probe_target, response_queue=data_capture
+        )
         result: LLDResult = LLDResult.success
+        # write the data files that used to be made automatically
+        if not run_args.ctx.is_simulating():
+            for probe in probes:
+                sensor_id = (
+                    PipetteSensorId.S0
+                    if probe == InstrumentProbeType.PRIMARY
+                    else PipetteSensorId.S1
+                )
+                as_dict = data_capture.get_nowait()
+                data = [d.to_float() for d in as_dict[sensor_id]]
+                with open(data_files[probe], "w") as d_file:
+                    writer = csv.writer(d_file)
+                    writer.writerow(
+                        [
+                            "time(s)",
+                            "Pressure(pascals)",
+                            "z_velocity(mm/s)",
+                            "plunger_velocity(mm/s)",
+                            "threshold(pascals)",
+                        ]
+                    )
+                    writer.writerow(
+                        [
+                            "0",
+                            "0",
+                            f"{run_args.z_speed}",
+                            f"{plunger_speed}",
+                            f"{lqid_cfg['sensor_threshold_pascals']}",
+                        ]
+                    )
+                    for i in range(len(data)):
+                        writer.writerow([f"{i*0.004}", f"{data[i]}"])
         if not run_args.ctx.is_simulating():
             for probe in data_files:
                 if _test_for_blockage(data_files[probe], lps.sensor_threshold_pascals):
diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
index 0905e1cdefd..981c070db6d 100644
--- a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
+++ b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
@@ -1147,6 +1147,8 @@ def _ul_per_mm_of_shaft_diameter(diameter: float) -> float:
         pip_nominal_ul_per_mm = _ul_per_mm_of_shaft_diameter(1)
     elif "p1000" in pip.model.lower():
         pip_nominal_ul_per_mm = _ul_per_mm_of_shaft_diameter(4.5)
+    elif "p200" in pip.model.lower():
+        pip_nominal_ul_per_mm = _ul_per_mm_of_shaft_diameter(2)
     else:
         raise RuntimeError(f"unexpected pipette model: {pip.model}")
     # 10000 is an arbitrarily large volume that none of our pipettes can reach
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_cavity_ot3_p50_single.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_cavity_ot3_p50_single.py
new file mode 100644
index 00000000000..8d56641eb1d
--- /dev/null
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_cavity_ot3_p50_single.py
@@ -0,0 +1,31 @@
+"""Gravimetric OT3."""
+from opentrons.protocol_api import ProtocolContext
+from opentrons.protocol_api._types import OffDeckType
+
+metadata = {"protocolName": "gravimetric-cavity-ot3-p50-single"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
+
+SLOT_SCALE = 4
+SLOTS_TIPRACK = {20: [2, 3, 5, 6, 7, 8, 9, 10], 50: [2, 3, 5, 6, 7, 8, 9, 10]}
+LABWARE_ON_SCALE = "radwag_pipette_calibration_vial"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    tipracks = [
+        ctx.load_labware(f"opentrons_flex_96_tiprack_{size}uL", slot)
+        for size, slots in SLOTS_TIPRACK.items()
+        for slot in slots
+    ]
+    vial = ctx.load_labware(LABWARE_ON_SCALE, SLOT_SCALE)
+    pipette = ctx.load_instrument("flex_1channel_50", "left")
+    for rack in tipracks:
+        pipette.pick_up_tip(rack["A1"])
+        pipette.aspirate(10, vial["A1"].top())
+        pipette.dispense(10, vial["A1"].top())
+        pipette.drop_tip(home_after=False)
+        ctx.move_labware(
+            rack,
+            new_location=OffDeckType.OFF_DECK,
+            use_gripper=False,
+        )
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96.py
index 6fe882f5370..6787297b382 100644
--- a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96.py
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96.py
@@ -8,6 +8,7 @@
 SLOT_SCALE = 4
 SLOTS_TIPRACK = {
     # TODO: add slot 12 when tipracks are disposable
+    20: [2, 3, 5, 6, 7, 8, 9, 10, 11],
     50: [2, 3, 5, 6, 7, 8, 9, 10, 11],
     200: [2, 3, 5, 6, 7, 8, 9, 10, 11],
     1000: [2, 3, 5, 6, 7, 8, 9, 10, 11],
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_20ul_tip-increment .py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_20ul_tip-increment .py
new file mode 100644
index 00000000000..e7e2cd28337
--- /dev/null
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_20ul_tip-increment .py	
@@ -0,0 +1,28 @@
+"""Photometric OT3 P1000."""
+from opentrons.protocol_api import ProtocolContext
+
+metadata = {"protocolName": "gravimetric-ot3-p200-96-20ul-tip"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
+
+SLOT_SCALE = 4
+SLOTS_TIPRACK = {
+    # TODO: add slot 12 when tipracks are disposable
+    20: [2, 3, 5, 6, 7, 8, 9, 10, 11],
+}
+LABWARE_ON_SCALE = "nest_1_reservoir_195ml"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    tipracks = [
+        ctx.load_labware(f"opentrons_flex_96_tiprack_{size}uL_adp", slot)
+        for size, slots in SLOTS_TIPRACK.items()
+        for slot in slots
+    ]
+    scale_labware = ctx.load_labware(LABWARE_ON_SCALE, SLOT_SCALE)
+    pipette = ctx.load_instrument("flex_96channel_200", "left")
+    for rack in tipracks:
+        pipette.pick_up_tip(rack["A1"])
+        pipette.aspirate(10, scale_labware["A1"].top())
+        pipette.dispense(10, scale_labware["A1"].top())
+        pipette.drop_tip(home_after=False)
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_50ul_tip-increment.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_50ul_tip-increment.py
new file mode 100644
index 00000000000..aaebef0f750
--- /dev/null
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p1000_96_50ul_tip-increment.py
@@ -0,0 +1,28 @@
+"""Photometric OT3 P1000."""
+from opentrons.protocol_api import ProtocolContext
+
+metadata = {"protocolName": "gravimetric-ot3-p200-96-50ul-tip"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
+
+SLOT_SCALE = 4
+SLOTS_TIPRACK = {
+    # TODO: add slot 12 when tipracks are disposable
+    50: [2, 3, 5, 6, 7, 8, 9, 10, 11],
+}
+LABWARE_ON_SCALE = "nest_1_reservoir_195ml"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    tipracks = [
+        ctx.load_labware(f"opentrons_flex_96_tiprack_{size}uL_adp", slot)
+        for size, slots in SLOTS_TIPRACK.items()
+        for slot in slots
+    ]
+    scale_labware = ctx.load_labware(LABWARE_ON_SCALE, SLOT_SCALE)
+    pipette = ctx.load_instrument("flex_96channel_200", "left")
+    for rack in tipracks:
+        pipette.pick_up_tip(rack["A1"])
+        pipette.aspirate(10, scale_labware["A1"].top())
+        pipette.dispense(10, scale_labware["A1"].top())
+        pipette.drop_tip(home_after=False)
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p200_96.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p200_96.py
index 726f5b72533..2847399f1c2 100644
--- a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p200_96.py
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p200_96.py
@@ -3,11 +3,12 @@
 from opentrons.protocol_api._types import OffDeckType
 
 metadata = {"protocolName": "gravimetric-ot3-p200-96"}
-requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
 
 SLOT_SCALE = 4
 SLOTS_TIPRACK = {
     # TODO: add slot 12 when tipracks are disposable
+    20: [2, 3, 5, 6, 7, 8, 9, 10, 11],
     50: [2, 3, 5, 6, 7, 8, 9, 10, 11],
     200: [2, 3, 5, 6, 7, 8, 9, 10, 11],
 }
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p50_single.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p50_single.py
index 864aa5342a6..25287d0a9e0 100644
--- a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p50_single.py
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/gravimetric_ot3_p50_single.py
@@ -7,6 +7,7 @@
 SLOT_SCALE = 4
 SLOTS_TIPRACK = {
     50: [3],
+    20: [6],
 }
 LABWARE_ON_SCALE = "radwag_pipette_calibration_vial"
 
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/photometric_ot3_p200_96_sz.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/photometric_ot3_p200_96_sz.py
new file mode 100644
index 00000000000..479c132ce90
--- /dev/null
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/gravimetric/photometric_ot3_p200_96_sz.py
@@ -0,0 +1,37 @@
+"""Photometric OT3 P1000."""
+from opentrons.protocol_api import ProtocolContext
+
+metadata = {"protocolName": "photometric-ot3-p200-96"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
+
+SLOTS_TIPRACK = {
+    50: [5, 6, 8, 9, 11],
+    200: [5, 6, 8, 9, 11],  # NOTE: ignoring this tip-rack during run() method
+    1000: [5, 6, 8, 9, 11],
+}
+SLOT_PLATE = 3
+SLOT_RESERVOIR = 2
+
+RESERVOIR_LABWARE = "nest_1_reservoir_195ml"
+PHOTOPLATE_LABWARE = "corning_96_wellplate_360ul_flat"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    tipracks = [
+        # FIXME: use official tip-racks once available
+        ctx.load_labware(
+            f"opentrons_flex_96_tiprack_{size}uL_adp", slot, namespace="custom_beta"
+        )
+        for size, slots in SLOTS_TIPRACK.items()
+        for slot in slots
+        if size == 50  # only calibrate 50ul tips for 96ch test
+    ]
+    reservoir = ctx.load_labware(RESERVOIR_LABWARE, SLOT_RESERVOIR)
+    plate = ctx.load_labware(PHOTOPLATE_LABWARE, SLOT_PLATE)
+    pipette = ctx.load_instrument("flex_96channel_200", "left")
+    for rack in tipracks:
+        pipette.pick_up_tip(rack["A1"])
+        pipette.aspirate(10, reservoir["A1"].top())
+        pipette.dispense(10, plate["A1"].top())
+        pipette.drop_tip(home_after=False)
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p1000_96.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p1000_96.py
index 2cb4dcc1daf..822c6ba326a 100644
--- a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p1000_96.py
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p1000_96.py
@@ -6,6 +6,7 @@
 requirements = {"robotType": "Flex", "apiLevel": "2.15"}
 
 SLOTS_TIPRACK = {
+    20: [5, 6, 8, 9, 11],
     50: [5, 6, 8, 9, 11],
     200: [5, 6, 8, 9, 11],
 }
@@ -23,7 +24,7 @@ def run(ctx: ProtocolContext) -> None:
     pipette = ctx.load_instrument("flex_96channel_1000", "left")
     adapters = [
         ctx.load_adapter("opentrons_flex_96_tiprack_adapter", slot)
-        for slot in SLOTS_TIPRACK[50]
+        for slot in SLOTS_TIPRACK[20]
     ]
     for tip_size in SLOTS_TIPRACK.keys():
         tipracks = [
diff --git a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p200_96.py b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p200_96.py
index 092c00e5878..5e999596b28 100644
--- a/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p200_96.py
+++ b/hardware-testing/hardware_testing/protocols/gravimetric_lpc/photometric/photometric_ot3_p200_96.py
@@ -6,6 +6,7 @@
 requirements = {"robotType": "Flex", "apiLevel": "2.15"}
 
 SLOTS_TIPRACK = {
+    20: [5, 6, 8, 9, 11],
     50: [5, 6, 8, 9, 11],
     200: [5, 6, 8, 9, 11],
 }
@@ -23,7 +24,7 @@ def run(ctx: ProtocolContext) -> None:
     pipette = ctx.load_instrument("flex_96channel_200", "left")
     adapters = [
         ctx.load_adapter("opentrons_flex_96_tiprack_adapter", slot)
-        for slot in SLOTS_TIPRACK[50]
+        for slot in SLOTS_TIPRACK[20]
     ]
     for tip_size in SLOTS_TIPRACK.keys():
         tipracks = [
diff --git a/hardware-testing/hardware_testing/protocols/liquid_sense/lld_test_empty_wells.py b/hardware-testing/hardware_testing/protocols/liquid_sense/lld_test_empty_wells.py
index 3adfd8e3208..9dafa3a9803 100644
--- a/hardware-testing/hardware_testing/protocols/liquid_sense/lld_test_empty_wells.py
+++ b/hardware-testing/hardware_testing/protocols/liquid_sense/lld_test_empty_wells.py
@@ -14,6 +14,7 @@
     PipetteChannelType,
     PipetteModelType,
     PipetteVersionType,
+    PipetteOEMType,
 )
 
 ###########################################
@@ -113,6 +114,7 @@ def _setup(
                 major=int(pip_model_list[-1][-3]),  # type: ignore[arg-type]
                 minor=int(pip_model_list[-1][-1]),  # type: ignore[arg-type]
             ),
+            oem=PipetteOEMType.EM if "em" in pipette.model else PipetteOEMType.OT,
         )
         # Writes details about test run to google sheet.
         tipVolume = "t" + str(TIP_SIZE)
diff --git a/hardware-testing/hardware_testing/protocols/liquid_sense_lpc/liquid_sense_ot3_p200_96_vial.py b/hardware-testing/hardware_testing/protocols/liquid_sense_lpc/liquid_sense_ot3_p200_96_vial.py
new file mode 100644
index 00000000000..4942f192700
--- /dev/null
+++ b/hardware-testing/hardware_testing/protocols/liquid_sense_lpc/liquid_sense_ot3_p200_96_vial.py
@@ -0,0 +1,41 @@
+"""lld OT3 P200."""
+from opentrons.protocol_api import ProtocolContext, OFF_DECK
+
+metadata = {"protocolName": "liquid-sense-ot3-p200-96-vial"}
+requirements = {"robotType": "Flex", "apiLevel": "2.21"}
+
+SLOT_SCALE = 1
+SLOT_DIAL = 9
+
+SLOTS_TIPRACK = {
+    20: [3],
+    50: [3],
+    200: [3],
+}
+
+LABWARE_ON_SCALE = "radwag_pipette_calibration_vial"
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    trash = ctx.load_trash_bin("A3")
+    vial = ctx.load_labware(LABWARE_ON_SCALE, SLOT_SCALE)
+    dial = ctx.load_labware("dial_indicator", SLOT_DIAL)
+    pipette = ctx.load_instrument("flex_96channel_1000", "left")
+    adapters = [
+        ctx.load_adapter("opentrons_flex_96_tiprack_adapter", slot)
+        for slot in SLOTS_TIPRACK[50]
+    ]
+    for size, slots in SLOTS_TIPRACK.items():
+        tipracks = [
+            adapter.load_labware(f"opentrons_flex_96_tiprack_{size}uL")
+            for adapter in adapters
+        ]
+        for rack in tipracks:
+            pipette.pick_up_tip(rack["A1"])
+            pipette.aspirate(10, vial["A1"].top())
+            pipette.dispense(10, vial["A1"].top())
+            pipette.aspirate(10, dial["A1"].top())
+            pipette.dispense(10, dial["A1"].top())
+            pipette.drop_tip(trash)
+            ctx.move_labware(rack, OFF_DECK)
diff --git a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
index c0b49e376bb..69623381d96 100644
--- a/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
+++ b/hardware/opentrons_hardware/drivers/can_bus/can_messenger.py
@@ -1,4 +1,5 @@
 """Can messenger class."""
+
 from __future__ import annotations
 import asyncio
 from inspect import Traceback
@@ -361,7 +362,11 @@ async def _read_task_shield(self) -> None:
                 return
             except BaseException:
                 log.exception("Exception in read")
+                await asyncio.sleep(0)
                 continue
+            else:
+                log.error("read task finished, this should not happen")
+                await asyncio.sleep(0)
 
     async def _read_task(self) -> None:
         """Read task."""
diff --git a/opentrons-ai-client/src/__testing-utils__/renderWithProviders.tsx b/opentrons-ai-client/src/__testing-utils__/renderWithProviders.tsx
index 4f442fa42b9..897e74920c8 100644
--- a/opentrons-ai-client/src/__testing-utils__/renderWithProviders.tsx
+++ b/opentrons-ai-client/src/__testing-utils__/renderWithProviders.tsx
@@ -1,28 +1,35 @@
 // render using targetted component using @testing-library/react
 // with wrapping providers for i18next and redux
-import type * as React from 'react'
 import { QueryClient, QueryClientProvider } from 'react-query'
 import { I18nextProvider } from 'react-i18next'
 import { render } from '@testing-library/react'
 
-import type { RenderOptions, RenderResult } from '@testing-library/react'
 import { useHydrateAtoms } from 'jotai/utils'
 import { Provider } from 'jotai'
 
+import type {
+  ComponentProps,
+  ComponentType,
+  PropsWithChildren,
+  ReactElement,
+  ReactNode,
+} from 'react'
+import type { RenderOptions, RenderResult } from '@testing-library/react'
+
 interface HydrateAtomsProps {
   initialValues: Array<[any, any]>
-  children: React.ReactNode
+  children: ReactNode
 }
 
 interface TestProviderProps {
   initialValues: Array<[any, any]>
-  children: React.ReactNode
+  children: ReactNode
 }
 
 const HydrateAtoms = ({
   initialValues,
   children,
-}: HydrateAtomsProps): React.ReactNode => {
+}: HydrateAtomsProps): ReactNode => {
   useHydrateAtoms(initialValues)
   return children
 }
@@ -30,7 +37,7 @@ const HydrateAtoms = ({
 export const TestProvider = ({
   initialValues,
   children,
-}: TestProviderProps): React.ReactNode => (
+}: TestProviderProps): ReactNode => (
   <Provider>
     <HydrateAtoms initialValues={initialValues}>{children}</HydrateAtoms>
   </Provider>
@@ -38,19 +45,19 @@ export const TestProvider = ({
 
 export interface RenderWithProvidersOptions extends RenderOptions {
   initialValues?: Array<[any, any]>
-  i18nInstance: React.ComponentProps<typeof I18nextProvider>['i18n']
+  i18nInstance: ComponentProps<typeof I18nextProvider>['i18n']
 }
 
 export function renderWithProviders(
-  Component: React.ReactElement,
+  Component: ReactElement,
   options?: RenderWithProvidersOptions
 ): RenderResult {
   const { i18nInstance = null, initialValues = [] } = options ?? {}
 
   const queryClient = new QueryClient()
 
-  const ProviderWrapper: React.ComponentType<
-    React.PropsWithChildren<Record<string, unknown>>
+  const ProviderWrapper: ComponentType<
+    PropsWithChildren<Record<string, unknown>>
   > = ({ children }) => {
     const BaseWrapper = (
       <QueryClientProvider client={queryClient}>
diff --git a/opentrons-ai-client/src/atoms/ResizeBar/index.tsx b/opentrons-ai-client/src/atoms/ResizeBar/index.tsx
index 58ba202eee0..73a8db3f30f 100644
--- a/opentrons-ai-client/src/atoms/ResizeBar/index.tsx
+++ b/opentrons-ai-client/src/atoms/ResizeBar/index.tsx
@@ -5,10 +5,12 @@ import {
   POSITION_RELATIVE,
 } from '@opentrons/components'
 
+import type { MouseEvent } from 'react'
+
 export function ResizeBar({
   handleMouseDown,
 }: {
-  handleMouseDown: (e: React.MouseEvent<HTMLDivElement>) => void
+  handleMouseDown: (e: MouseEvent<HTMLDivElement>) => void
 }): JSX.Element {
   return (
     <div
diff --git a/opentrons-ai-client/src/atoms/SendButton/__tests__/SendButton.test.tsx b/opentrons-ai-client/src/atoms/SendButton/__tests__/SendButton.test.tsx
index e2035a32189..5dcade8da5c 100644
--- a/opentrons-ai-client/src/atoms/SendButton/__tests__/SendButton.test.tsx
+++ b/opentrons-ai-client/src/atoms/SendButton/__tests__/SendButton.test.tsx
@@ -1,17 +1,18 @@
-import type * as React from 'react'
 import { describe, it, vi, beforeEach, expect } from 'vitest'
 import { fireEvent, screen } from '@testing-library/react'
 import { renderWithProviders } from '../../../__testing-utils__'
 
 import { SendButton } from '../index'
 
+import type { ComponentProps } from 'react'
+
 const mockHandleClick = vi.fn()
-const render = (props: React.ComponentProps<typeof SendButton>) => {
+const render = (props: ComponentProps<typeof SendButton>) => {
   return renderWithProviders(<SendButton {...props} />)
 }
 
 describe('SendButton', () => {
-  let props: React.ComponentProps<typeof SendButton>
+  let props: ComponentProps<typeof SendButton>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/atoms/TextAreaField/index.tsx b/opentrons-ai-client/src/atoms/TextAreaField/index.tsx
index d1c1f0d8c17..1335196971f 100644
--- a/opentrons-ai-client/src/atoms/TextAreaField/index.tsx
+++ b/opentrons-ai-client/src/atoms/TextAreaField/index.tsx
@@ -1,22 +1,30 @@
+import { forwardRef } from 'react'
+import styled, { css } from 'styled-components'
 import {
-  TYPOGRAPHY,
-  useHoverTooltip,
-  RESPONSIVENESS,
-  SPACING,
-  COLORS,
-  BORDERS,
-  Flex,
   ALIGN_CENTER,
+  BORDERS,
+  COLORS,
   DIRECTION_COLUMN,
   DIRECTION_ROW,
-  StyledText,
+  Flex,
   Icon,
-  Tooltip,
+  RESPONSIVENESS,
+  SPACING,
+  StyledText,
   TEXT_ALIGN_RIGHT,
+  Tooltip,
+  TYPOGRAPHY,
+  useHoverTooltip,
 } from '@opentrons/components'
+
+import type {
+  ChangeEventHandler,
+  FocusEvent,
+  MouseEvent,
+  MutableRefObject,
+  ReactNode,
+} from 'react'
 import type { IconName } from '@opentrons/components'
-import * as React from 'react'
-import styled, { css } from 'styled-components'
 
 export const INPUT_TYPE_NUMBER = 'number' as const
 export const LEGACY_INPUT_TYPE_TEXT = 'text' as const
@@ -27,7 +35,7 @@ export interface TextAreaFieldProps {
   /** field is disabled if value is true */
   disabled?: boolean
   /** change handler */
-  onChange?: React.ChangeEventHandler<HTMLTextAreaElement>
+  onChange?: ChangeEventHandler<HTMLTextAreaElement>
   /** name of field in form */
   name?: string
   /** optional ID of <textarea> element */
@@ -35,7 +43,7 @@ export interface TextAreaFieldProps {
   /** placeholder text */
   placeholder?: string
   /** optional suffix component, appears to the right of textarea text */
-  units?: React.ReactNode
+  units?: ReactNode
   /** current value of text in box, defaults to '' */
   value?: string | number | null
   /** if included, TextAreaField will use error style and display error instead of caption */
@@ -47,11 +55,11 @@ export interface TextAreaFieldProps {
   /** optional caption. hidden when `error` is given */
   caption?: string | null
   /** mouse click handler */
-  onClick?: (event: React.MouseEvent<HTMLTextAreaElement>) => unknown
+  onClick?: (event: MouseEvent<HTMLTextAreaElement>) => unknown
   /** focus handler */
-  onFocus?: (event: React.FocusEvent<HTMLTextAreaElement>) => unknown
+  onFocus?: (event: FocusEvent<HTMLTextAreaElement>) => unknown
   /** blur handler */
-  onBlur?: (event: React.FocusEvent<HTMLTextAreaElement>) => unknown
+  onBlur?: (event: FocusEvent<HTMLTextAreaElement>) => unknown
   /** makes textarea field read-only */
   readOnly?: boolean
   /** html tabindex property */
@@ -68,7 +76,7 @@ export interface TextAreaFieldProps {
     | typeof TYPOGRAPHY.textAlignLeft
     | typeof TYPOGRAPHY.textAlignCenter
   /** react useRef to control textarea field instead of react event */
-  ref?: React.MutableRefObject<HTMLTextAreaElement | null>
+  ref?: MutableRefObject<HTMLTextAreaElement | null>
   /** optional IconName to display icon aligned to left of textarea field */
   leftIcon?: IconName
   /** if true, show delete icon aligned to right of textarea field */
@@ -85,7 +93,7 @@ export interface TextAreaFieldProps {
   height?: string
 }
 
-export const TextAreaField = React.forwardRef<
+export const TextAreaField = forwardRef<
   HTMLTextAreaElement,
   TextAreaFieldProps
 >(
diff --git a/opentrons-ai-client/src/molecules/Accordion/__tests__/Accordion.test.tsx b/opentrons-ai-client/src/molecules/Accordion/__tests__/Accordion.test.tsx
index 4be089d8398..1bd59cb4774 100644
--- a/opentrons-ai-client/src/molecules/Accordion/__tests__/Accordion.test.tsx
+++ b/opentrons-ai-client/src/molecules/Accordion/__tests__/Accordion.test.tsx
@@ -1,17 +1,18 @@
-import type * as React from 'react'
 import { describe, it, vi, beforeEach, expect } from 'vitest'
 import { fireEvent, screen } from '@testing-library/react'
 import { renderWithProviders } from '../../../__testing-utils__'
 
 import { Accordion } from '../index'
 
+import type { ComponentProps } from 'react'
+
 const mockHandleClick = vi.fn()
-const render = (props: React.ComponentProps<typeof Accordion>) => {
+const render = (props: ComponentProps<typeof Accordion>) => {
   return renderWithProviders(<Accordion {...props} />)
 }
 
 describe('Accordion', () => {
-  let props: React.ComponentProps<typeof Accordion>
+  let props: ComponentProps<typeof Accordion>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/molecules/Accordion/index.tsx b/opentrons-ai-client/src/molecules/Accordion/index.tsx
index f45294faa70..8c8d57e7b3b 100644
--- a/opentrons-ai-client/src/molecules/Accordion/index.tsx
+++ b/opentrons-ai-client/src/molecules/Accordion/index.tsx
@@ -16,6 +16,7 @@ import {
   CURSOR_DEFAULT,
 } from '@opentrons/components'
 
+import type { MouseEvent, ReactNode } from 'react'
 interface AccordionProps {
   id?: string
   handleClick: () => void
@@ -23,7 +24,7 @@ interface AccordionProps {
   isCompleted?: boolean
   disabled?: boolean
   heading?: string
-  children: React.ReactNode
+  children: ReactNode
 }
 
 const ACCORDION = 'accordion'
@@ -42,7 +43,7 @@ export function Accordion({
 }: AccordionProps): JSX.Element {
   const contentRef = useRef<HTMLDivElement>(null)
 
-  const handleContainerClick = (e: React.MouseEvent): void => {
+  const handleContainerClick = (e: MouseEvent): void => {
     if (
       (e.target as HTMLElement).tagName !== 'BUTTON' &&
       !disabled &&
@@ -52,7 +53,7 @@ export function Accordion({
     }
   }
 
-  const handleButtonClick = (e: React.MouseEvent): void => {
+  const handleButtonClick = (e: MouseEvent): void => {
     if (!isOpen && !disabled) {
       e.stopPropagation()
       handleClick()
diff --git a/opentrons-ai-client/src/molecules/ChatDisplay/__tests__/ChatDisplay.test.tsx b/opentrons-ai-client/src/molecules/ChatDisplay/__tests__/ChatDisplay.test.tsx
index dffdcaa46d3..ac76db2231a 100644
--- a/opentrons-ai-client/src/molecules/ChatDisplay/__tests__/ChatDisplay.test.tsx
+++ b/opentrons-ai-client/src/molecules/ChatDisplay/__tests__/ChatDisplay.test.tsx
@@ -1,4 +1,3 @@
-import type * as React from 'react'
 import { fireEvent, screen, waitFor } from '@testing-library/react'
 import { describe, it, beforeEach, afterEach, vi, expect } from 'vitest'
 import { renderWithProviders } from '../../../__testing-utils__'
@@ -7,6 +6,8 @@ import { i18n } from '../../../i18n'
 import { ChatDisplay } from '../index'
 import { useForm, FormProvider } from 'react-hook-form'
 
+import type { ComponentProps } from 'react'
+
 const mockUseTrackEvent = vi.fn()
 
 vi.mock('../../../resources/hooks/useTrackEvent', () => ({
@@ -17,7 +18,7 @@ vi.mock('../../../hooks/useTrackEvent', () => ({
   useTrackEvent: () => mockUseTrackEvent,
 }))
 
-const RenderChatDisplay = (props: React.ComponentProps<typeof ChatDisplay>) => {
+const RenderChatDisplay = (props: ComponentProps<typeof ChatDisplay>) => {
   const methods = useForm({
     defaultValues: {},
   })
@@ -29,14 +30,14 @@ const RenderChatDisplay = (props: React.ComponentProps<typeof ChatDisplay>) => {
   )
 }
 
-const render = (props: React.ComponentProps<typeof ChatDisplay>) => {
+const render = (props: ComponentProps<typeof ChatDisplay>) => {
   return renderWithProviders(<RenderChatDisplay {...props} />, {
     i18nInstance: i18n,
   })
 }
 
 describe('ChatDisplay', () => {
-  let props: React.ComponentProps<typeof ChatDisplay>
+  let props: ComponentProps<typeof ChatDisplay>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/molecules/InputPrompt/__tests__/InputPrompt.test.tsx b/opentrons-ai-client/src/molecules/InputPrompt/__tests__/InputPrompt.test.tsx
index 3f704a39dda..731f8929c4a 100644
--- a/opentrons-ai-client/src/molecules/InputPrompt/__tests__/InputPrompt.test.tsx
+++ b/opentrons-ai-client/src/molecules/InputPrompt/__tests__/InputPrompt.test.tsx
@@ -1,4 +1,3 @@
-import type * as React from 'react'
 import { describe, it, expect, vi } from 'vitest'
 import { FormProvider, useForm } from 'react-hook-form'
 import { fireEvent, screen, waitFor } from '@testing-library/react'
@@ -6,6 +5,8 @@ import { renderWithProviders } from '../../../__testing-utils__'
 import { i18n } from '../../../i18n'
 import { InputPrompt } from '../index'
 
+import type { ReactNode } from 'react'
+
 const mockUseTrackEvent = vi.fn()
 
 vi.mock('../../../resources/hooks/useTrackEvent', () => ({
@@ -17,7 +18,7 @@ vi.mock('../../../hooks/useTrackEvent', () => ({
 }))
 
 const WrappingForm = (wrappedComponent: {
-  children: React.ReactNode
+  children: ReactNode
 }): JSX.Element => {
   const methods = useForm({
     defaultValues: {
diff --git a/opentrons-ai-client/src/molecules/PrimaryFloatingButton/__tests__/PrimaryFloatingButton.test.tsx b/opentrons-ai-client/src/molecules/PrimaryFloatingButton/__tests__/PrimaryFloatingButton.test.tsx
index 8cb297f7501..f09fcafc7bf 100644
--- a/opentrons-ai-client/src/molecules/PrimaryFloatingButton/__tests__/PrimaryFloatingButton.test.tsx
+++ b/opentrons-ai-client/src/molecules/PrimaryFloatingButton/__tests__/PrimaryFloatingButton.test.tsx
@@ -1,16 +1,17 @@
-import type * as React from 'react'
 import { describe, it, beforeEach, expect } from 'vitest'
 import { fireEvent, screen } from '@testing-library/react'
 import { BORDERS, COLORS, TYPOGRAPHY, SPACING } from '@opentrons/components'
 import { renderWithProviders } from '../../../__testing-utils__'
 import { PrimaryFloatingButton } from '../index'
 
-const render = (props: React.ComponentProps<typeof PrimaryFloatingButton>) => {
+import type { ComponentProps } from 'react'
+
+const render = (props: ComponentProps<typeof PrimaryFloatingButton>) => {
   return renderWithProviders(<PrimaryFloatingButton {...props} />)
 }
 
 describe('PrimaryFloatingButton', () => {
-  let props: React.ComponentProps<typeof PrimaryFloatingButton>
+  let props: ComponentProps<typeof PrimaryFloatingButton>
   beforeEach(() => {
     props = {
       buttonText: 'primary floating button',
diff --git a/opentrons-ai-client/src/molecules/PromptPreview/__tests__/PromptPreview.test.tsx b/opentrons-ai-client/src/molecules/PromptPreview/__tests__/PromptPreview.test.tsx
index ab7d69543ba..beb08893f3c 100644
--- a/opentrons-ai-client/src/molecules/PromptPreview/__tests__/PromptPreview.test.tsx
+++ b/opentrons-ai-client/src/molecules/PromptPreview/__tests__/PromptPreview.test.tsx
@@ -4,19 +4,21 @@ import { renderWithProviders } from '../../../__testing-utils__'
 import { i18n } from '../../../i18n'
 import { PromptPreview } from '..'
 
+import type { ComponentProps } from 'react'
+
 const PROMPT_PREVIEW_PLACEHOLDER_MESSAGE =
   'As you complete the sections on the left, your prompt will be built here. When all requirements are met you will be able to generate the protocol.'
 
 const mockHandleClick = vi.fn()
 
-const render = (props: React.ComponentProps<typeof PromptPreview>) => {
+const render = (props: ComponentProps<typeof PromptPreview>) => {
   return renderWithProviders(<PromptPreview {...props} />, {
     i18nInstance: i18n,
   })
 }
 
 describe('PromptPreview', () => {
-  let props: React.ComponentProps<typeof PromptPreview>
+  let props: ComponentProps<typeof PromptPreview>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/molecules/PromptPreviewSection/__tests__/PromptPreviewSection.test.tsx b/opentrons-ai-client/src/molecules/PromptPreviewSection/__tests__/PromptPreviewSection.test.tsx
index e194bae5a8e..29bc65972a6 100644
--- a/opentrons-ai-client/src/molecules/PromptPreviewSection/__tests__/PromptPreviewSection.test.tsx
+++ b/opentrons-ai-client/src/molecules/PromptPreviewSection/__tests__/PromptPreviewSection.test.tsx
@@ -1,4 +1,3 @@
-import type * as React from 'react'
 import { screen } from '@testing-library/react'
 import { describe, it, beforeEach, expect } from 'vitest'
 import { renderWithProviders } from '../../../__testing-utils__'
@@ -6,14 +5,16 @@ import { i18n } from '../../../i18n'
 
 import { PromptPreviewSection } from '../index'
 
-const render = (props: React.ComponentProps<typeof PromptPreviewSection>) => {
+import type { ComponentProps } from 'react'
+
+const render = (props: ComponentProps<typeof PromptPreviewSection>) => {
   return renderWithProviders(<PromptPreviewSection {...props} />, {
     i18nInstance: i18n,
   })
 }
 
 describe('PromptPreviewSection', () => {
-  let props: React.ComponentProps<typeof PromptPreviewSection>
+  let props: ComponentProps<typeof PromptPreviewSection>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/molecules/UploadInput/index.tsx b/opentrons-ai-client/src/molecules/UploadInput/index.tsx
index 77dc5a2616d..89877f38c33 100644
--- a/opentrons-ai-client/src/molecules/UploadInput/index.tsx
+++ b/opentrons-ai-client/src/molecules/UploadInput/index.tsx
@@ -1,4 +1,4 @@
-import * as React from 'react'
+import { useRef, useState } from 'react'
 import styled, { css } from 'styled-components'
 import { useTranslation } from 'react-i18next'
 import {
@@ -18,6 +18,12 @@ import {
   TYPOGRAPHY,
 } from '@opentrons/components'
 
+import type {
+  ChangeEventHandler,
+  DragEventHandler,
+  MouseEventHandler,
+} from 'react'
+
 const StyledLabel = styled.label`
   display: ${DISPLAY_FLEX};
   cursor: ${CURSOR_POINTER};
@@ -66,39 +72,37 @@ export function UploadInput(props: UploadInputProps): JSX.Element | null {
   } = props
   const { t } = useTranslation('protocol_info')
 
-  const fileInput = React.useRef<HTMLInputElement>(null)
-  const [isFileOverDropZone, setIsFileOverDropZone] = React.useState<boolean>(
-    false
-  )
-  const [isHover, setIsHover] = React.useState<boolean>(false)
-  const handleDrop: React.DragEventHandler<HTMLLabelElement> = e => {
+  const fileInput = useRef<HTMLInputElement>(null)
+  const [isFileOverDropZone, setIsFileOverDropZone] = useState<boolean>(false)
+  const [isHover, setIsHover] = useState<boolean>(false)
+  const handleDrop: DragEventHandler<HTMLLabelElement> = e => {
     e.preventDefault()
     e.stopPropagation()
     Array.from(e.dataTransfer.files).forEach(f => onUpload(f))
     setIsFileOverDropZone(false)
   }
-  const handleDragEnter: React.DragEventHandler<HTMLLabelElement> = e => {
+  const handleDragEnter: DragEventHandler<HTMLLabelElement> = e => {
     e.preventDefault()
     e.stopPropagation()
   }
-  const handleDragLeave: React.DragEventHandler<HTMLLabelElement> = e => {
+  const handleDragLeave: DragEventHandler<HTMLLabelElement> = e => {
     e.preventDefault()
     e.stopPropagation()
     setIsFileOverDropZone(false)
     setIsHover(false)
   }
-  const handleDragOver: React.DragEventHandler<HTMLLabelElement> = e => {
+  const handleDragOver: DragEventHandler<HTMLLabelElement> = e => {
     e.preventDefault()
     e.stopPropagation()
     setIsFileOverDropZone(true)
     setIsHover(true)
   }
 
-  const handleClick: React.MouseEventHandler<HTMLButtonElement> = _event => {
+  const handleClick: MouseEventHandler<HTMLButtonElement> = _event => {
     onClick != null ? onClick() : fileInput.current?.click()
   }
 
-  const onChange: React.ChangeEventHandler<HTMLInputElement> = event => {
+  const onChange: ChangeEventHandler<HTMLInputElement> = event => {
     ;[...(event.target.files ?? [])].forEach(f => onUpload(f))
     if ('value' in event.currentTarget) event.currentTarget.value = ''
   }
diff --git a/opentrons-ai-client/src/organisms/LabwareModal/index.tsx b/opentrons-ai-client/src/organisms/LabwareModal/index.tsx
index d677f6fc14e..3d87687cf73 100644
--- a/opentrons-ai-client/src/organisms/LabwareModal/index.tsx
+++ b/opentrons-ai-client/src/organisms/LabwareModal/index.tsx
@@ -1,3 +1,4 @@
+import { Fragment, useEffect, useMemo, useState } from 'react'
 import {
   DIRECTION_COLUMN,
   Flex,
@@ -14,12 +15,13 @@ import {
 import { useFormContext } from 'react-hook-form'
 import { useTranslation } from 'react-i18next'
 import { getLabwareDefURI } from '@opentrons/shared-data'
-import React, { useEffect, useMemo, useState } from 'react'
 import { createPortal } from 'react-dom'
 import { reduce } from 'lodash'
 import { ListButtonCheckbox } from '../../atoms/ListButtonCheckbox/ListButtonCheckbox'
 import { LABWARES_FIELD_NAME } from '../LabwareLiquidsSection'
 import { getOnlyLatestDefs } from '../../resources/utils'
+
+import type { ChangeEvent } from 'react'
 import type { DisplayLabware } from '../LabwareLiquidsSection'
 import type {
   LabwareDefByDefURI,
@@ -45,11 +47,9 @@ export function LabwareModal({
   const { t } = useTranslation('create_protocol')
   const { watch, setValue } = useFormContext()
   const [searchTerm, setSearchTerm] = useState<string>('')
-  const [selectedCategory, setSelectedCategory] = React.useState<string | null>(
-    null
-  )
+  const [selectedCategory, setSelectedCategory] = useState<string | null>(null)
   const labwares: DisplayLabware[] = watch(LABWARES_FIELD_NAME) ?? []
-  const [selectedLabwares, setSelectedLabwares] = React.useState<string[]>(
+  const [selectedLabwares, setSelectedLabwares] = useState<string[]>(
     labwares.map(lw => lw.labwareURI)
   )
 
@@ -61,7 +61,7 @@ export function LabwareModal({
   const labwareByCategory: Record<
     string,
     LabwareDefinition2[]
-  > = React.useMemo(() => {
+  > = useMemo(() => {
     return reduce<LabwareDefByDefURI, Record<string, LabwareDefinition2[]>>(
       defs,
       (acc, def: typeof defs[keyof typeof defs]) => {
@@ -118,7 +118,7 @@ export function LabwareModal({
                   </StyledText>
                   <InputField
                     value={searchTerm}
-                    onChange={(e: React.ChangeEvent<HTMLInputElement>) => {
+                    onChange={(e: ChangeEvent<HTMLInputElement>) => {
                       setSearchTerm(e.target.value)
                     }}
                     placeholder={t('search_for_labware_placeholder')}
@@ -166,7 +166,7 @@ export function LabwareModal({
                                   )
                                   if (isMatch) {
                                     return (
-                                      <React.Fragment
+                                      <Fragment
                                         key={`${index}_${category}_${loadName}`}
                                       >
                                         <ListButtonCheckbox
@@ -195,7 +195,7 @@ export function LabwareModal({
                                             labwareURI
                                           )}
                                         />
-                                      </React.Fragment>
+                                      </Fragment>
                                     )
                                   }
                                 }
diff --git a/opentrons-ai-client/src/organisms/PromptButton/__tests__/PromptButton.test.tsx b/opentrons-ai-client/src/organisms/PromptButton/__tests__/PromptButton.test.tsx
index 5d9ec302131..a645a5a5f3c 100644
--- a/opentrons-ai-client/src/organisms/PromptButton/__tests__/PromptButton.test.tsx
+++ b/opentrons-ai-client/src/organisms/PromptButton/__tests__/PromptButton.test.tsx
@@ -1,4 +1,3 @@
-import type * as React from 'react'
 import { fireEvent, screen } from '@testing-library/react'
 import { describe, it, beforeEach, expect, vi } from 'vitest'
 
@@ -6,6 +5,7 @@ import { renderWithProviders } from '../../../__testing-utils__'
 import { reagentTransfer } from '../../../assets/prompts'
 import { PromptButton } from '../index'
 
+import type { ComponentProps } from 'react'
 import type * as ReactHookForm from 'react-hook-form'
 
 vi.mock('react-hook-form', async importOriginal => {
@@ -18,14 +18,14 @@ vi.mock('react-hook-form', async importOriginal => {
   }
 })
 
-const render = (props: React.ComponentProps<typeof PromptButton>) => {
+const render = (props: ComponentProps<typeof PromptButton>) => {
   return renderWithProviders(<PromptButton {...props} />)
 }
 
 let mockSetValue = vi.fn()
 
 describe('PromptButton', () => {
-  let props: React.ComponentProps<typeof PromptButton>
+  let props: ComponentProps<typeof PromptButton>
 
   beforeEach(() => {
     props = {
diff --git a/opentrons-ai-client/src/pages/CreateProtocol/index.tsx b/opentrons-ai-client/src/pages/CreateProtocol/index.tsx
index 525c79154b9..ad70e72e017 100644
--- a/opentrons-ai-client/src/pages/CreateProtocol/index.tsx
+++ b/opentrons-ai-client/src/pages/CreateProtocol/index.tsx
@@ -1,13 +1,17 @@
+import { useNavigate } from 'react-router-dom'
+import { useTranslation } from 'react-i18next'
+import { useEffect, useRef, useState } from 'react'
+import { PromptPreview } from '../../molecules/PromptPreview'
+import { useForm, FormProvider } from 'react-hook-form'
+import { useAtom } from 'jotai'
+
 import {
   Flex,
   JUSTIFY_SPACE_EVENLY,
   POSITION_RELATIVE,
   SPACING,
 } from '@opentrons/components'
-import { useTranslation } from 'react-i18next'
-import { useEffect, useRef, useState } from 'react'
-import { PromptPreview } from '../../molecules/PromptPreview'
-import { useForm, FormProvider } from 'react-hook-form'
+
 import {
   chatDataAtom,
   chatHistoryAtom,
@@ -16,18 +20,19 @@ import {
   headerWithMeterAtom,
   updateProtocolChatAtom,
 } from '../../resources/atoms'
-import { useAtom } from 'jotai'
+
 import { ProtocolSectionsContainer } from '../../organisms/ProtocolSectionsContainer'
 import {
   generateChatPrompt,
   generatePromptPreviewData,
 } from '../../resources/utils/createProtocolUtils'
-import type { DisplayModules } from '../../organisms/ModulesSection'
-import type { DisplayLabware } from '../../organisms/LabwareLiquidsSection'
-import { useNavigate } from 'react-router-dom'
 import { useTrackEvent } from '../../resources/hooks/useTrackEvent'
 import { ResizeBar } from '../../atoms/ResizeBar'
 
+import type { MouseEvent } from 'react'
+import type { DisplayModules } from '../../organisms/ModulesSection'
+import type { DisplayLabware } from '../../organisms/LabwareLiquidsSection'
+
 export interface CreateProtocolFormData {
   application: {
     scientificApplication: string
@@ -164,9 +169,7 @@ export function CreateProtocol(): JSX.Element | null {
     return currentSection > 0 ? currentSection / TOTAL_STEPS : 0
   }
 
-  function handleMouseDown(
-    e: React.MouseEvent<HTMLDivElement, MouseEvent>
-  ): void {
+  function handleMouseDown(e: MouseEvent<HTMLDivElement, MouseEvent>): void {
     setIsResizing(true)
     setInitialMouseX(e.clientX)
     setInitialLeftWidth(leftWidth)
diff --git a/opentrons-ai-client/src/resources/hooks/__tests__/useTrackEvent.test.tsx b/opentrons-ai-client/src/resources/hooks/__tests__/useTrackEvent.test.tsx
index 0c43e0bca24..2cb8325cc4e 100644
--- a/opentrons-ai-client/src/resources/hooks/__tests__/useTrackEvent.test.tsx
+++ b/opentrons-ai-client/src/resources/hooks/__tests__/useTrackEvent.test.tsx
@@ -1,11 +1,14 @@
 import { describe, it, vi, expect, afterEach } from 'vitest'
+
+import { TestProvider } from '../../../__testing-utils__'
 import { trackEvent } from '../../../analytics/mixpanel'
 import { useTrackEvent } from '../useTrackEvent'
 import { renderHook } from '@testing-library/react'
 import { mixpanelAtom } from '../../atoms'
+
+import type { ReactNode } from 'react'
 import type { AnalyticsEvent } from '../../../analytics/mixpanel'
 import type { Mixpanel } from '../../types'
-import { TestProvider } from '../../../__testing-utils__'
 
 vi.mock('../../../analytics/mixpanel', () => ({
   trackEvent: vi.fn(),
@@ -18,7 +21,7 @@ const mockMixpanelAtom: Mixpanel = {
   isInitialized: false,
 }
 
-const wrapper = ({ children }: { children: React.ReactNode }) => {
+const wrapper = ({ children }: { children: ReactNode }) => {
   return (
     <TestProvider initialValues={[[mixpanelAtom, mockMixpanelAtom]]}>
       {children}
@@ -32,7 +35,7 @@ describe('useTrackEvent', () => {
   })
 
   it('should call trackEvent with the correct arguments when hasOptedIn is true', () => {
-    const wrapper = ({ children }: { children: React.ReactNode }) => (
+    const wrapper = ({ children }: { children: ReactNode }) => (
       <TestProvider initialValues={[[mixpanelAtom, mockMixpanelAtom]]}>
         {children}
       </TestProvider>
diff --git a/opentrons-ai-client/src/resources/types.ts b/opentrons-ai-client/src/resources/types.ts
index 7e16e1a8642..9e513464858 100644
--- a/opentrons-ai-client/src/resources/types.ts
+++ b/opentrons-ai-client/src/resources/types.ts
@@ -1,3 +1,5 @@
+import type { FC } from 'react'
+
 /** assistant: ChatGPT API, user: user */
 type Role = 'assistant' | 'user'
 
@@ -57,7 +59,7 @@ export interface RouteProps {
   /** the component rendered by a route match
    * drop developed components into slots held by placeholder div components
    * */
-  Component: React.FC
+  Component: FC
   /** a route/page name to render in the nav bar
    */
   name: string
diff --git a/package.json b/package.json
index 654f12137fc..870fa181506 100755
--- a/package.json
+++ b/package.json
@@ -47,11 +47,11 @@
     "@rollup/plugin-json": "^4.1.0",
     "@rollup/plugin-node-resolve": "^11.2.1",
     "@rollup/plugin-replace": "^2.4.2",
-    "@storybook/addon-actions": "^7.6.16",
-    "@storybook/addon-essentials": "^7.6.16",
-    "@storybook/addon-links": "^7.6.16",
-    "@storybook/react": "^7.6.16",
-    "@storybook/react-vite": "^7.6.16",
+    "@storybook/addon-actions": "7.6.17",
+    "@storybook/addon-essentials": "7.6.17",
+    "@storybook/addon-links": "7.6.17",
+    "@storybook/react": "7.6.17",
+    "@storybook/react-vite": "7.6.17",
     "@testing-library/jest-dom": "6.4.2",
     "@testing-library/react": "14.2.1",
     "@testing-library/user-event": "13.5.0",
@@ -140,7 +140,7 @@
     "semver": "^7.3.8",
     "shx": "^0.3.4",
     "simple-git": "^3.15.1",
-    "storybook": "^7.6.16",
+    "storybook": "7.6.17",
     "storybook-addon-pseudo-states": "2.0.0",
     "style-loader": "^1.1.3",
     "stylelint": "^11.0.0",
@@ -150,7 +150,7 @@
     "terser-webpack-plugin": "^2.3.5",
     "typescript": "5.3.3",
     "url-loader": "^2.1.0",
-    "vite": "5.3.2",
+    "vite": "5.4.11",
     "vitest": "2.1.8",
     "vitest-when": "0.5.0",
     "wait-on": "^4.0.2",
diff --git a/protocol-designer/cypress/e2e/createNew.cy.ts b/protocol-designer/cypress/e2e/createNew.cy.ts
index ec022b262fb..007631eb58d 100644
--- a/protocol-designer/cypress/e2e/createNew.cy.ts
+++ b/protocol-designer/cypress/e2e/createNew.cy.ts
@@ -9,9 +9,14 @@ describe('The Redesigned Create Protocol Landing Page', () => {
   })
 
   it('content and step 1 flow works', () => {
+<<<<<<< HEAD
     // cy.clickCreateNew()
     cy.verifyCreateNewHeader()
     cy.contains('button', 'Create a protocol').click()
+=======
+    cy.verifyCreateNewHeader()
+    cy.clickCreateNew()
+>>>>>>> edge
     const steps: Array<Actions | Verifications | UniversalActions> = [
       Verifications.OnStep1,
       Verifications.FlexSelected,
diff --git a/protocol-designer/cypress/e2e/createNewFlex.cy.ts b/protocol-designer/cypress/e2e/createNewFlex.cy.ts
index 834fc9fb523..8f47ef2066a 100644
--- a/protocol-designer/cypress/e2e/createNewFlex.cy.ts
+++ b/protocol-designer/cypress/e2e/createNewFlex.cy.ts
@@ -49,7 +49,11 @@ describe('The Redesigned Create Protocol Landing Page', () => {
       Actions.AddHardwareLabware,
       Actions.ClickLabwareHeader,
       Actions.ClickWellPlatesSection,
+<<<<<<< HEAD
       Actions.SelectArmadillo96WellPlateDefinition,
+=======
+      Actions.SelectArmadillo96WellPlate,
+>>>>>>> edge
       Actions.ChoseDeckSlotC2Labware,
       Actions.AddLiquid,
       Actions.ClickLiquidButton,
@@ -65,7 +69,11 @@ describe('The Redesigned Create Protocol Landing Page', () => {
       Actions.AddHardwareLabware,
       Actions.ClickLabwareHeader,
       Actions.ClickWellPlatesSection,
+<<<<<<< HEAD
       Actions.SelectBioRad96WellPlateTransfer,
+=======
+      Actions.SelectBioRad96WellPlate,
+>>>>>>> edge
     ]
     runCreateTest(steps)
   })
diff --git a/protocol-designer/cypress/e2e/transferSettings.cy.ts b/protocol-designer/cypress/e2e/transferSettings.cy.ts
index 25680f8f553..65981748278 100644
--- a/protocol-designer/cypress/e2e/transferSettings.cy.ts
+++ b/protocol-designer/cypress/e2e/transferSettings.cy.ts
@@ -50,7 +50,11 @@ describe('The Redesigned Create Protocol Landing Page', () => {
       Actions.AddHardwareLabware,
       Actions.ClickLabwareHeader,
       Actions.ClickWellPlatesSection,
+<<<<<<< HEAD
       Actions.SelectArmadillo96WellPlateDefinition,
+=======
+      Actions.SelectArmadillo96WellPlate,
+>>>>>>> edge
       Actions.ChoseDeckSlotC2Labware,
       Actions.AddLiquid,
       Actions.ClickLiquidButton,
@@ -66,6 +70,7 @@ describe('The Redesigned Create Protocol Landing Page', () => {
       Actions.AddHardwareLabware,
       Actions.ClickLabwareHeader,
       Actions.ClickWellPlatesSection,
+<<<<<<< HEAD
       Actions.SelectBioRad96WellPlateDefinition,
       Actions.ProtocolStepsH,
       Actions.AddStep,
@@ -100,5 +105,14 @@ describe('The Redesigned Create Protocol Landing Page', () => {
     cy.get('input[name = "aspirate_mix_times"]').type('2')
     cy.get('input[name = "aspirate_airGap_volume"]').type('10')
     cy.contains('Dispense').click()
+=======
+      Actions.SelectBioRad96WellPlate,
+      Actions.ProtocolStepsH,
+      Actions.AddStep,
+      Verifications.TransferPopOut,
+      UniversalActions.Snapshot,
+    ]
+    runCreateTest(steps)
+>>>>>>> edge
   })
 })
diff --git a/protocol-designer/cypress/support/commands.ts b/protocol-designer/cypress/support/commands.ts
index 56e3a7e6f25..7a9412c64a5 100644
--- a/protocol-designer/cypress/support/commands.ts
+++ b/protocol-designer/cypress/support/commands.ts
@@ -57,7 +57,11 @@ export const locators = {
   createProtocol: 'Create a protocol',
   Flex_Home: 'Opentrons Flex',
   OT2_Home: 'Opentrons OT-2',
+<<<<<<< HEAD
   editProtocol: 'Edit existing protocol',
+=======
+  importProtocol: 'Import existing protocol',
+>>>>>>> edge
   settingsDataTestid: 'SettingsIconButton',
   settings: 'Settings',
   privacyPolicy: 'a[href="https://opentrons.com/privacy-policy"]',
@@ -105,7 +109,7 @@ Cypress.Commands.add('verifyHomePage', () => {
   // Todo re-add when Once 8.2.2 comes back in
   cy.contains(content.welcome)
   cy.contains('button', locators.createProtocol).should('be.visible')
-  cy.contains('label', locators.editProtocol).should('be.visible')
+  cy.contains('label', locators.importProtocol).should('be.visible')
   cy.getByTestId(locators.settingsDataTestid).should('be.visible')
   cy.get(locators.privacyPolicy).should('exist').and('be.visible')
   cy.get(locators.eula).should('exist').and('be.visible')
diff --git a/protocol-designer/cypress/support/createNew.ts b/protocol-designer/cypress/support/createNew.ts
index 73ff38d384c..629618b1613 100644
--- a/protocol-designer/cypress/support/createNew.ts
+++ b/protocol-designer/cypress/support/createNew.ts
@@ -8,6 +8,23 @@ import '../support/commands'
 // To prioritize its getting pulled into the repo
 // Some day we should make a way to input variables into actions
 
+import 'cypress-file-upload'
+declare global {
+  // eslint-disable-next-line @typescript-eslint/no-namespace
+  namespace Cypress {
+    interface Chainable {
+      chooseDeckSlot: (slot: string) => Cypress.Chainable<void>
+    }
+  }
+}
+import '../support/commands'
+// ToDo Future planning should have Step 5, Step 6, and 7 verification
+// Todo ProtocolOverview page. This might change from deck map revamp,
+// so let's hold off until then.
+// This PR unblocks Sara and I to work on this separately, so I want
+// To prioritize its getting pulled into the repo
+// Some day we should make a way to input variables into actions
+
 import 'cypress-file-upload'
 declare global {
   // eslint-disable-next-line @typescript-eslint/no-namespace
@@ -87,12 +104,50 @@ export enum Actions {
   TouchTipAspirate = 'Enable Touch tip for aspiration',
   MixAspirate = 'Enable Mix for aspiration',
   AirGapAspirate = 'Enable Air gap for aspiration',
+  SingleChannelPipette50 = 'Select 50uL Single-Channel Pipette',
+  YesGripper = 'Select Yes to gripper',
+  NoGripper = 'Select no to gripper',
+  AddThermocycler = 'Thermocycler Module GEN2',
+  AddHeaterShaker = 'Heater-Shaker Module GEN1',
+  AddTempdeck2 = 'Temperature Module GEN2',
+  AddMagBlock = 'Magnetic Block GEN1',
+  EditProtocolA = 'Blue button edit protocol',
+  choseDeckSlot = 'Chose each deck slot',
+  ChoseDeckSlotA1 = 'Choose deck slot A1',
+  ChoseDeckSlotA2 = 'Choose deck slot A2',
+  ChoseDeckSlotA3 = 'Choose deck slot A3',
+  ChoseDeckSlotB1 = 'Choose deck slot B1',
+  ChoseDeckSlotB2 = 'Choose deck slot B2',
+  ChoseDeckSlotB3 = 'Choose deck slot B3',
+  ChoseDeckSlotC1 = 'Choose deck slot C1',
+  ChoseDeckSlotC2 = 'Choose deck slot C2',
+  ChoseDeckSlotC2Labware = 'Chose labware on deck slot C2',
+  ChoseDeckSlotC3 = 'Choose deck slot C3',
+  ChoseDeckSlotD1 = 'Choose deck slot D1',
+  ChoseDeckSlotD2 = 'Choose deck slot D2',
+  ChoseDeckSlotD3 = 'Choose deck slot D3',
+  AddHardwareLabware = 'Adds labware to deck slot by chose deck slot',
+  ClickLabwareHeader = 'Click Labware',
+  ClickWellPlatesSection = 'Click Well plates',
+  SelectArmadillo96WellPlate = 'Select Armadillo 96 Well Plate',
+  SelectBioRad96WellPlate = 'Select Bio-Rad 96 Well Plate',
+  AddLiquid = 'Add liquid',
+  DefineLiquid = 'Define a liquid',
+  ClickLiquidButton = 'Click Liquid button',
+  LiquidSaveWIP = 'Save liquid, is functional but could use a refactor',
+  WellSelector = 'Select wells with strings A1, A2, etc. comman separated LIST',
+  LiquidDropdown = 'Dropdown for liquids when adding to well',
+  SelectLiquidWells = 'Select Liquid Wells',
+  SetVolumeAndSaveforWells = 'Set volume and save for wells',
+  ProtocolStepsH = 'Select Protocol Steps Header',
+  AddStep = 'Use after making sure you are on ProtocolStepsH or have already made a step',
 }
 
 export enum Verifications {
   OnStep1 = 'On Step 1 page.',
   OnStep2 = 'On Step 2 page.',
   OnStep3 = 'on Step 3 page',
+  OnStep3 = 'on Step 3 page',
   FlexSelected = 'Opentrons Flex selected.',
   OT2Selected = 'Opentrons OT-2 selected.',
   NinetySixChannel = '96-Channel option is available.',
@@ -111,12 +166,24 @@ export enum Verifications {
   TouchTip = 'Touch tip option is unchecked',
   MixT = 'Mix option is unchecked',
   AirGap = 'Air gap option is unchecked',
+}
+  StepTwo50uL = 'Step Two part two',
+  StepTwoPart3 = 'Step Two part three',
+  Step4Verification = 'Step 4 part 1',
+  ThermocyclerImg = 'Thermocycler Module GEN2',
+  HeaterShakerImg = 'Heater-Shaker Module GEN1',
+  Tempdeck2Img = 'Temperature Module GEN2',
+  MagBlockImg = 'Magnetic Block GEN1',
+  LiquidPage = 'Liquid page content is visible',
+  TransferPopOut = 'Verify Step 1 of the transfer function is present',
 }
 export enum Content {
   Step1Title = 'Step 1',
   Step2Title = 'Step 2',
   Step3Title = 'Step3',
   Step4Title = 'Step4',
+  Step3Title = 'Step3',
+  Step4Title = 'Step4',
   AddPipette = 'Add a pipette',
   NinetySixChannel = '96-Channel',
   SingleChannel = '1-Channel',
@@ -126,6 +193,13 @@ export enum Content {
   PipetteVolume = 'Pipette volume',
   FullP50SingleName = 'Flex 1-Channel 50 μL',
   FullP50TiprackName = 'Opentrons Flex 96 Filter Tip Rack 50 µL',
+  SingleChannel = '1-Channel',
+  EightChannel = '8-Channel',
+  TipRack = 'Filter Tip Rack 50 µL',
+  PipetteType = 'Pipette type',
+  PipetteVolume = 'Pipette volume',
+  FullP50SingleName = 'Flex 1-Channel 50 μL',
+  FullP50TiprackName = 'Opentrons Flex 96 Filter Tip Rack 50 µL',
   GoBack = 'Go back',
   Confirm = 'Confirm',
   OpentronsFlex = 'Opentrons Flex',
@@ -169,6 +243,31 @@ export enum Content {
   PreWetTip = 'Pre-wet tip',
   TouchTip = 'Touch tip',
   AirGap = 'Air gap',
+  Volume50 = '50 µL',
+  Volume1000 = '1000 µL',
+  FilterTiprack50 = 'Filter Tip Rack 50 µL',
+  Tiprack50 = 'Tip Rack 50 µL',
+  Yes = 'Yes',
+  No = 'No',
+  Thermocycler = 'Thermocycler Module GEN2',
+  HeaterShaker = 'Heater-Shaker Module GEN1',
+  Tempdeck2 = 'Temperature Module GEN2',
+  MagBlock = 'Magnetic Block GEN1',
+  ModulePageH = 'Add your modules',
+  ModulePageB = 'Select modules to use in your protocol.',
+  EditProtocol = 'Edit protocol',
+  EditSlot = 'Edit slot',
+  AddLabwareToDeck = 'Add hardware/labware',
+  LabwareH = 'Labware',
+  WellPlatesCat = 'Well plates',
+  Armadillo96WellPlate200uL = 'Armadillo 96 Well Plate 200 µL PCR Full Skirt',
+  Biorad96WellPlate200uL = 'Bio-Rad 96 Well Plate 200 µL PCR',
+  AddLiquid = 'Add liquid',
+  DefineALiquid = 'Define a liquid',
+  LiquidButton = 'Liquid',
+  SampleLiquidName = 'My liquid!',
+  ProtocolSteps = 'Protocol steps',
+  AddStep = 'Add Step',
 }
 
 export enum Locators {
@@ -267,6 +366,90 @@ const selectWells = (wells: string[]): void => {
   })
 }
 
+// Example usage
+// selectWells(['A1', 'B3', 'H12'])
+  ThermocyclerImage = 'img[alt="temperatureModuleType"]',
+  MagblockImage = 'img[alt="magneticBlockType"]',
+  HeaterShakerImage = 'img[alt="heaterShakerModuleType"]',
+  TemperatureModuleImage = 'img[alt="temperatureModuleType"]',
+  LiquidNameInput = 'input[name="name"]',
+  ModalShellArea = 'div[aria-label="ModalShell_ModalArea"]',
+  SaveButton = 'button[type="submit"]',
+  LiquidsDropdown = 'div[tabindex="0"].sc-bqWxrE', // Add new locator for the dropdown
+  LabwareSelectionLocation = '[data-testid="Toolbox_confirmButton"]',
+}
+
+const chooseDeckSlot = (
+  slot: string
+): Cypress.Chainable<JQuery<HTMLElement>> => {
+  const deckSlots: Record<
+    | 'A1'
+    | 'A2'
+    | 'A3'
+    | 'B1'
+    | 'B2'
+    | 'B3'
+    | 'C1'
+    | 'C2'
+    | 'C3'
+    | 'D1'
+    | 'D2'
+    | 'D3',
+    () => Cypress.Chainable<JQuery<HTMLElement>>
+  > = {
+    A1: () => cy.contains('foreignObject[x="0"][y="321"]', Content.EditSlot),
+    A2: () => cy.contains('foreignObject[x="164"][y="321"]', Content.EditSlot),
+    A3: () => cy.contains('foreignObject[x="328"][y="321"]', Content.EditSlot),
+    B1: () => cy.contains('foreignObject[x="0"][y="214"]', Content.EditSlot),
+    B2: () => cy.contains('foreignObject[x="164"][y="214"]', Content.EditSlot),
+    B3: () => cy.contains('foreignObject[x="328"][y="214"]', Content.EditSlot),
+    C1: () => cy.contains('foreignObject[x="0"][y="107"]', Content.EditSlot),
+    C2: () => cy.contains('foreignObject[x="164"][y="107"]', Content.EditSlot),
+    C3: () => cy.contains('foreignObject[x="328"][y="107"]', Content.EditSlot),
+    D1: () => cy.contains('foreignObject[x="0"][y="0"]', Content.EditSlot),
+    D2: () => cy.contains('foreignObject[x="164"][y="0"]', Content.EditSlot),
+    D3: () => cy.contains('foreignObject[x="328"][y="0"]', Content.EditSlot),
+  }
+
+  const slotAction = deckSlots[slot as keyof typeof deckSlots]
+
+  if (typeof slotAction === 'function') {
+    return slotAction() // Return the chainable object
+  } else {
+    throw new Error(`Slot ${slot} not found in deck slots.`)
+  }
+}
+// Well name selection for liquids and in general
+const selectWells = (wells: string[]): void => {
+  // Define a dictionary of well selectors
+  const wellSelectors: Record<
+    string,
+    () => Cypress.Chainable<JQuery<HTMLElement>>
+  > = {}
+
+  // Populate the dictionary dynamically
+  const rows = ['A', 'B', 'C', 'D', 'E', 'F', 'G', 'H']
+  const columns = Array.from({ length: 12 }, (_, i) => (i + 1).toString())
+
+  rows.forEach(row => {
+    columns.forEach(column => {
+      const wellName = `${row}${column}`
+      wellSelectors[wellName] = () =>
+        cy.get(`circle[data-wellname="${wellName}"]`).click({ force: true })
+    })
+  })
+
+  // Iterate over the wells array and click the corresponding wells
+  wells.forEach(well => {
+    const wellAction = wellSelectors[well]
+    if (typeof wellAction === 'function') {
+      wellAction() // Click the well
+    } else {
+      throw new Error(`Well ${well} not found.`)
+    }
+  })
+}
+
 // Example usage
 // selectWells(['A1', 'B3', 'H12'])
 
@@ -281,6 +464,7 @@ const executeAction = (action: Actions | UniversalActions): void => {
       cy.contains(Content.OpentronsFlex).should('be.visible').click()
       break
 
+
     case Actions.SelectOT2:
       cy.contains(Content.OpentronsOT2).should('be.visible').click()
       break
@@ -367,6 +551,147 @@ const executeAction = (action: Actions | UniversalActions): void => {
     case Actions.ClickWellPlatesSection: // New case
       cy.contains(Content.WellPlatesCat).click()
       break
+    case Actions.ChoseDeckSlotC2Labware:
+      // Todo Investigate making a dictionary of slot editing.
+      // Maybe next PR
+      chooseDeckSlot('C2')
+        .find('.Box-sc-8ozbhb-0.kIDovv')
+        .find('a[role="button"]')
+        .contains(Content.EditSlot)
+        .click({ force: true })
+      break
+    case Actions.SelectArmadillo96WellPlate: // New case for selecting Armadillo plate
+      cy.contains(Content.Armadillo96WellPlate200uL).click({ force: true })
+      cy.get(Locators.LabwareSelectionLocation).click({ force: true })
+      break
+    case Actions.SelectBioRad96WellPlate: // New case for selecting Armadillo plate
+      cy.contains(Content.Biorad96WellPlate200uL).click({ force: true })
+      cy.get(Locators.LabwareSelectionLocation).click({ force: true })
+      break
+
+    case Actions.AddLiquid: // New case for "Add liquid"
+      cy.contains('button', Content.AddLiquid).click()
+      break
+    case Actions.ClickLiquidButton: // New case for "Liquid button"
+      cy.contains('button', Content.LiquidButton).click()
+      break
+    case Actions.DefineLiquid: // New case for "Define a liquid"
+      cy.contains('button', Content.DefineALiquid).click()
+      break
+    case Actions.LiquidSaveWIP:
+      cy.get(Locators.LiquidNameInput) // Locate the input with name="name"
+        .type(Content.SampleLiquidName)
+
+      cy.get(Locators.ModalShellArea)
+        .find('form') // Target the form inside the modal
+        .invoke('submit', (e: SubmitEvent) => {
+          e.preventDefault() // Prevent default form submission
+        })
+
+      cy.get(Locators.ModalShellArea)
+        .find(Locators.SaveButton) // Locate the Save button
+        .contains('Save')
+        .click({ force: true }) // Trigger the Save button
+      break
+    case Actions.WellSelector:
+      selectWells(['A1', 'A2'])
+      break
+    case Actions.LiquidDropdown: // New case for dropdown
+      cy.get(Locators.LiquidsDropdown)
+        .should('be.visible') // Ensure the dropdown is visible
+        .click() // Click the dropdown
+      break
+    case Actions.SelectLiquidWells:
+      cy.contains('My liquid!').click() // Action for clicking 'My liquid!'
+      break
+    case Actions.SetVolumeAndSaveforWells:
+      cy.get('input[name="volume"]').type(`150`) // Set volume
+      cy.contains('button', 'Save').click() // Click Save button
+      cy.contains('button', 'Done').click({ force: true }) // Click Done button, forcing click if necessary
+      break
+    case Actions.ProtocolStepsH:
+      cy.contains('button', Content.ProtocolSteps).click()
+      break
+    case Actions.AddStep:
+      cy.contains('button', Content.AddStep).click()
+      break
+    case Actions.SingleChannelPipette50:
+      cy.contains('label', Content.SingleChannel)
+        .should('exist')
+        .and('be.visible')
+        .click()
+      cy.contains(Content.Volume50).click()
+      cy.contains(Content.Tiprack50).click()
+      // ToDo after PR, why does this click Tiprack50 again
+      // instead of clicking the filter tiprack?
+      // cy.contains(Content.FilterTiprack50).click()
+      break
+    case Actions.AddThermocycler:
+      cy.contains(Content.Thermocycler).click()
+      break
+    case Actions.AddHeaterShaker:
+      cy.contains(Content.HeaterShaker).click()
+      break
+    case Actions.AddTempdeck2:
+      cy.contains(Content.Tempdeck2).click()
+      break
+    case Actions.AddMagBlock:
+      cy.contains(Content.MagBlock).click()
+      break
+    case Actions.YesGripper:
+      cy.contains(Content.Yes).click()
+      break
+    case Actions.NoGripper:
+      cy.contains(Content.No).click()
+      break
+    case Actions.EditProtocolA:
+      cy.contains(Content.EditProtocol).click()
+      break
+    case Actions.ChoseDeckSlotA1:
+      chooseDeckSlot('A1').click()
+      break
+    case Actions.ChoseDeckSlotA2:
+      chooseDeckSlot('A2').click()
+      break
+    case Actions.ChoseDeckSlotA3:
+      chooseDeckSlot('A3').click()
+      break
+    case Actions.ChoseDeckSlotB1:
+      chooseDeckSlot('B1').click()
+      break
+    case Actions.ChoseDeckSlotB2:
+      chooseDeckSlot('B2').click()
+      break
+    case Actions.ChoseDeckSlotB3:
+      chooseDeckSlot('B3').click()
+      break
+    case Actions.ChoseDeckSlotC1:
+      chooseDeckSlot('C1').click()
+      break
+    case Actions.ChoseDeckSlotC2:
+      chooseDeckSlot('C2').click()
+      break
+    case Actions.ChoseDeckSlotC3:
+      chooseDeckSlot('C3').click()
+      break
+    case Actions.ChoseDeckSlotD1:
+      chooseDeckSlot('D1').click()
+      break
+    case Actions.ChoseDeckSlotD2:
+      chooseDeckSlot('D2').click()
+      break
+    case Actions.ChoseDeckSlotD3:
+      chooseDeckSlot('D3').click()
+      break
+    case Actions.AddHardwareLabware: // New case
+      cy.contains(Content.AddLabwareToDeck).click()
+      break
+    case Actions.ClickLabwareHeader: // New case
+      cy.contains(Content.LabwareH).click()
+      break
+    case Actions.ClickWellPlatesSection: // New case
+      cy.contains(Content.WellPlatesCat).click()
+      break
     case Actions.ChoseDeckSlotA1Labware:
       chooseDeckSlot('A1')
         .find('.Box-sc-8ozbhb-0.kIDovv')
@@ -703,6 +1028,65 @@ const verifyStep = (verification: Verifications): void => {
         .and('have.attr', 'aria-hidden', 'true')
       break
 
+    case Verifications.StepTwo50uL:
+      // This function should get used after you select 50uL fully
+      cy.contains(Content.PipetteVolume)
+      cy.contains(Content.Volume50).should('be.visible')
+      cy.contains(Content.Volume1000).should('be.visible')
+      cy.contains(Content.Tiprack50).should('be.visible')
+      cy.contains(Content.FilterTiprack50).should('be.visible')
+      break
+    case Verifications.StepTwoPart3:
+      // This function should get used after you select 50uL fully
+      cy.contains(Content.FullP50SingleName).should('be.visible')
+      cy.contains(Content.FullP50TiprackName).should('be.visible')
+      cy.contains('Left Mount').should('be.visible')
+      cy.contains(Content.Step2Title)
+      cy.contains('Robot pipettes')
+      cy.contains(Content.AddPipette)
+      break
+    case Verifications.OnStep3:
+      cy.contains('Add a gripper').should('be.visible')
+      cy.contains(
+        'Do you want to move labware automatically with the gripper?'
+      ).should('be.visible')
+      cy.contains(Content.Yes).should('be.visible')
+      cy.contains(Content.No).should('be.visible')
+      break
+    case Verifications.Step4Verification:
+      cy.contains(Content.ModulePageH).should('be.visible')
+      cy.contains(Content.ModulePageB).should('be.visible')
+      cy.contains(Content.Thermocycler).should('be.visible')
+      cy.contains(Content.HeaterShaker).should('be.visible')
+      cy.contains(Content.MagBlock).should('be.visible')
+      cy.contains(Content.Tempdeck2).should('be.visible')
+      break
+    case Verifications.ThermocyclerImg:
+      cy.get(Locators.TemperatureModuleImage).should('be.visible')
+      break
+    case Verifications.HeaterShakerImg:
+      cy.get(Locators.HeaterShakerImage).should('be.visible')
+      break
+    case Verifications.Tempdeck2Img:
+      cy.contains(Content.Tempdeck2).should('be.visible')
+      break
+    case Verifications.LiquidPage:
+      cy.contains('Liquid').should('be.visible')
+      cy.contains('Add liquid').should('be.visible')
+      cy.contains('Liquid volume by well').should('be.visible')
+      cy.contains('Cancel').should('be.visible')
+      break
+    case Verifications.TransferPopOut:
+      cy.contains('button', 'Transfer').should('be.visible').click()
+      cy.contains('Source labware')
+      cy.contains('Select source wells')
+      cy.contains('Destination labware')
+      cy.contains('Volume per well')
+      cy.contains('Tip handling')
+      cy.contains('Tip handling')
+      cy.contains('Tip drop location')
+      break
+
     default:
       throw new Error(
         `Unrecognized verification: ${verification as Verifications}`
diff --git a/protocol-designer/fixtures/protocol/8/newAdvancedSettingsAndMultiTemp.json b/protocol-designer/fixtures/protocol/8/newAdvancedSettingsAndMultiTemp.json
index 9c6d24abaca..8b8d129418f 100644
--- a/protocol-designer/fixtures/protocol/8/newAdvancedSettingsAndMultiTemp.json
+++ b/protocol-designer/fixtures/protocol/8/newAdvancedSettingsAndMultiTemp.json
@@ -3624,7 +3624,7 @@
       "key": "dd1b37d6-eb8c-4616-bc8a-e1f17556234a",
       "params": {
         "pipetteId": "21087f15-4c03-4587-8a2b-1ba0b5a501a0",
-        "volume": 1
+        "volume": 10
       }
     },
     {
diff --git a/protocol-designer/package.json b/protocol-designer/package.json
index 8be7d0a965b..51718e773bf 100755
--- a/protocol-designer/package.json
+++ b/protocol-designer/package.json
@@ -33,12 +33,10 @@
     "@typescript-eslint/eslint-plugin": "^6.10.0",
     "@typescript-eslint/parser": "^6.10.0",
     "ajv": "6.12.3",
-    "cookie": "0.3.1",
     "core-js": "3.2.1",
     "date-fns": "2.10.0",
     "file-saver": "2.0.1",
     "i18next": "^19.8.3",
-    "immer": "9.0.6",
     "lodash": "4.17.21",
     "mixpanel-browser": "2.22.1",
     "query-string": "6.2.0",
diff --git a/protocol-designer/src/assets/localization/en/alert.json b/protocol-designer/src/assets/localization/en/alert.json
index 21644512e7a..db1beba61fc 100644
--- a/protocol-designer/src/assets/localization/en/alert.json
+++ b/protocol-designer/src/assets/localization/en/alert.json
@@ -158,6 +158,10 @@
       "POSSIBLE_PIPETTE_COLLISION": {
         "title": "Pipette collisions likely",
         "body": "There is a possibility that the pipette will collide with the adjascent labware or module for partial tip pick up."
+      },
+      "PLATE_READER_LID_CLOSED": {
+        "title": "Absorbance Plate Reader Module lid closed",
+        "body": "This step tries to use labware in the Absorbance Plate Reader. Open the lid before this step."
       }
     },
     "warning": {
diff --git a/protocol-designer/src/assets/localization/en/protocol_steps.json b/protocol-designer/src/assets/localization/en/protocol_steps.json
index 2f498904c61..12ebc493447 100644
--- a/protocol-designer/src/assets/localization/en/protocol_steps.json
+++ b/protocol-designer/src/assets/localization/en/protocol_steps.json
@@ -10,7 +10,7 @@
   "batch_edit": "Batch edit",
   "batch_edits_saved": "Batch edits saved",
   "blowout_location": "Blowout location",
-  "blowout_position": "Blowout position from bottom",
+  "blowout_position": "Blowout position from top",
   "change_tips": "Change tips",
   "column": "Column",
   "default_flow_rate": "The default flow rate is {{flowRate}}",
@@ -137,11 +137,12 @@
   "tiprack": "Tiprack",
   "tip_handling": "Tip handling",
   "tip_position": "{{prefix}} tip position",
-  "touch_tip_position": "Touch tip position from top",
+  "touch_tip_position": "Touch tip position from bottom",
   "valid_range": "Valid range between {{min}} - {{max}} {{unit}}",
   "view_details": "View details",
   "volume_per_well": "Volume per well",
   "well_name": "Well {{wellName}}",
   "well_order_title": "{{prefix}} well order",
-  "well_position": "Well position: X {{x}} Y {{y}} Z {{z}} (mm)"
+  "well_position": "Well position: X {{x}} Y {{y}} Z {{z}} (mm)",
+  "unknown_module": "Unknown module"
 }
diff --git a/protocol-designer/src/assets/localization/en/shared.json b/protocol-designer/src/assets/localization/en/shared.json
index 212ae62bf05..afbd96b1211 100644
--- a/protocol-designer/src/assets/localization/en/shared.json
+++ b/protocol-designer/src/assets/localization/en/shared.json
@@ -37,6 +37,7 @@
   "heatershakermoduletype": "Heater-shaker Module",
   "hints": "Hints",
   "import": "Import",
+  "import_existing_protocol": "Import existing protocol",
   "incorrect_file_header": "Invalid file type",
   "incorrect_file_type_body": "Protocol Designer only accepts JSON protocol files created with Protocol Designer. Upload a valid file to continue.",
   "invalid_json_file_body": "This JSON file is either missing required information or contains sections that Protocol Designer cannot read. At this time we do not support JSON files created outside of Protocol Designer.",
diff --git a/protocol-designer/src/constants.ts b/protocol-designer/src/constants.ts
index 52fd9db947f..d8a81595a2e 100644
--- a/protocol-designer/src/constants.ts
+++ b/protocol-designer/src/constants.ts
@@ -175,3 +175,8 @@ export const STAGING_AREA_CUTOUTS_ORDERED: CutoutId[] = [
   'cutoutD3',
   'cutoutA3',
 ]
+export const ABSORBANCE_READER_INITIALIZE_MODE_SINGLE = 'single'
+export const ABSORBANCE_READER_INITIALIZE_MODE_MULTI = 'multi'
+export const ABSORBANCE_READER_INITIALIZE: 'initialize' = 'initialize'
+export const ABSORBANCE_READER_READ: 'read' = 'read'
+export const ABSORBANCE_READER_LID: 'lid' = 'lid'
diff --git a/protocol-designer/src/feature-flags/reducers.ts b/protocol-designer/src/feature-flags/reducers.ts
index bcffd39c5e7..336014c6691 100644
--- a/protocol-designer/src/feature-flags/reducers.ts
+++ b/protocol-designer/src/feature-flags/reducers.ts
@@ -31,7 +31,7 @@ const initialFlags: Flags = {
     process.env.OT_PD_ENABLE_HOT_KEYS_DISPLAY === '1' || true,
   OT_PD_ENABLE_REACT_SCAN: process.env.OT_PD_ENABLE_REACT_SCAN === '1' || false,
   OT_PD_ENABLE_LIQUID_CLASSES:
-    process.env.OT_PD_ENABLE_REACT_SCAN === '1' || false,
+    process.env.OT_PD_ENABLE_LIQUID_CLASSES === '1' || false,
 }
 // @ts-expect-error(sa, 2021-6-10): cannot use string literals as action type
 // TODO IMMEDIATELY: refactor this to the old fashioned way if we cannot have type safety: https://github.com/redux-utilities/redux-actions/issues/282#issuecomment-595163081
diff --git a/protocol-designer/src/form-types.ts b/protocol-designer/src/form-types.ts
index 3d6f1bcb38d..a4b69d23404 100644
--- a/protocol-designer/src/form-types.ts
+++ b/protocol-designer/src/form-types.ts
@@ -1,4 +1,9 @@
 import type {
+  ABSORBANCE_READER_INITIALIZE,
+  ABSORBANCE_READER_INITIALIZE_MODE_MULTI,
+  ABSORBANCE_READER_INITIALIZE_MODE_SINGLE,
+  ABSORBANCE_READER_LID,
+  ABSORBANCE_READER_READ,
   PAUSE_UNTIL_RESUME,
   PAUSE_UNTIL_TEMP,
   PAUSE_UNTIL_TIME,
@@ -133,6 +138,7 @@ export type StepFieldName = string
 
 // TODO Ian 2019-01-16 factor out to some constants.js ? See #2926
 export type StepType =
+  | 'absorbanceReader'
   | 'comment'
   | 'heaterShaker'
   | 'magnet'
@@ -143,9 +149,9 @@ export type StepType =
   | 'pause'
   | 'temperature'
   | 'thermocycler'
-  | 'plateReader'
 
 export const stepIconsByType: Record<StepType, IconName> = {
+  absorbanceReader: 'ot-absorbance',
   comment: 'comment',
   moveLabware: 'ot-move',
   moveLiquid: 'transfer',
@@ -156,7 +162,6 @@ export const stepIconsByType: Record<StepType, IconName> = {
   temperature: 'ot-temperature-v2',
   thermocycler: 'ot-thermocycler',
   heaterShaker: 'ot-heater-shaker',
-  plateReader: 'ot-absorbance',
 }
 // ===== Unprocessed form types =====
 export interface AnnotationFields {
@@ -374,6 +379,21 @@ export interface HydratedHeaterShakerFormData {
   targetHeaterShakerTemperature: string | null
   targetSpeed: string | null
 }
+export interface HydratedAbsorbanceReaderFormData {
+  absorbanceReaderFormType:
+    | typeof ABSORBANCE_READER_INITIALIZE
+    | typeof ABSORBANCE_READER_READ
+    | typeof ABSORBANCE_READER_LID
+  filePath: string | null
+  lidOpen: boolean | null
+  mode:
+    | typeof ABSORBANCE_READER_INITIALIZE_MODE_MULTI
+    | typeof ABSORBANCE_READER_INITIALIZE_MODE_SINGLE
+    | null
+  moduleId: string
+  referenceWavelength: number | null
+  wavelengths: number[] | null
+}
 // TODO: Ian 2019-01-17 Moving away from this and towards nesting all form fields
 // inside `fields` key, but deprecating transfer/consolidate/distribute is a pre-req
 export type HydratedMoveLiquidFormDataLegacy = AnnotationFields &
diff --git a/protocol-designer/src/organisms/AnnouncementModal/__tests__/AnnouncementModal.test.tsx b/protocol-designer/src/organisms/AnnouncementModal/__tests__/AnnouncementModal.test.tsx
index da4929df54d..34a220d0eae 100644
--- a/protocol-designer/src/organisms/AnnouncementModal/__tests__/AnnouncementModal.test.tsx
+++ b/protocol-designer/src/organisms/AnnouncementModal/__tests__/AnnouncementModal.test.tsx
@@ -31,7 +31,7 @@ describe('AnnouncementModal', () => {
     const heading = screen.getByText('mockHeading')
     expect(heading).toBeVisible()
     screen.getByText('mockImage')
-    fireEvent.click(screen.getByRole('button', { name: 'Got It!' }))
+    fireEvent.click(screen.getByRole('button', { name: 'Close' }))
     expect(vi.mocked(setLocalStorageItem)).toHaveBeenCalled()
     expect(heading).not.toBeVisible()
   })
diff --git a/protocol-designer/src/organisms/AnnouncementModal/index.tsx b/protocol-designer/src/organisms/AnnouncementModal/index.tsx
index 1974ef47eb6..db898dd3a9e 100644
--- a/protocol-designer/src/organisms/AnnouncementModal/index.tsx
+++ b/protocol-designer/src/organisms/AnnouncementModal/index.tsx
@@ -25,7 +25,7 @@ export const AnnouncementModal = (
   props: AnnouncementModalProps
 ): JSX.Element => {
   const { onClose, isViewReleaseNotes = false } = props
-  const { t } = useTranslation(['modal', 'button'])
+  const { i18n, t } = useTranslation(['modal', 'button'])
   const announcements = useAnnouncements()
 
   const { announcementKey, message, heading, image } = announcements[
@@ -40,7 +40,9 @@ export const AnnouncementModal = (
   )
 
   const handleClick = (): void => {
-    if (onClose != null) onClose()
+    if (onClose != null) {
+      onClose()
+    }
     setLocalStorageItem(localStorageAnnouncementKey, announcementKey)
     setShowAnnouncementModal(false)
   }
@@ -49,13 +51,18 @@ export const AnnouncementModal = (
     <>
       {showAnnouncementModal && (
         <Modal
+          childrenPadding={SPACING.spacing24}
           marginLeft="0"
           title={heading}
           type="info"
           footer={
-            <Flex justifyContent={JUSTIFY_END} padding={SPACING.spacing24}>
+            <Flex
+              justifyContent={JUSTIFY_END}
+              paddingX={SPACING.spacing24}
+              paddingBottom={SPACING.spacing24}
+            >
               <PrimaryButton onClick={handleClick}>
-                {t('button:got_it')}
+                {i18n.format(t('close'), 'capitalize')}
               </PrimaryButton>
             </Flex>
           }
diff --git a/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx b/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
index 841923adfec..954115b29cd 100644
--- a/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
+++ b/protocol-designer/src/organisms/AssignLiquidsModal/LiquidToolbox.tsx
@@ -409,7 +409,6 @@ export function LiquidToolbox(props: LiquidToolboxProps): JSX.Element {
           <InfoScreen
             content={t('no_liquids_defined')}
             subContent={t('select_wells_to_add')}
-            height="100%"
           />
         )}
       </Toolbox>
diff --git a/protocol-designer/src/organisms/DefineLiquidsModal/index.tsx b/protocol-designer/src/organisms/DefineLiquidsModal/index.tsx
index 3e2e90d8d94..33f98e7c412 100644
--- a/protocol-designer/src/organisms/DefineLiquidsModal/index.tsx
+++ b/protocol-designer/src/organisms/DefineLiquidsModal/index.tsx
@@ -143,8 +143,8 @@ export function DefineLiquidsModal(
     saveForm({
       name: values.name,
       displayColor: values.displayColor,
-      liquidClass: values.liquidClass ? values.liquidClass : null,
-      description: values.description ? values.description : null,
+      liquidClass: values.liquidClass !== '' ? values.liquidClass : null,
+      description: values.description !== '' ? values.description : null,
       serialize: values.serialize ?? false,
     })
   }
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/PipetteConfiguration.tsx b/protocol-designer/src/organisms/EditInstrumentsModal/PipetteConfiguration.tsx
new file mode 100644
index 00000000000..989fd317ada
--- /dev/null
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/PipetteConfiguration.tsx
@@ -0,0 +1,296 @@
+import { useTranslation } from 'react-i18next'
+import { useDispatch, useSelector } from 'react-redux'
+import styled from 'styled-components'
+
+import {
+  ALIGN_CENTER,
+  ALIGN_STRETCH,
+  Box,
+  Btn,
+  Checkbox,
+  COLORS,
+  CURSOR_POINTER,
+  DIRECTION_COLUMN,
+  DISPLAY_FLEX,
+  DISPLAY_INLINE_BLOCK,
+  FLEX_MAX_CONTENT,
+  Flex,
+  OVERFLOW_AUTO,
+  PRODUCT,
+  RadioButton,
+  SPACING,
+  StyledText,
+  TYPOGRAPHY,
+  WRAP,
+} from '@opentrons/components'
+import {
+  FLEX_ROBOT_TYPE,
+  getAllPipetteNames,
+  OT2_ROBOT_TYPE,
+} from '@opentrons/shared-data'
+
+import { getLabwareDefsByURI } from '../../labware-defs/selectors'
+import { getAllowAllTipracks } from '../../feature-flags/selectors'
+import { setFeatureFlags } from '../../feature-flags/actions'
+import { createCustomTiprackDef } from '../../labware-defs/actions'
+import { getShouldShowPipetteType, getTiprackOptions } from './utils'
+import { removeOpentronsPhrases } from '../../utils'
+import {
+  PIPETTE_GENS,
+  PIPETTE_TYPES,
+  PIPETTE_VOLUMES,
+} from '../../pages/CreateNewProtocolWizard/constants'
+
+import type { PipetteName, RobotType } from '@opentrons/shared-data'
+import type { PipetteOnDeck } from '../../step-forms'
+import type {
+  Gen,
+  PipetteInfoByGen,
+  PipetteInfoByType,
+  PipetteType,
+} from '../../pages/CreateNewProtocolWizard/types'
+import type { ThunkDispatch } from '../../types'
+import type { PipetteConfig } from './usePipetteConfig'
+
+interface PipetteConfigurationProps {
+  has96Channel: boolean
+  robotType: RobotType
+  selectedPipette: string
+  pipetteConfig: PipetteConfig
+  leftPipette?: PipetteOnDeck
+  rightPipette?: PipetteOnDeck
+}
+
+export function PipetteConfiguration({
+  has96Channel,
+  robotType,
+  selectedPipette,
+  pipetteConfig,
+  leftPipette,
+  rightPipette,
+}: PipetteConfigurationProps): JSX.Element {
+  const { t } = useTranslation(['create_new_protocol', 'shared'])
+  const dispatch = useDispatch<ThunkDispatch<any>>()
+  const allLabware = useSelector(getLabwareDefsByURI)
+  const allowAllTipracks = useSelector(getAllowAllTipracks)
+  const allPipetteOptions = getAllPipetteNames('maxVolume', 'channels')
+  const {
+    mount,
+    pipetteType,
+    setPipetteType,
+    pipetteGen,
+    setPipetteGen,
+    pipetteVolume,
+    setPipetteVolume,
+    selectedTips,
+    setSelectedTips,
+  } = pipetteConfig
+
+  return (
+    <Flex
+      flexDirection="column"
+      overflowY={OVERFLOW_AUTO}
+      gridGap={SPACING.spacing24}
+    >
+      <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+        <StyledText desktopStyle="bodyLargeSemiBold">
+          {t('pipette_type')}
+        </StyledText>
+        <Flex gridGap={SPACING.spacing4}>
+          {PIPETTE_TYPES[robotType].map(type => {
+            return getShouldShowPipetteType(
+              type.value as PipetteType,
+              has96Channel,
+              leftPipette,
+              rightPipette,
+              mount
+            ) ? (
+              <RadioButton
+                key={`${type.label}_${type.value}`}
+                onChange={() => {
+                  setPipetteType(type.value)
+                  setPipetteGen('flex')
+                  setPipetteVolume(null)
+                  setSelectedTips([])
+                }}
+                buttonLabel={t(`shared:${type.label}`)}
+                buttonValue="single"
+                isSelected={pipetteType === type.value}
+              />
+            ) : null
+          })}
+        </Flex>
+      </Flex>
+      {pipetteType != null && robotType === OT2_ROBOT_TYPE ? (
+        <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+          <StyledText desktopStyle="bodyLargeSemiBold">
+            {t('pipette_gen')}
+          </StyledText>
+          <Flex gridGap={SPACING.spacing4}>
+            {PIPETTE_GENS.map(gen => (
+              <RadioButton
+                key={gen}
+                onChange={() => {
+                  setPipetteGen(gen)
+                  setPipetteVolume(null)
+                  setSelectedTips([])
+                }}
+                buttonLabel={gen}
+                buttonValue={gen}
+                isSelected={pipetteGen === gen}
+              />
+            ))}
+          </Flex>
+        </Flex>
+      ) : null}
+      {(pipetteType != null && robotType === FLEX_ROBOT_TYPE) ||
+      (pipetteGen !== 'flex' &&
+        pipetteType != null &&
+        robotType === OT2_ROBOT_TYPE) ? (
+        <Flex
+          flexDirection={DIRECTION_COLUMN}
+          gridGap={SPACING.spacing8}
+          id="volume"
+        >
+          <StyledText desktopStyle="bodyLargeSemiBold">
+            {t('pipette_vol')}
+          </StyledText>
+          <Flex gridGap={SPACING.spacing4}>
+            {PIPETTE_VOLUMES[robotType]?.map(volume => {
+              if (robotType === FLEX_ROBOT_TYPE && pipetteType != null) {
+                const flexVolume = volume as PipetteInfoByType
+                const flexPipetteInfo = flexVolume[pipetteType]
+
+                return flexPipetteInfo?.map(type => (
+                  <RadioButton
+                    key={`${type.value}_${pipetteType}`}
+                    onChange={() => {
+                      setPipetteVolume(type.value)
+                      setSelectedTips([])
+                    }}
+                    buttonLabel={t('vol_label', { volume: type.label })}
+                    buttonValue={type.value}
+                    isSelected={pipetteVolume === type.value}
+                  />
+                ))
+              } else {
+                const ot2Volume = volume as PipetteInfoByGen
+                const gen = pipetteGen as Gen
+
+                return ot2Volume[gen].map(info => {
+                  return info[pipetteType]?.map(type => (
+                    <RadioButton
+                      key={`${type.value}_${pipetteGen}_${pipetteType}`}
+                      onChange={() => {
+                        setPipetteVolume(type.value)
+                      }}
+                      buttonLabel={t('vol_label', {
+                        volume: type.label,
+                      })}
+                      buttonValue={type.value}
+                      isSelected={pipetteVolume === type.value}
+                    />
+                  ))
+                })
+              }
+            })}
+          </Flex>
+        </Flex>
+      ) : null}
+      {allPipetteOptions.includes(selectedPipette as PipetteName)
+        ? (() => {
+            const tiprackOptions = getTiprackOptions({
+              allLabware,
+              allowAllTipracks,
+              selectedPipetteName: selectedPipette,
+            })
+            return (
+              <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+                <StyledText desktopStyle="bodyLargeSemiBold">
+                  {t('pipette_tips')}
+                </StyledText>
+                <StyledBox>
+                  {tiprackOptions.map(option => (
+                    <Checkbox
+                      key={option.value}
+                      disabled={
+                        selectedTips.length === 3 &&
+                        !selectedTips.includes(option.value)
+                      }
+                      isChecked={selectedTips.includes(option.value)}
+                      labelText={removeOpentronsPhrases(option.name)}
+                      onClick={() => {
+                        const updatedTips = selectedTips.includes(option.value)
+                          ? selectedTips.filter(v => v !== option.value)
+                          : [...selectedTips, option.value]
+                        setSelectedTips(updatedTips)
+                      }}
+                    />
+                  ))}
+                  <Flex
+                    gridGap={SPACING.spacing8}
+                    padding={SPACING.spacing4}
+                    width={FLEX_MAX_CONTENT}
+                  >
+                    <StyledLabel>
+                      <StyledText desktopStyle="bodyDefaultRegular">
+                        {t('add_custom_tips')}
+                      </StyledText>
+                      <input
+                        data-testid="SelectPipettes_customTipInput"
+                        type="file"
+                        onChange={e => dispatch(createCustomTiprackDef(e))}
+                      />
+                    </StyledLabel>
+                    {pipetteVolume === 'p1000' &&
+                    robotType === FLEX_ROBOT_TYPE ? null : (
+                      <Btn
+                        onClick={() => {
+                          dispatch(
+                            setFeatureFlags({
+                              OT_PD_ALLOW_ALL_TIPRACKS: !allowAllTipracks,
+                            })
+                          )
+                        }}
+                        textDecoration={TYPOGRAPHY.textDecorationUnderline}
+                      >
+                        <StyledLabel>
+                          <StyledText desktopStyle="bodyDefaultRegular">
+                            {allowAllTipracks
+                              ? t('show_default_tips')
+                              : t('show_all_tips')}
+                          </StyledText>
+                        </StyledLabel>
+                      </Btn>
+                    )}
+                  </Flex>
+                </StyledBox>
+              </Flex>
+            )
+          })()
+        : null}
+    </Flex>
+  )
+}
+
+const StyledBox = styled(Box)`
+  gap: ${SPACING.spacing4};
+  display: ${DISPLAY_FLEX};
+  flex-wrap: ${WRAP};
+  align-items: ${ALIGN_CENTER};
+  align-content: ${ALIGN_CENTER};
+  align-self: ${ALIGN_STRETCH};
+`
+
+const StyledLabel = styled.label`
+  text-decoration: ${TYPOGRAPHY.textDecorationUnderline};
+  font-size: ${PRODUCT.TYPOGRAPHY.fontSizeBodyDefaultSemiBold};
+  display: ${DISPLAY_INLINE_BLOCK};
+  cursor: ${CURSOR_POINTER};
+  input[type='file'] {
+    display: none;
+  }
+  &:hover {
+    color: ${COLORS.blue50};
+  }
+`
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/PipetteOverview.tsx b/protocol-designer/src/organisms/EditInstrumentsModal/PipetteOverview.tsx
new file mode 100644
index 00000000000..328da8e7159
--- /dev/null
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/PipetteOverview.tsx
@@ -0,0 +1,258 @@
+import { useTranslation } from 'react-i18next'
+import { useDispatch } from 'react-redux'
+import mapValues from 'lodash/mapValues'
+
+import {
+  ALIGN_CENTER,
+  Btn,
+  COLORS,
+  DIRECTION_COLUMN,
+  DIRECTION_ROW,
+  EmptySelectorButton,
+  Flex,
+  Icon,
+  JUSTIFY_SPACE_BETWEEN,
+  ListItem,
+  SPACING,
+  StyledText,
+  TYPOGRAPHY,
+} from '@opentrons/components'
+import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data'
+
+import { PipetteInfoItem } from '../PipetteInfoItem'
+import { changeSavedStepForm } from '../../steplist/actions'
+import { deletePipettes } from '../../step-forms/actions'
+import { deleteContainer } from '../../labware-ingred/actions'
+import { toggleIsGripperRequired } from '../../step-forms/actions/additionalItems'
+import { getSectionsFromPipetteName } from './utils'
+import { INITIAL_DECK_SETUP_STEP_ID } from '../../constants'
+import { LINK_BUTTON_STYLE } from '../../atoms'
+
+import type { AdditionalEquipmentName } from '@opentrons/step-generation'
+import type { RobotType } from '@opentrons/shared-data'
+import type {
+  AllTemporalPropertiesForTimelineFrame,
+  PipetteOnDeck,
+} from '../../step-forms'
+import type { ThunkDispatch } from '../../types'
+import type { PipetteConfig } from './usePipetteConfig'
+
+interface Gripper {
+  name: AdditionalEquipmentName
+  id: string
+  location?: string
+}
+
+interface PipetteOverviewProps {
+  has96Channel: boolean
+  pipettes: AllTemporalPropertiesForTimelineFrame['pipettes']
+  labware: AllTemporalPropertiesForTimelineFrame['labware']
+  robotType: RobotType
+  pipetteConfig: PipetteConfig
+  leftPipette?: PipetteOnDeck
+  rightPipette?: PipetteOnDeck
+  gripper?: Gripper
+}
+
+export function PipetteOverview({
+  has96Channel,
+  pipettes,
+  labware,
+  robotType,
+  pipetteConfig,
+  leftPipette,
+  rightPipette,
+  gripper,
+}: PipetteOverviewProps): JSX.Element {
+  const { i18n, t } = useTranslation([
+    'create_new_protocol',
+    'protocol_overview',
+  ])
+  const dispatch = useDispatch<ThunkDispatch<any>>()
+
+  const swapPipetteUpdate = mapValues(pipettes, pipette => {
+    if (!pipette.mount) return pipette.mount
+    return pipette.mount === 'left' ? 'right' : 'left'
+  })
+
+  const targetPipetteMount = leftPipette == null ? 'left' : 'right'
+
+  const rightInfo =
+    rightPipette != null
+      ? getSectionsFromPipetteName(rightPipette.name, rightPipette.spec)
+      : null
+  const leftInfo =
+    leftPipette != null
+      ? getSectionsFromPipetteName(leftPipette.name, leftPipette.spec)
+      : null
+
+  const previousLeftPipetteTipracks = Object.values(labware)
+    .filter(lw => lw.def.parameters.isTiprack)
+    .filter(tip => leftPipette?.tiprackDefURI.includes(tip.labwareDefURI))
+  const previousRightPipetteTipracks = Object.values(labware)
+    .filter(lw => lw.def.parameters.isTiprack)
+    .filter(tip => rightPipette?.tiprackDefURI.includes(tip.labwareDefURI))
+
+  const {
+    setPage,
+    setMount,
+    setPipetteType,
+    setPipetteGen,
+    setPipetteVolume,
+    setSelectedTips,
+  } = pipetteConfig
+
+  return (
+    <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing24}>
+      <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+        <Flex justifyContent={JUSTIFY_SPACE_BETWEEN} alignItems={ALIGN_CENTER}>
+          <StyledText desktopStyle="bodyLargeSemiBold">
+            {t('your_pipettes')}
+          </StyledText>
+          {has96Channel ||
+          (leftPipette == null && rightPipette == null) ? null : (
+            <Btn
+              css={LINK_BUTTON_STYLE}
+              onClick={() =>
+                dispatch(
+                  changeSavedStepForm({
+                    stepId: INITIAL_DECK_SETUP_STEP_ID,
+                    update: {
+                      pipetteLocationUpdate: swapPipetteUpdate,
+                    },
+                  })
+                )
+              }
+            >
+              <Flex flexDirection={DIRECTION_ROW}>
+                <Icon
+                  name="swap-horizontal"
+                  size="1rem"
+                  transform="rotate(90deg)"
+                />
+                <StyledText desktopStyle="captionSemiBold">
+                  {t('swap_pipette_mounts')}
+                </StyledText>
+              </Flex>
+            </Btn>
+          )}
+        </Flex>
+        <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+          {leftPipette?.tiprackDefURI != null && leftInfo != null ? (
+            <PipetteInfoItem
+              mount="left"
+              pipetteName={leftPipette.name}
+              tiprackDefURIs={leftPipette.tiprackDefURI}
+              editClick={() => {
+                setPage('add')
+                setMount('left')
+                setPipetteType(leftInfo.type)
+                setPipetteGen(leftInfo.gen)
+                setPipetteVolume(leftInfo.volume)
+                setSelectedTips(leftPipette.tiprackDefURI as string[])
+              }}
+              cleanForm={() => {
+                dispatch(deletePipettes([leftPipette.id as string]))
+                previousLeftPipetteTipracks.forEach(tip =>
+                  dispatch(deleteContainer({ labwareId: tip.id }))
+                )
+              }}
+            />
+          ) : null}
+          {rightPipette?.tiprackDefURI != null && rightInfo != null ? (
+            <PipetteInfoItem
+              mount="right"
+              pipetteName={rightPipette.name}
+              tiprackDefURIs={rightPipette.tiprackDefURI}
+              editClick={() => {
+                setPage('add')
+                setMount('right')
+                setPipetteType(rightInfo.type)
+                setPipetteGen(rightInfo.gen)
+                setPipetteVolume(rightInfo.volume)
+                setSelectedTips(rightPipette.tiprackDefURI as string[])
+              }}
+              cleanForm={() => {
+                dispatch(deletePipettes([rightPipette.id as string]))
+                previousRightPipetteTipracks.forEach(tip =>
+                  dispatch(deleteContainer({ labwareId: tip.id }))
+                )
+              }}
+            />
+          ) : null}
+          {has96Channel ||
+          (leftPipette != null && rightPipette != null) ? null : (
+            <EmptySelectorButton
+              onClick={() => {
+                setPage('add')
+                setMount(targetPipetteMount)
+              }}
+              text={t('add_pipette')}
+              textAlignment="left"
+              iconName="plus"
+            />
+          )}
+        </Flex>
+      </Flex>
+      {robotType === FLEX_ROBOT_TYPE ? (
+        <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+          <Flex
+            justifyContent={JUSTIFY_SPACE_BETWEEN}
+            alignItems={ALIGN_CENTER}
+          >
+            <StyledText desktopStyle="bodyLargeSemiBold">
+              {t('protocol_overview:your_gripper')}
+            </StyledText>
+          </Flex>
+          <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
+            {gripper != null ? (
+              <ListItem type="noActive">
+                <Flex
+                  padding={SPACING.spacing12}
+                  justifyContent={JUSTIFY_SPACE_BETWEEN}
+                  width="100%"
+                >
+                  <Flex
+                    gridGap={SPACING.spacing4}
+                    flexDirection={DIRECTION_COLUMN}
+                  >
+                    <StyledText desktopStyle="bodyDefaultSemiBold">
+                      {t('protocol_overview:extension')}
+                    </StyledText>
+                    <StyledText
+                      desktopStyle="bodyDefaultRegular"
+                      color={COLORS.grey60}
+                    >
+                      {i18n.format(t('gripper'), 'capitalize')}
+                    </StyledText>
+                  </Flex>
+                  <Btn
+                    css={LINK_BUTTON_STYLE}
+                    textDecoration={TYPOGRAPHY.textDecorationUnderline}
+                    padding={SPACING.spacing4}
+                    onClick={() => {
+                      dispatch(toggleIsGripperRequired())
+                    }}
+                  >
+                    <StyledText desktopStyle="bodyDefaultRegular">
+                      {t('remove')}
+                    </StyledText>
+                  </Btn>
+                </Flex>
+              </ListItem>
+            ) : (
+              <EmptySelectorButton
+                onClick={() => {
+                  dispatch(toggleIsGripperRequired())
+                }}
+                text={t('protocol_overview:add_gripper')}
+                textAlignment="left"
+                iconName="plus"
+              />
+            )}
+          </Flex>
+        </Flex>
+      ) : null}
+    </Flex>
+  )
+}
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/EditInstrumentsModal.test.tsx b/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/EditInstrumentsModal.test.tsx
new file mode 100644
index 00000000000..b4b06ee5bdf
--- /dev/null
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/EditInstrumentsModal.test.tsx
@@ -0,0 +1,150 @@
+import { describe, it, expect, vi, beforeEach, afterEach } from 'vitest'
+import { fireEvent, screen } from '@testing-library/react'
+
+import { FLEX_ROBOT_TYPE } from '@opentrons/shared-data'
+
+import { renderWithProviders } from '../../../__testing-utils__'
+import { i18n } from '../../../assets/localization'
+
+import { getRobotType } from '../../../file-data/selectors'
+import {
+  getAdditionalEquipment,
+  getInitialDeckSetup,
+} from '../../../step-forms/selectors'
+import { getHas96Channel } from '../../../utils'
+import { usePipetteConfig } from '../usePipetteConfig'
+import { PipetteOverview } from '../PipetteOverview'
+import { PipetteConfiguration } from '../PipetteConfiguration'
+
+import { EditInstrumentsModal } from '..'
+
+import type { ComponentProps } from 'react'
+
+vi.mock('../../../file-data/selectors')
+vi.mock('../../../step-forms/selectors')
+vi.mock('../../../utils')
+vi.mock('../usePipetteConfig')
+vi.mock('../PipetteOverview')
+vi.mock('../PipetteConfiguration')
+
+const mockOnClose = vi.fn()
+
+const render = (props: ComponentProps<typeof EditInstrumentsModal>) => {
+  return renderWithProviders(<EditInstrumentsModal {...props} />, {
+    i18nInstance: i18n,
+  })
+}
+
+describe('EditInstrumentsModal', () => {
+  let props: ComponentProps<typeof EditInstrumentsModal>
+
+  beforeEach(() => {
+    props = {
+      onClose: mockOnClose,
+    }
+    vi.mocked(getRobotType).mockReturnValue(FLEX_ROBOT_TYPE)
+    vi.mocked(usePipetteConfig).mockReturnValue({
+      page: 'add',
+      mount: 'left',
+      pipetteType: 'single',
+      pipetteGen: 'flex',
+      pipetteVolume: 'p1000',
+      selectedTips: ['A1'],
+      setPage: vi.fn(),
+      setMount: vi.fn(),
+      setPipetteType: vi.fn(),
+      setPipetteGen: vi.fn(),
+      setPipetteVolume: vi.fn(),
+      setSelectedTips: vi.fn(),
+      resetFields: vi.fn(),
+    })
+    vi.mocked(PipetteOverview).mockReturnValue(<div>mock PipetteOverview</div>)
+    vi.mocked(PipetteConfiguration).mockReturnValue(
+      <div>mock PipetteConfiguration</div>
+    )
+    vi.mocked(getInitialDeckSetup).mockReturnValue({
+      pipettes: {},
+      additionalEquipmentOnDeck: {},
+      modules: {},
+      labware: {},
+    })
+    vi.mocked(getHas96Channel).mockReturnValue(false)
+    vi.mocked(getAdditionalEquipment).mockReturnValue({})
+  })
+
+  afterEach(() => {
+    vi.resetAllMocks()
+  })
+
+  it('should render text and buttons - pipette configuration', () => {
+    render(props)
+    screen.getByText('Edit Pipette')
+    screen.getByText('mock PipetteConfiguration')
+    screen.getByText('Save')
+    screen.getByText('Back')
+  })
+
+  it('should render text and buttons - pipette overview', () => {
+    vi.mocked(usePipetteConfig).mockReturnValue({
+      page: 'overview',
+      mount: 'left',
+      pipetteType: 'single',
+      pipetteGen: 'flex',
+      pipetteVolume: 'p1000',
+      selectedTips: ['A1'],
+      setPage: vi.fn(),
+      setMount: vi.fn(),
+      setPipetteType: vi.fn(),
+      setPipetteGen: vi.fn(),
+      setPipetteVolume: vi.fn(),
+      setSelectedTips: vi.fn(),
+      resetFields: vi.fn(),
+    })
+    render(props)
+    screen.getByText('Edit Instruments')
+    screen.getByText('mock PipetteOverview')
+    screen.getByText('Save')
+    screen.getByText('Cancel')
+  })
+
+  it('should render text and buttons - pipette overview', () => {
+    vi.mocked(usePipetteConfig).mockReturnValue({
+      page: 'overview',
+      mount: 'left',
+      pipetteType: null,
+      pipetteGen: 'flex',
+      pipetteVolume: null,
+      selectedTips: [],
+      setPage: vi.fn(),
+      setMount: vi.fn(),
+      setPipetteType: vi.fn(),
+      setPipetteGen: vi.fn(),
+      setPipetteVolume: vi.fn(),
+      setSelectedTips: vi.fn(),
+      resetFields: vi.fn(),
+    })
+    render(props)
+    expect(screen.getByText('Save')).toBeDisabled()
+  })
+
+  it('should render text and buttons - pipette overview', () => {
+    vi.mocked(usePipetteConfig).mockReturnValue({
+      page: 'overview',
+      mount: 'left',
+      pipetteType: 'single',
+      pipetteGen: 'flex',
+      pipetteVolume: 'p1000',
+      selectedTips: ['A1'],
+      setPage: vi.fn(),
+      setMount: vi.fn(),
+      setPipetteType: vi.fn(),
+      setPipetteGen: vi.fn(),
+      setPipetteVolume: vi.fn(),
+      setSelectedTips: vi.fn(),
+      resetFields: vi.fn(),
+    })
+    render(props)
+    fireEvent.click(screen.getByText('Cancel'))
+    expect(mockOnClose).toHaveBeenCalled()
+  })
+})
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/usePipetteConfig.test.ts b/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/usePipetteConfig.test.ts
new file mode 100644
index 00000000000..9ddb18be1b9
--- /dev/null
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/__tests__/usePipetteConfig.test.ts
@@ -0,0 +1,93 @@
+import { describe, it, expect } from 'vitest'
+import { renderHook, act } from '@testing-library/react'
+import { usePipetteConfig } from '../usePipetteConfig'
+
+describe('usePipetteConfig', () => {
+  it('should initialize with default values', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    expect(result.current.page).toBe('overview')
+    expect(result.current.mount).toBe('left')
+    expect(result.current.pipetteType).toBeNull()
+    expect(result.current.pipetteGen).toBe('flex')
+    expect(result.current.pipetteVolume).toBeNull()
+    expect(result.current.selectedTips).toEqual([])
+  })
+
+  it('should update page', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setPage('add')
+    })
+
+    expect(result.current.page).toBe('add')
+  })
+
+  it('should update mount', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setMount('right')
+    })
+
+    expect(result.current.mount).toBe('right')
+  })
+
+  it('should update pipetteType', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setPipetteType('single')
+    })
+
+    expect(result.current.pipetteType).toBe('single')
+  })
+
+  it('should update pipetteGen', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setPipetteGen('GEN2')
+    })
+
+    expect(result.current.pipetteGen).toBe('GEN2')
+  })
+
+  it('should update pipetteVolume', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setPipetteVolume('1000')
+    })
+
+    expect(result.current.pipetteVolume).toBe('1000')
+  })
+
+  it('should update selectedTips', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setSelectedTips(['tip1', 'tip2'])
+    })
+
+    expect(result.current.selectedTips).toEqual(['tip1', 'tip2'])
+  })
+
+  it('should reset fields', () => {
+    const { result } = renderHook(() => usePipetteConfig())
+
+    act(() => {
+      result.current.setPipetteType('single')
+      result.current.setPipetteGen('GEN2')
+      result.current.setPipetteVolume('1000')
+      result.current.setSelectedTips(['tip1', 'tip2'])
+      result.current.resetFields()
+    })
+
+    expect(result.current.pipetteType).toBeNull()
+    expect(result.current.pipetteGen).toBe('flex')
+    expect(result.current.pipetteVolume).toBeNull()
+    expect(result.current.selectedTips).toEqual([])
+  })
+})
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx b/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx
index 5de4843883c..853ac9b0619 100644
--- a/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/index.tsx
@@ -1,86 +1,32 @@
-import { useState } from 'react'
 import { useDispatch, useSelector } from 'react-redux'
 import { useTranslation } from 'react-i18next'
 import { createPortal } from 'react-dom'
-import styled, { css } from 'styled-components'
-import mapValues from 'lodash/mapValues'
 
 import {
-  ALIGN_CENTER,
-  ALIGN_STRETCH,
-  Box,
-  Btn,
-  Checkbox,
-  COLORS,
-  CURSOR_POINTER,
-  DIRECTION_COLUMN,
-  DIRECTION_ROW,
-  DISPLAY_FLEX,
-  DISPLAY_INLINE_BLOCK,
-  EmptySelectorButton,
-  FLEX_MAX_CONTENT,
   Flex,
-  Icon,
   JUSTIFY_END,
-  JUSTIFY_SPACE_BETWEEN,
-  ListItem,
   Modal,
-  OVERFLOW_AUTO,
   PrimaryButton,
-  PRODUCT,
-  RadioButton,
   SecondaryButton,
   SPACING,
-  StyledText,
-  TYPOGRAPHY,
-  WRAP,
 } from '@opentrons/components'
-import {
-  FLEX_ROBOT_TYPE,
-  getAllPipetteNames,
-  OT2_ROBOT_TYPE,
-} from '@opentrons/shared-data'
 
-import { getAllowAllTipracks } from '../../feature-flags/selectors'
 import {
   getAdditionalEquipment,
   getInitialDeckSetup,
   getPipetteEntities,
 } from '../../step-forms/selectors'
-import { getHas96Channel, removeOpentronsPhrases } from '../../utils'
-import { changeSavedStepForm } from '../../steplist/actions'
-import { INITIAL_DECK_SETUP_STEP_ID } from '../../constants'
-import { PipetteInfoItem } from '../PipetteInfoItem'
-import { deletePipettes } from '../../step-forms/actions'
-import { toggleIsGripperRequired } from '../../step-forms/actions/additionalItems'
+import { getHas96Channel } from '../../utils'
 import { getRobotType } from '../../file-data/selectors'
-import {
-  PIPETTE_GENS,
-  PIPETTE_TYPES,
-  PIPETTE_VOLUMES,
-} from '../../pages/CreateNewProtocolWizard/constants'
-import { getLabwareDefsByURI } from '../../labware-defs/selectors'
-import { setFeatureFlags } from '../../feature-flags/actions'
-import { createCustomTiprackDef } from '../../labware-defs/actions'
-import { deleteContainer } from '../../labware-ingred/actions'
 import { selectors as stepFormSelectors } from '../../step-forms'
-import { LINK_BUTTON_STYLE } from '../../atoms'
 import { getMainPagePortalEl } from '../Portal'
-import {
-  getSectionsFromPipetteName,
-  getShouldShowPipetteType,
-  getTiprackOptions,
-} from './utils'
 import { editPipettes } from './editPipettes'
 import { HandleEnter } from '../../atoms/HandleEnter'
+import { PipetteOverview } from './PipetteOverview'
+import { PipetteConfiguration } from './PipetteConfiguration'
+import { usePipetteConfig } from './usePipetteConfig'
 
-import type { PipetteMount, PipetteName } from '@opentrons/shared-data'
-import type {
-  Gen,
-  PipetteInfoByGen,
-  PipetteInfoByType,
-  PipetteType,
-} from '../../pages/CreateNewProtocolWizard/types'
+import type { PipetteName } from '@opentrons/shared-data'
 import type { ThunkDispatch } from '../../types'
 
 interface EditInstrumentsModalProps {
@@ -92,25 +38,13 @@ export function EditInstrumentsModal(
 ): JSX.Element {
   const { onClose } = props
   const dispatch = useDispatch<ThunkDispatch<any>>()
-  const { i18n, t } = useTranslation([
-    'create_new_protocol',
-    'protocol_overview',
-    'shared',
-  ])
-  const [page, setPage] = useState<'add' | 'overview'>('overview')
-  const [mount, setMount] = useState<PipetteMount>('left')
-  const [pipetteType, setPipetteType] = useState<PipetteType | null>(null)
-  const [pipetteGen, setPipetteGen] = useState<Gen | 'flex'>('flex')
-  const [pipetteVolume, setPipetteVolume] = useState<string | null>(null)
-  const [selectedTips, setSelectedTips] = useState<string[]>([])
-  const allowAllTipracks = useSelector(getAllowAllTipracks)
+  const { t } = useTranslation('shared')
+  const pipetteConfig = usePipetteConfig()
   const robotType = useSelector(getRobotType)
   const orderedStepIds = useSelector(stepFormSelectors.getOrderedStepIds)
   const initialDeckSetup = useSelector(getInitialDeckSetup)
   const additionalEquipment = useSelector(getAdditionalEquipment)
   const pipetteEntities = useSelector(getPipetteEntities)
-  const allLabware = useSelector(getLabwareDefsByURI)
-  const allPipetteOptions = getAllPipetteNames('maxVolume', 'channels')
   const { pipettes, labware } = initialDeckSetup
   const pipettesOnDeck = Object.values(pipettes)
   const has96Channel = getHas96Channel(pipetteEntities)
@@ -119,42 +53,22 @@ export function EditInstrumentsModal(
   const gripper = Object.values(additionalEquipment).find(
     ae => ae.name === 'gripper'
   )
-  const selectedPip =
+  const {
+    page,
+    mount,
+    pipetteType,
+    pipetteGen,
+    pipetteVolume,
+    selectedTips,
+    setPage,
+    resetFields,
+  } = pipetteConfig
+
+  const selectedPipette =
     pipetteType === '96' || pipetteGen === 'GEN1'
       ? `${pipetteVolume}_${pipetteType}`
       : `${pipetteVolume}_${pipetteType}_${pipetteGen.toLowerCase()}`
 
-  const swapPipetteUpdate = mapValues(pipettes, pipette => {
-    if (!pipette.mount) return pipette.mount
-    return pipette.mount === 'left' ? 'right' : 'left'
-  })
-
-  const resetFields = (): void => {
-    setPipetteType(null)
-    setPipetteGen('flex')
-    setPipetteVolume(null)
-  }
-
-  const previousLeftPipetteTipracks = Object.values(labware)
-    .filter(lw => lw.def.parameters.isTiprack)
-    .filter(tip => leftPipette?.tiprackDefURI.includes(tip.labwareDefURI))
-  const previousRightPipetteTipracks = Object.values(labware)
-    .filter(lw => lw.def.parameters.isTiprack)
-    .filter(tip => rightPipette?.tiprackDefURI.includes(tip.labwareDefURI))
-
-  const rightInfo =
-    rightPipette != null
-      ? getSectionsFromPipetteName(rightPipette.name, rightPipette.spec)
-      : null
-  const leftInfo =
-    leftPipette != null
-      ? getSectionsFromPipetteName(leftPipette.name, leftPipette.spec)
-      : null
-
-  // Note (kk:2024/10/09)
-  // if a user removes all pipettes, left mount is the first target.
-  const targetPipetteMount = leftPipette == null ? 'left' : 'right'
-
   const handleOnSave = (): void => {
     if (page === 'overview') {
       onClose()
@@ -166,7 +80,7 @@ export function EditInstrumentsModal(
         orderedStepIds,
         dispatch,
         mount,
-        selectedPip as PipetteName,
+        selectedPipette as PipetteName,
         selectedTips,
         leftPipette,
         rightPipette
@@ -178,11 +92,7 @@ export function EditInstrumentsModal(
     <HandleEnter onEnter={handleOnSave}>
       <Modal
         marginLeft="0"
-        title={
-          page === 'add'
-            ? t('shared:edit_pipette')
-            : t('shared:edit_instruments')
-        }
+        title={page === 'add' ? t('edit_pipette') : t('edit_instruments')}
         type="info"
         closeOnOutsideClick
         width="37.125rem"
@@ -206,400 +116,47 @@ export function EditInstrumentsModal(
                 }
               }}
             >
-              {page === 'overview' ? t('shared:cancel') : t('shared:back')}
+              {page === 'overview' ? t('cancel') : t('back')}
             </SecondaryButton>
             <PrimaryButton
               disabled={
-                page === 'add' &&
-                (pipetteVolume == null ||
-                  pipetteType == null ||
-                  pipetteGen == null ||
-                  selectedTips.length === 0)
+                (page === 'add' &&
+                  (pipetteVolume == null ||
+                    pipetteType == null ||
+                    pipetteGen == null ||
+                    selectedTips.length === 0)) ||
+                (page === 'overview' && pipettesOnDeck.length === 0)
               }
               onClick={handleOnSave}
             >
-              {t('shared:save')}
+              {t('save')}
             </PrimaryButton>
           </Flex>
         }
       >
         {page === 'overview' ? (
-          <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing24}>
-            <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
-              <Flex
-                justifyContent={JUSTIFY_SPACE_BETWEEN}
-                alignItems={ALIGN_CENTER}
-              >
-                <StyledText desktopStyle="bodyLargeSemiBold">
-                  {t('your_pipettes')}
-                </StyledText>
-                {has96Channel ||
-                (leftPipette == null && rightPipette == null) ? null : (
-                  <Btn
-                    css={LINK_BUTTON_STYLE}
-                    onClick={() =>
-                      dispatch(
-                        changeSavedStepForm({
-                          stepId: INITIAL_DECK_SETUP_STEP_ID,
-                          update: {
-                            pipetteLocationUpdate: swapPipetteUpdate,
-                          },
-                        })
-                      )
-                    }
-                  >
-                    <Flex flexDirection={DIRECTION_ROW}>
-                      <Icon
-                        name="swap-horizontal"
-                        size="1rem"
-                        transform="rotate(90deg)"
-                      />
-                      <StyledText desktopStyle="captionSemiBold">
-                        {t('swap_pipette_mounts')}
-                      </StyledText>
-                    </Flex>
-                  </Btn>
-                )}
-              </Flex>
-              <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
-                {leftPipette?.tiprackDefURI != null && leftInfo != null ? (
-                  <PipetteInfoItem
-                    mount="left"
-                    pipetteName={leftPipette.name}
-                    tiprackDefURIs={leftPipette.tiprackDefURI}
-                    editClick={() => {
-                      setPage('add')
-                      setMount('left')
-                      setPipetteType(leftInfo.type)
-                      setPipetteGen(leftInfo.gen)
-                      setPipetteVolume(leftInfo.volume)
-                      setSelectedTips(leftPipette.tiprackDefURI as string[])
-                    }}
-                    cleanForm={() => {
-                      dispatch(deletePipettes([leftPipette.id as string]))
-                      previousLeftPipetteTipracks.forEach(tip =>
-                        dispatch(deleteContainer({ labwareId: tip.id }))
-                      )
-                    }}
-                  />
-                ) : null}
-                {rightPipette?.tiprackDefURI != null && rightInfo != null ? (
-                  <PipetteInfoItem
-                    mount="right"
-                    pipetteName={rightPipette.name}
-                    tiprackDefURIs={rightPipette.tiprackDefURI}
-                    editClick={() => {
-                      setPage('add')
-                      setMount('right')
-                      setPipetteType(rightInfo.type)
-                      setPipetteGen(rightInfo.gen)
-                      setPipetteVolume(rightInfo.volume)
-                      setSelectedTips(rightPipette.tiprackDefURI as string[])
-                    }}
-                    cleanForm={() => {
-                      dispatch(deletePipettes([rightPipette.id as string]))
-                      previousRightPipetteTipracks.forEach(tip =>
-                        dispatch(deleteContainer({ labwareId: tip.id }))
-                      )
-                    }}
-                  />
-                ) : null}
-                {has96Channel ||
-                (leftPipette != null && rightPipette != null) ? null : (
-                  <EmptySelectorButton
-                    onClick={() => {
-                      setPage('add')
-                      setMount(targetPipetteMount)
-                    }}
-                    text={t('add_pipette')}
-                    textAlignment="left"
-                    iconName="plus"
-                  />
-                )}
-              </Flex>
-            </Flex>
-            {robotType === FLEX_ROBOT_TYPE ? (
-              <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
-                <Flex
-                  justifyContent={JUSTIFY_SPACE_BETWEEN}
-                  alignItems={ALIGN_CENTER}
-                >
-                  <StyledText desktopStyle="bodyLargeSemiBold">
-                    {t('protocol_overview:your_gripper')}
-                  </StyledText>
-                </Flex>
-                <Flex
-                  flexDirection={DIRECTION_COLUMN}
-                  gridGap={SPACING.spacing8}
-                >
-                  {gripper != null ? (
-                    <ListItem type="noActive">
-                      <Flex
-                        padding={SPACING.spacing12}
-                        justifyContent={JUSTIFY_SPACE_BETWEEN}
-                        width="100%"
-                      >
-                        <Flex
-                          gridGap={SPACING.spacing4}
-                          flexDirection={DIRECTION_COLUMN}
-                        >
-                          <StyledText desktopStyle="bodyDefaultSemiBold">
-                            {t('protocol_overview:extension')}
-                          </StyledText>
-                          <StyledText
-                            desktopStyle="bodyDefaultRegular"
-                            color={COLORS.grey60}
-                          >
-                            {i18n.format(t('gripper'), 'capitalize')}
-                          </StyledText>
-                        </Flex>
-                        <Btn
-                          css={LINK_BUTTON_STYLE}
-                          textDecoration={TYPOGRAPHY.textDecorationUnderline}
-                          padding={SPACING.spacing4}
-                          id="hello"
-                          onClick={() => {
-                            dispatch(toggleIsGripperRequired())
-                          }}
-                        >
-                          <StyledText desktopStyle="bodyDefaultRegular">
-                            {t('remove')}
-                          </StyledText>
-                        </Btn>
-                      </Flex>
-                    </ListItem>
-                  ) : (
-                    <EmptySelectorButton
-                      onClick={() => {
-                        dispatch(toggleIsGripperRequired())
-                      }}
-                      text={t('protocol_overview:add_gripper')}
-                      textAlignment="left"
-                      iconName="plus"
-                    />
-                  )}
-                </Flex>
-              </Flex>
-            ) : null}
-          </Flex>
+          <PipetteOverview
+            has96Channel={has96Channel}
+            labware={labware}
+            pipettes={pipettes}
+            robotType={robotType}
+            leftPipette={leftPipette}
+            rightPipette={rightPipette}
+            gripper={gripper}
+            pipetteConfig={pipetteConfig}
+          />
         ) : (
-          <Flex
-            flexDirection="column"
-            overflowY={OVERFLOW_AUTO}
-            gridGap={SPACING.spacing24}
-          >
-            <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
-              <StyledText desktopStyle="bodyLargeSemiBold">
-                {t('pipette_type')}
-              </StyledText>
-              <Flex gridGap={SPACING.spacing4}>
-                {PIPETTE_TYPES[robotType].map(type => {
-                  return getShouldShowPipetteType(
-                    type.value as PipetteType,
-                    has96Channel,
-                    leftPipette,
-                    rightPipette,
-                    mount
-                  ) ? (
-                    <RadioButton
-                      key={`${type.label}_${type.value}`}
-                      onChange={() => {
-                        setPipetteType(type.value)
-                        setPipetteGen('flex')
-                        setPipetteVolume(null)
-                        setSelectedTips([])
-                      }}
-                      buttonLabel={t(`shared:${type.label}`)}
-                      buttonValue="single"
-                      isSelected={pipetteType === type.value}
-                    />
-                  ) : null
-                })}
-              </Flex>
-            </Flex>
-            {pipetteType != null && robotType === OT2_ROBOT_TYPE ? (
-              <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing8}>
-                <StyledText desktopStyle="bodyLargeSemiBold">
-                  {t('pipette_gen')}
-                </StyledText>
-                <Flex gridGap={SPACING.spacing4}>
-                  {PIPETTE_GENS.map(gen => (
-                    <RadioButton
-                      key={gen}
-                      onChange={() => {
-                        setPipetteGen(gen)
-                        setPipetteVolume(null)
-                        setSelectedTips([])
-                      }}
-                      buttonLabel={gen}
-                      buttonValue={gen}
-                      isSelected={pipetteGen === gen}
-                    />
-                  ))}
-                </Flex>
-              </Flex>
-            ) : null}
-            {(pipetteType != null && robotType === FLEX_ROBOT_TYPE) ||
-            (pipetteGen !== 'flex' &&
-              pipetteType != null &&
-              robotType === OT2_ROBOT_TYPE) ? (
-              <Flex
-                flexDirection={DIRECTION_COLUMN}
-                gridGap={SPACING.spacing8}
-                id="volume"
-              >
-                <StyledText desktopStyle="bodyLargeSemiBold">
-                  {t('pipette_vol')}
-                </StyledText>
-                <Flex gridGap={SPACING.spacing4}>
-                  {PIPETTE_VOLUMES[robotType]?.map(volume => {
-                    if (robotType === FLEX_ROBOT_TYPE && pipetteType != null) {
-                      const flexVolume = volume as PipetteInfoByType
-                      const flexPipetteInfo = flexVolume[pipetteType]
-
-                      return flexPipetteInfo?.map(type => (
-                        <RadioButton
-                          key={`${type.value}_${pipetteType}`}
-                          onChange={() => {
-                            setPipetteVolume(type.value)
-                            setSelectedTips([])
-                          }}
-                          buttonLabel={t('vol_label', { volume: type.label })}
-                          buttonValue={type.value}
-                          isSelected={pipetteVolume === type.value}
-                        />
-                      ))
-                    } else {
-                      const ot2Volume = volume as PipetteInfoByGen
-                      const gen = pipetteGen as Gen
-
-                      return ot2Volume[gen].map(info => {
-                        return info[pipetteType]?.map(type => (
-                          <RadioButton
-                            key={`${type.value}_${pipetteGen}_${pipetteType}`}
-                            onChange={() => {
-                              setPipetteVolume(type.value)
-                            }}
-                            buttonLabel={t('vol_label', {
-                              volume: type.label,
-                            })}
-                            buttonValue={type.value}
-                            isSelected={pipetteVolume === type.value}
-                          />
-                        ))
-                      })
-                    }
-                  })}
-                </Flex>
-              </Flex>
-            ) : null}
-            {allPipetteOptions.includes(selectedPip as PipetteName)
-              ? (() => {
-                  const tiprackOptions = getTiprackOptions({
-                    allLabware,
-                    allowAllTipracks,
-                    selectedPipetteName: selectedPip,
-                  })
-                  return (
-                    <Flex
-                      flexDirection={DIRECTION_COLUMN}
-                      gridGap={SPACING.spacing8}
-                    >
-                      <StyledText desktopStyle="bodyLargeSemiBold">
-                        {t('pipette_tips')}
-                      </StyledText>
-                      <Box
-                        css={css`
-                          gap: ${SPACING.spacing4};
-                          display: ${DISPLAY_FLEX};
-                          flex-wrap: ${WRAP};
-                          align-items: ${ALIGN_CENTER};
-                          align-content: ${ALIGN_CENTER};
-                          align-self: ${ALIGN_STRETCH};
-                        `}
-                      >
-                        {tiprackOptions.map(option => (
-                          <Checkbox
-                            key={option.value}
-                            disabled={
-                              selectedTips.length === 3 &&
-                              !selectedTips.includes(option.value)
-                            }
-                            isChecked={selectedTips.includes(option.value)}
-                            labelText={removeOpentronsPhrases(option.name)}
-                            onClick={() => {
-                              const updatedTips = selectedTips.includes(
-                                option.value
-                              )
-                                ? selectedTips.filter(v => v !== option.value)
-                                : [...selectedTips, option.value]
-                              setSelectedTips(updatedTips)
-                            }}
-                          />
-                        ))}
-                        <Flex
-                          gridGap={SPACING.spacing8}
-                          padding={SPACING.spacing4}
-                          width={FLEX_MAX_CONTENT}
-                        >
-                          <StyledLabel>
-                            <StyledText desktopStyle="bodyDefaultRegular">
-                              {t('add_custom_tips')}
-                            </StyledText>
-                            <input
-                              data-testid="SelectPipettes_customTipInput"
-                              type="file"
-                              onChange={e =>
-                                dispatch(createCustomTiprackDef(e))
-                              }
-                            />
-                          </StyledLabel>
-                          {pipetteVolume === 'p1000' &&
-                          robotType === FLEX_ROBOT_TYPE ? null : (
-                            <Btn
-                              onClick={() => {
-                                dispatch(
-                                  setFeatureFlags({
-                                    OT_PD_ALLOW_ALL_TIPRACKS: !allowAllTipracks,
-                                  })
-                                )
-                              }}
-                              textDecoration={
-                                TYPOGRAPHY.textDecorationUnderline
-                              }
-                            >
-                              <StyledLabel>
-                                <StyledText desktopStyle="bodyDefaultRegular">
-                                  {allowAllTipracks
-                                    ? t('show_default_tips')
-                                    : t('show_all_tips')}
-                                </StyledText>
-                              </StyledLabel>{' '}
-                            </Btn>
-                          )}
-                        </Flex>
-                      </Box>
-                    </Flex>
-                  )
-                })()
-              : null}
-          </Flex>
+          <PipetteConfiguration
+            has96Channel={has96Channel}
+            robotType={robotType}
+            selectedPipette={selectedPipette}
+            leftPipette={leftPipette}
+            rightPipette={rightPipette}
+            pipetteConfig={pipetteConfig}
+          />
         )}
       </Modal>
     </HandleEnter>,
     getMainPagePortalEl()
   )
 }
-
-const StyledLabel = styled.label`
-  text-decoration: ${TYPOGRAPHY.textDecorationUnderline};
-  font-size: ${PRODUCT.TYPOGRAPHY.fontSizeBodyDefaultSemiBold};
-  display: ${DISPLAY_INLINE_BLOCK};
-  cursor: ${CURSOR_POINTER};
-  input[type='file'] {
-    display: none;
-  }
-  &:hover {
-    color: ${COLORS.blue50};
-  }
-`
diff --git a/protocol-designer/src/organisms/EditInstrumentsModal/usePipetteConfig.ts b/protocol-designer/src/organisms/EditInstrumentsModal/usePipetteConfig.ts
new file mode 100644
index 00000000000..61f31f85bd4
--- /dev/null
+++ b/protocol-designer/src/organisms/EditInstrumentsModal/usePipetteConfig.ts
@@ -0,0 +1,56 @@
+import { useState } from 'react'
+
+import type { Dispatch, SetStateAction } from 'react'
+import type { PipetteMount } from '@opentrons/shared-data'
+import type {
+  Gen,
+  PipetteType,
+} from '../../pages/CreateNewProtocolWizard/types'
+
+export interface PipetteConfig {
+  page: 'add' | 'overview'
+  mount: PipetteMount
+  pipetteType: PipetteType | null
+  pipetteGen: Gen | 'flex'
+  pipetteVolume: string | null
+  selectedTips: string[]
+  setPage: Dispatch<SetStateAction<'add' | 'overview'>>
+  setMount: Dispatch<SetStateAction<PipetteMount>>
+  setPipetteType: Dispatch<SetStateAction<PipetteType | null>>
+  setPipetteGen: Dispatch<SetStateAction<Gen | 'flex'>>
+  setPipetteVolume: Dispatch<SetStateAction<string | null>>
+  setSelectedTips: Dispatch<SetStateAction<string[]>>
+  resetFields: () => void
+}
+
+export const usePipetteConfig = (): PipetteConfig => {
+  const [page, setPage] = useState<'add' | 'overview'>('overview')
+  const [mount, setMount] = useState<PipetteMount>('left')
+  const [pipetteType, setPipetteType] = useState<PipetteType | null>(null)
+  const [pipetteGen, setPipetteGen] = useState<Gen | 'flex'>('flex')
+  const [pipetteVolume, setPipetteVolume] = useState<string | null>(null)
+  const [selectedTips, setSelectedTips] = useState<string[]>([])
+
+  const resetFields = (): void => {
+    setPipetteType(null)
+    setPipetteGen('flex')
+    setPipetteVolume(null)
+    setSelectedTips([])
+  }
+
+  return {
+    page,
+    setPage,
+    mount,
+    setMount,
+    pipetteType,
+    setPipetteType,
+    pipetteGen,
+    setPipetteGen,
+    pipetteVolume,
+    setPipetteVolume,
+    selectedTips,
+    setSelectedTips,
+    resetFields,
+  }
+}
diff --git a/protocol-designer/src/organisms/MaterialsListModal/MaterialsListModal.stories.tsx b/protocol-designer/src/organisms/MaterialsListModal/MaterialsListModal.stories.tsx
index 36cb4f58efb..21d6a171744 100644
--- a/protocol-designer/src/organisms/MaterialsListModal/MaterialsListModal.stories.tsx
+++ b/protocol-designer/src/organisms/MaterialsListModal/MaterialsListModal.stories.tsx
@@ -1,11 +1,15 @@
 import { I18nextProvider } from 'react-i18next'
+import { Provider } from 'react-redux'
+
 import { i18n } from '../../assets/localization'
+import { configureStore } from '../../configureStore'
 import { MaterialsListModal as MaterialsListModalComponent } from '.'
 
 import type { Meta, StoryObj } from '@storybook/react'
 import type { LabwareOnDeck, ModuleOnDeck } from '../../step-forms'
 import type { FixtureInList } from '.'
 
+const mockStore = configureStore()
 const mockHardware = [
   {
     id: 'mockHardware',
@@ -49,9 +53,11 @@ const meta: Meta<typeof MaterialsListModalComponent> = {
   component: MaterialsListModalComponent,
   decorators: [
     Story => (
-      <I18nextProvider i18n={i18n}>
-        <Story />
-      </I18nextProvider>
+      <Provider store={mockStore}>
+        <I18nextProvider i18n={i18n}>
+          <Story />
+        </I18nextProvider>
+      </Provider>
     ),
   ],
 }
diff --git a/protocol-designer/src/organisms/SlotInformation/SlotInformation.stories.tsx b/protocol-designer/src/organisms/SlotInformation/SlotInformation.stories.tsx
index 98d6132ef23..1a748fbc37f 100644
--- a/protocol-designer/src/organisms/SlotInformation/SlotInformation.stories.tsx
+++ b/protocol-designer/src/organisms/SlotInformation/SlotInformation.stories.tsx
@@ -1,6 +1,7 @@
-import { Flex } from '@opentrons/components'
+import { MemoryRouter } from 'react-router-dom'
 import { I18nextProvider } from 'react-i18next'
 import { i18n } from '../../assets/localization'
+import { Flex } from '@opentrons/components'
 import { SlotInformation as SlotInformationComponent } from '.'
 
 import type { Meta, StoryObj } from '@storybook/react'
@@ -37,11 +38,13 @@ const meta: Meta<typeof SlotInformationComponent> = {
   },
   decorators: [
     Story => (
-      <I18nextProvider i18n={i18n}>
-        <Flex width="21rem">
-          <Story />
-        </Flex>
-      </I18nextProvider>
+      <MemoryRouter>
+        <I18nextProvider i18n={i18n}>
+          <Flex width="21rem">
+            <Story />
+          </Flex>
+        </I18nextProvider>
+      </MemoryRouter>
     ),
   ],
 }
diff --git a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx
index ff96f699267..b9b3153f5fc 100644
--- a/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx
+++ b/protocol-designer/src/pages/CreateNewProtocolWizard/SelectPipettes.tsx
@@ -135,11 +135,15 @@ export function SelectPipettes(props: WizardTileProps): JSX.Element | null {
     }
   }
 
+  const clearPipettes = (): void => {
+    resetFields()
+    setValue(`pipettesByMount.${mount}.pipetteName`, undefined)
+    setValue(`pipettesByMount.${mount}.tiprackDefURI`, undefined)
+  }
+
   const handleGoBack = (): void => {
     if (page === 'add') {
-      resetFields()
-      setValue(`pipettesByMount.${mount}.pipetteName`, undefined)
-      setValue(`pipettesByMount.${mount}.tiprackDefURI`, undefined)
+      clearPipettes()
       if (
         pipettesByMount.left.pipetteName != null ||
         pipettesByMount.left.tiprackDefURI != null ||
@@ -152,7 +156,8 @@ export function SelectPipettes(props: WizardTileProps): JSX.Element | null {
       }
     }
     if (page === 'overview') {
-      setPage('add')
+      clearPipettes()
+      goBack(1)
     }
   }
 
diff --git a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx
index f5b1fe252cd..d95abdfe870 100644
--- a/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx
+++ b/protocol-designer/src/pages/Designer/DeckSetup/DeckSetupTools.tsx
@@ -36,8 +36,11 @@ import {
   createDeckFixture,
   deleteDeckFixture,
 } from '../../../step-forms/actions/additionalItems'
-import { createModule, deleteModule } from '../../../step-forms/actions'
-import { getAdditionalEquipment } from '../../../step-forms/selectors'
+import {
+  getAdditionalEquipment,
+  getSavedStepForms,
+} from '../../../step-forms/selectors'
+import { deleteModule } from '../../../step-forms/actions'
 import { getDeckSetupForActiveItem } from '../../../top-selectors/labware-locations'
 import {
   createContainer,
@@ -54,8 +57,11 @@ import { useBlockingHint } from '../../../organisms/BlockingHintModal/useBlockin
 import { selectors } from '../../../labware-ingred/selectors'
 import { useKitchen } from '../../../organisms/Kitchen/hooks'
 import { getDismissedHints } from '../../../tutorial/selectors'
-import { createContainerAboveModule } from '../../../step-forms/actions/thunks'
 import { LINK_BUTTON_STYLE, NAV_BAR_HEIGHT_REM } from '../../../atoms'
+import {
+  createContainerAboveModule,
+  createModuleEntityAndChangeForm,
+} from '../../../step-forms/actions/thunks'
 import { ConfirmDeleteStagingAreaModal } from '../../../organisms'
 import { getSlotInformation } from '../utils'
 import { ALL_ORDERED_CATEGORIES, FIXTURES, MOAM_MODELS } from './constants'
@@ -67,6 +73,13 @@ import type { AddressableAreaName, ModuleModel } from '@opentrons/shared-data'
 import type { ThunkDispatch } from '../../../types'
 import type { Fixture } from './constants'
 
+const mapModTypeToStepType: Record<string, string> = {
+  heaterShakerModuleType: 'heaterShaker',
+  magneticModuleType: 'magnet',
+  temperatureModuleType: 'temperature',
+  thermocyclerModuleType: 'thermocycler',
+}
+
 interface DeckSetupToolsProps {
   onCloseClick: () => void
   setHoveredLabware: (defUri: string | null) => void
@@ -91,6 +104,7 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null {
   const { makeSnackbar } = useKitchen()
   const selectedSlotInfo = useSelector(selectors.getZoomedInSlotInfo)
   const robotType = useSelector(getRobotType)
+  const savedSteps = useSelector(getSavedStepForms)
   const [showDeleteLabwareModal, setShowDeleteLabwareModal] = useState<
     ModuleModel | 'clear' | null
   >(null)
@@ -272,7 +286,11 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null {
       if (
         createdLabwareForSlot != null &&
         (!keepExistingLabware ||
-          createdLabwareForSlot.labwareDefURI !== selectedLabwareDefUri)
+          createdLabwareForSlot.labwareDefURI !== selectedLabwareDefUri ||
+          //  if nested labware changes but labware doesn't, still delete both
+          (createdLabwareForSlot.labwareDefURI === selectedLabwareDefUri &&
+            createdNestedLabwareForSlot?.labwareDefURI !==
+              selectedNestedLabwareDefUri))
       ) {
         dispatch(deleteContainer({ labwareId: createdLabwareForSlot.id }))
       }
@@ -332,11 +350,32 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null {
         makeSnackbar(t('gripper_required_for_plate_reader') as string)
         return
       }
+
+      const moduleSteps = Object.values(savedSteps).filter(step => {
+        return (
+          step.stepType === mapModTypeToStepType[moduleType] &&
+          //  only update module steps that match the old moduleId
+          //  to accommodate instances of MoaM
+          step.moduleId === createdModuleForSlot?.id
+        )
+      })
+
+      const pauseSteps = Object.values(savedSteps).filter(step => {
+        return (
+          step.stepType === 'pause' &&
+          //  only update pause steps that match the old moduleId
+          //  to accommodate instances of MoaM
+          step.moduleId === createdModuleForSlot?.id
+        )
+      })
+
       dispatch(
-        createModule({
+        createModuleEntityAndChangeForm({
           slot,
           type: moduleType,
           model: selectedModuleModel,
+          moduleSteps,
+          pauseSteps,
         })
       )
     }
@@ -364,7 +403,11 @@ export function DeckSetupTools(props: DeckSetupToolsProps): JSX.Element | null {
     if (
       selectedModuleModel != null &&
       selectedLabwareDefUri != null &&
-      createdLabwareForSlot?.labwareDefURI !== selectedLabwareDefUri
+      (createdLabwareForSlot?.labwareDefURI !== selectedLabwareDefUri ||
+        //  if nested labware changes but labware doesn't, still create both both
+        (createdLabwareForSlot.labwareDefURI === selectedLabwareDefUri &&
+          createdNestedLabwareForSlot?.labwareDefURI !==
+            selectedNestedLabwareDefUri))
     ) {
       //   create adapter + labware on module
       dispatch(
diff --git a/protocol-designer/src/pages/Designer/DeckSetup/HighlightItems.tsx b/protocol-designer/src/pages/Designer/DeckSetup/HighlightItems.tsx
index c9e4726eae3..fb378c80dbd 100644
--- a/protocol-designer/src/pages/Designer/DeckSetup/HighlightItems.tsx
+++ b/protocol-designer/src/pages/Designer/DeckSetup/HighlightItems.tsx
@@ -5,6 +5,7 @@ import {
   STANDARD_FLEX_SLOTS,
   STANDARD_OT2_SLOTS,
   THERMOCYCLER_MODULE_TYPE,
+  THERMOCYCLER_MODULE_V2,
   WASTE_CHUTE_CUTOUT,
   getAddressableAreaFromSlotId,
   getPositionFromSlotId,
@@ -26,6 +27,7 @@ import type {
   DeckDefinition,
   CutoutId,
   AddressableAreaName,
+  CoordinateTuple,
 } from '@opentrons/shared-data'
 import type { LabwareOnDeck, ModuleOnDeck } from '../../../step-forms'
 import type { Fixture } from './constants'
@@ -34,6 +36,10 @@ interface HighlightItemsProps {
   deckDef: DeckDefinition
   robotType: RobotType
 }
+//  TODO(ja, 1/13/25): get actual coordinates from thermocycler and deck definitions
+const FLEX_TC_POSITION: CoordinateTuple = [-20, 282, 0]
+const OT2_TC_GEN_1_POSITION: CoordinateTuple = [0, 264, 0]
+const OT2_TC_GEN_2_POSITION: CoordinateTuple = [0, 250, 0]
 
 const SLOTS = [
   ...STANDARD_FLEX_SLOTS,
@@ -120,9 +126,9 @@ export function HighlightItems(props: HighlightItemsProps): JSX.Element | null {
         }
 
         let labwareSlot = labwareOnDeck.slot
-        const hasTC = Object.values(modules).some(
+        const tcModel = Object.values(modules).find(
           module => module.type === THERMOCYCLER_MODULE_TYPE
-        )
+        )?.model
 
         if (modules[labwareSlot]) {
           labwareSlot = modules[labwareSlot].slot
@@ -133,6 +139,14 @@ export function HighlightItems(props: HighlightItemsProps): JSX.Element | null {
 
         const position = getPositionFromSlotId(labwareSlot, deckDef)
         if (position != null) {
+          let tcPosition: CoordinateTuple = FLEX_TC_POSITION
+          if (labwareSlot === '7') {
+            tcPosition =
+              tcModel === THERMOCYCLER_MODULE_V2
+                ? OT2_TC_GEN_2_POSITION
+                : OT2_TC_GEN_1_POSITION
+          }
+
           items.push(
             <LabwareLabel
               key={`${labwareOnDeck.id}_${index}`}
@@ -140,9 +154,7 @@ export function HighlightItems(props: HighlightItemsProps): JSX.Element | null {
                 selected => selected.id === labwareOnDeck.id
               )}
               isLast={true}
-              position={
-                hasTC && labwareSlot === 'B1' ? [-20, 282, 0] : position
-              }
+              position={tcModel != null ? tcPosition : position}
               labwareDef={labwareOnDeck.def}
               labelText={
                 hoveredItemLabware == null
diff --git a/protocol-designer/src/pages/Designer/DeckSetup/LabwareTools.tsx b/protocol-designer/src/pages/Designer/DeckSetup/LabwareTools.tsx
index 995b06219d6..46d783598df 100644
--- a/protocol-designer/src/pages/Designer/DeckSetup/LabwareTools.tsx
+++ b/protocol-designer/src/pages/Designer/DeckSetup/LabwareTools.tsx
@@ -37,8 +37,7 @@ import { selectors as stepFormSelectors } from '../../../step-forms'
 import { getOnlyLatestDefs } from '../../../labware-defs'
 import {
   ADAPTER_96_CHANNEL,
-  getLabwareIsCompatible as _getLabwareIsCompatible,
-  getLabwareCompatibleWithAbsorbanceReader,
+  getLabwareCompatibleWithModule,
 } from '../../../utils/labwareModuleCompatibility'
 import { getHas96Channel } from '../../../utils'
 import { createCustomLabwareDef } from '../../../labware-defs/actions'
@@ -143,9 +142,7 @@ export function LabwareTools(props: LabwareToolsProps): JSX.Element {
       if (moduleType == null || !getLabwareDefIsStandard(def)) {
         return true
       }
-      return moduleType === ABSORBANCE_READER_TYPE
-        ? getLabwareCompatibleWithAbsorbanceReader(def)
-        : _getLabwareIsCompatible(def, moduleType)
+      return getLabwareCompatibleWithModule(def, moduleType)
     },
     [moduleType]
   )
@@ -438,10 +435,15 @@ export function LabwareTools(props: LabwareToolsProps): JSX.Element {
                                             )
                                           }
                                         )
-                                      : getLabwareCompatibleWithAdapter(
-                                          loadName
-                                        ).map(nestedDefUri => {
-                                          const nestedDef = defs[nestedDefUri]
+                                      : [
+                                          ...getLabwareCompatibleWithAdapter(
+                                            loadName
+                                          ),
+                                          ...Object.keys(customLabwareDefs),
+                                        ].map(nestedDefUri => {
+                                          const nestedDef =
+                                            defs[nestedDefUri] ??
+                                            customLabwareDefs[nestedDefUri]
 
                                           return (
                                             <ListButtonRadioButton
diff --git a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx
index 6d7cc88479e..339d0f81695 100644
--- a/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx
+++ b/protocol-designer/src/pages/Designer/DeckSetup/__tests__/DeckSetupTools.test.tsx
@@ -12,7 +12,10 @@ import { renderWithProviders } from '../../../../__testing-utils__'
 import { deleteContainer } from '../../../../labware-ingred/actions'
 import { useKitchen } from '../../../../organisms/Kitchen/hooks'
 import { deleteModule } from '../../../../step-forms/actions'
-import { getAdditionalEquipment } from '../../../../step-forms/selectors'
+import {
+  getAdditionalEquipment,
+  getSavedStepForms,
+} from '../../../../step-forms/selectors'
 import { getRobotType } from '../../../../file-data/selectors'
 import { getEnableAbsorbanceReader } from '../../../../feature-flags/selectors'
 import { deleteDeckFixture } from '../../../../step-forms/actions/additionalItems'
@@ -72,6 +75,7 @@ describe('DeckSetupTools', () => {
       additionalEquipmentOnDeck: {},
       pipettes: {},
     })
+    vi.mocked(getSavedStepForms).mockReturnValue({})
     vi.mocked(getDismissedHints).mockReturnValue([])
     vi.mocked(getAdditionalEquipment).mockReturnValue({})
     vi.mocked(useKitchen).mockReturnValue({
diff --git a/protocol-designer/src/pages/Designer/LiquidsOverflowMenu.tsx b/protocol-designer/src/pages/Designer/LiquidsOverflowMenu.tsx
index 1a4b2e12c29..38b5867b2cc 100644
--- a/protocol-designer/src/pages/Designer/LiquidsOverflowMenu.tsx
+++ b/protocol-designer/src/pages/Designer/LiquidsOverflowMenu.tsx
@@ -5,10 +5,10 @@ import { useLocation } from 'react-router-dom'
 import {
   ALIGN_CENTER,
   BORDERS,
-  Box,
   COLORS,
   CURSOR_POINTER,
   DIRECTION_COLUMN,
+  Divider,
   Flex,
   Icon,
   LiquidIcon,
@@ -92,7 +92,7 @@ export function LiquidsOverflowMenu(
         )
       })}
       {liquids.length > 0 ? (
-        <Box width="100%" border={`1px solid ${COLORS.grey20}`} />
+        <Divider color={COLORS.grey20} marginY="0" />
       ) : null}
       <MenuItem
         data-testid="defineLiquid"
diff --git a/protocol-designer/src/pages/Designer/Offdeck/Offdeck.tsx b/protocol-designer/src/pages/Designer/Offdeck/Offdeck.tsx
index 07ca6fcd197..7f3cb7deec1 100644
--- a/protocol-designer/src/pages/Designer/Offdeck/Offdeck.tsx
+++ b/protocol-designer/src/pages/Designer/Offdeck/Offdeck.tsx
@@ -126,7 +126,7 @@ export function OffDeck(props: DeckSetupTabType): JSX.Element {
               justifyContent={JUSTIFY_CENTER}
               alignItems={ALIGN_CENTER}
               borderRadius={BORDERS.borderRadius8}
-              backgroundColor={COLORS.grey20}
+              backgroundColor={COLORS.white}
             >
               <Flex
                 padding={SPACING.spacing60}
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PositionField.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PositionField.tsx
index 393e0087f37..681b97be866 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PositionField.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/PositionField.tsx
@@ -220,7 +220,6 @@ export function PositionField(props: PositionFieldProps): JSX.Element {
           isIndeterminate={isIndeterminate}
           units={t('units.millimeter')}
           id={`TipPositionField_${zName}`}
-          padding={padding}
         />
       )}
     </>
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/utils.ts b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/utils.ts
index 9f5cbab9655..5f565eef321 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/utils.ts
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/PipetteFields/utils.ts
@@ -135,14 +135,21 @@ export function getDisabledPathMap(
     airGapVolume,
   })
 
-  if (!withinCapacityForMultiDispense) {
+  if (
+    !withinCapacityForMultiDispense &&
+    values.volume != null &&
+    values.volume !== ''
+  ) {
     disabledPathMap = {
       ...disabledPathMap,
       multiDispense: t('step_edit_form.field.path.subtitle.volume_too_high'),
     }
   }
-
-  if (!withinCapacityForMultiAspirate) {
+  if (
+    !withinCapacityForMultiAspirate &&
+    values.volume != null &&
+    values.volume !== ''
+  ) {
     disabledPathMap = {
       ...disabledPathMap,
       multiAspirate: t('step_edit_form.field.path.subtitle.volume_too_high'),
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx
index 68637ec0aa5..00d2ba8f41d 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepFormToolbox.tsx
@@ -38,6 +38,7 @@ import {
   FORM_WARNINGS_EVENT,
 } from '../../../../analytics/constants'
 import {
+  AbsorbanceReaderTools,
   CommentTools,
   HeaterShakerTools,
   MagnetTools,
@@ -45,7 +46,6 @@ import {
   MoveLabwareTools,
   MoveLiquidTools,
   PauseTools,
-  PlateReaderTools,
   TemperatureTools,
   ThermocyclerTools,
 } from './StepTools'
@@ -87,7 +87,7 @@ const STEP_FORM_MAP: StepFormMap = {
   thermocycler: ThermocyclerTools,
   heaterShaker: HeaterShakerTools,
   comment: CommentTools,
-  plateReader: PlateReaderTools,
+  absorbanceReader: AbsorbanceReaderTools,
 }
 
 interface StepFormToolboxProps {
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/PlateReaderTools/index.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/AbsorbanceReaderTools/index.tsx
similarity index 57%
rename from protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/PlateReaderTools/index.tsx
rename to protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/AbsorbanceReaderTools/index.tsx
index e2c0478bf9e..3b07a003fa3 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/PlateReaderTools/index.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/AbsorbanceReaderTools/index.tsx
@@ -1,5 +1,5 @@
 import type { StepFormProps } from '../../types'
 
-export function PlateReaderTools(props: StepFormProps): JSX.Element {
+export function AbsorbanceReaderTools(props: StepFormProps): JSX.Element {
   return <div>TODO: ADD PLATE READER TOOLS</div>
 }
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/ThermocyclerTools/ThermocyclerState.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/ThermocyclerTools/ThermocyclerState.tsx
index b2183d7b678..7f15ecce744 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/ThermocyclerTools/ThermocyclerState.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/ThermocyclerTools/ThermocyclerState.tsx
@@ -65,7 +65,6 @@ export function ThermocyclerState(props: ThermocyclerStateProps): JSX.Element {
       flexDirection={DIRECTION_COLUMN}
       gridGap={SPACING.spacing4}
       paddingX={SPACING.spacing16}
-      paddingTop={SPACING.spacing16}
     >
       <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing4}>
         <StyledText desktopStyle="bodyDefaultSemiBold">
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/index.ts b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/index.ts
index f62b0127c36..a09cae40e28 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/index.ts
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepForm/StepTools/index.ts
@@ -1,10 +1,10 @@
+export { AbsorbanceReaderTools } from './AbsorbanceReaderTools'
 export { CommentTools } from './CommentTools'
 export { HeaterShakerTools } from './HeaterShakerTools'
 export { MagnetTools } from './MagnetTools'
 export { MixTools } from './MixTools'
 export { MoveLabwareTools } from './MoveLabwareTools'
 export { MoveLiquidTools } from './MoveLiquidTools'
-export { PlateReaderTools } from './PlateReaderTools'
 export { PauseTools } from './PauseTools'
 export { TemperatureTools } from './TemperatureTools'
 export { ThermocyclerTools } from './ThermocyclerTools'
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/StepSummary.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/StepSummary.tsx
index f97d73e469f..a7d4349bad6 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/StepSummary.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/StepSummary.tsx
@@ -11,8 +11,12 @@ import {
   SPACING,
   StyledText,
   Tag,
+  WRAP,
 } from '@opentrons/components'
-import { getModuleDisplayName } from '@opentrons/shared-data'
+import {
+  WASTE_CHUTE_CUTOUT,
+  getModuleDisplayName,
+} from '@opentrons/shared-data'
 import {
   getAdditionalEquipmentEntities,
   getLabwareEntities,
@@ -20,6 +24,8 @@ import {
 } from '../../../step-forms/selectors'
 import { getLabwareNicknamesById } from '../../../ui/labware/selectors'
 import { LINE_CLAMP_TEXT_STYLE } from '../../../atoms'
+import { formatTime } from '../utils'
+
 import type { FormData } from '../../../form-types'
 
 interface StyledTransProps {
@@ -35,10 +41,8 @@ function StyledTrans(props: StyledTransProps): JSX.Element {
     <Flex
       gridGap={SPACING.spacing4}
       alignItems={ALIGN_CENTER}
-      css={`
-        flex-wrap: wrap;
-        word-break: break-word;
-      `}
+      flexWrap={WRAP}
+      wordBreak="break-word"
     >
       <Trans
         t={t}
@@ -79,6 +83,7 @@ interface StepSummaryProps {
 export function StepSummary(props: StepSummaryProps): JSX.Element | null {
   const { currentStep, stepDetails } = props
   const { t } = useTranslation(['protocol_steps', 'application'])
+  const unknownModule = t('unkonwn_module')
   const labwareNicknamesById = useSelector(getLabwareNicknamesById)
   const additionalEquipmentEntities = useSelector(
     getAdditionalEquipmentEntities
@@ -92,7 +97,7 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
   const { stepType } = currentStep
   let stepSummaryContent: JSX.Element | null = null
   switch (stepType) {
-    case 'mix':
+    case 'mix': {
       const {
         labware: mixLabwareId,
         volume: mixVolume,
@@ -118,15 +123,16 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         />
       )
       break
-    case 'magnet':
+    }
+
+    case 'magnet': {
       const {
         moduleId: magneticModuleId,
         engageHeight,
         magnetAction,
       } = currentStep
-      const magneticModuleDisplayName = getModuleDisplayName(
-        modules[magneticModuleId].model
-      )
+      const magneticModuleDisplayName =
+        getModuleDisplayName(modules[magneticModuleId]?.model) ?? unknownModule
       stepSummaryContent =
         magnetAction === 'engage' ? (
           <StyledTrans
@@ -141,7 +147,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
           />
         )
       break
-    case 'thermocycler':
+    }
+
+    case 'thermocycler': {
       const {
         lidIsActive,
         lidTargetTemp,
@@ -215,7 +223,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
           </Flex>
         )
       break
-    case 'pause':
+    }
+
+    case 'pause': {
       const {
         moduleId: pauseModuleId,
         pauseAction,
@@ -231,9 +241,8 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
           )
           break
         case 'untilTemperature':
-          const pauseModuleDisplayName = getModuleDisplayName(
-            modules[pauseModuleId].model
-          )
+          const pauseModuleDisplayName =
+            getModuleDisplayName(modules[pauseModuleId]?.model) ?? unknownModule
           stepSummaryContent = (
             <StyledTrans
               i18nKey="protocol_steps:pause.untilTemperature"
@@ -246,22 +255,23 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
           stepSummaryContent = (
             <StyledTrans
               i18nKey={t('protocol_steps:pause.untilTime')}
-              tagText={pauseTime}
+              tagText={formatTime(pauseTime as string)}
             />
           )
           break
       }
       break
-    case 'temperature':
+    }
+
+    case 'temperature': {
       const {
         moduleId: tempModuleId,
         setTemperature,
         targetTemperature,
       } = currentStep
       const isDeactivating = setTemperature === 'false'
-      const tempModuleDisplayName = getModuleDisplayName(
-        modules[tempModuleId].model
-      )
+      const tempModuleDisplayName =
+        getModuleDisplayName(modules[tempModuleId]?.model) ?? unknownModule
       stepSummaryContent = isDeactivating ? (
         <StyledTrans
           i18nKey={'protocol_steps:temperature_module.deactivated'}
@@ -275,7 +285,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         />
       )
       break
-    case 'moveLabware':
+    }
+
+    case 'moveLabware': {
       const { labware, newLocation, useGripper } = currentStep
       const labwareName = labwareNicknamesById[labware]
       let newLocationName = newLocation
@@ -285,6 +297,8 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         newLocationName = labwareNicknamesById[newLocation]
       } else if (newLocation === 'offDeck') {
         newLocationName = t('off_deck')
+      } else if (newLocation === WASTE_CHUTE_CUTOUT) {
+        newLocationName = t('shared:wasteChute')
       }
       stepSummaryContent = (
         <StyledTrans
@@ -300,7 +314,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         />
       )
       break
-    case 'moveLiquid':
+    }
+
+    case 'moveLiquid': {
       let moveLiquidType
       const {
         aspirate_labware,
@@ -353,7 +369,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
       )
 
       break
-    case 'heaterShaker':
+    }
+
+    case 'heaterShaker': {
       const {
         latchOpen,
         heaterShakerTimer,
@@ -361,9 +379,9 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         targetHeaterShakerTemperature,
         targetSpeed,
       } = currentStep
-      const moduleDisplayName = getModuleDisplayName(
-        modules[heaterShakerModuleId].model
-      )
+      const moduleDisplayName =
+        getModuleDisplayName(modules[heaterShakerModuleId]?.model) ??
+        unknownModule
       stepSummaryContent = (
         <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing4}>
           <Flex gridGap={SPACING.spacing20} alignItems={ALIGN_CENTER}>
@@ -389,7 +407,7 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
             {heaterShakerTimer ? (
               <StyledTrans
                 i18nKey="protocol_steps:heater_shaker.active.time"
-                tagText={heaterShakerTimer}
+                tagText={formatTime(heaterShakerTimer as string)}
               />
             ) : null}
             <StyledTrans
@@ -404,9 +422,12 @@ export function StepSummary(props: StepSummaryProps): JSX.Element | null {
         </Flex>
       )
       break
+    }
+
     default:
       stepSummaryContent = null
   }
+
   return stepSummaryContent != null || stepDetails != null ? (
     <Flex
       flexDirection={DIRECTION_COLUMN}
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/AddStepButton.tsx b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/AddStepButton.tsx
index e9494eb6e44..19b74fa6582 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/AddStepButton.tsx
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/AddStepButton.tsx
@@ -92,6 +92,7 @@ export function AddStepButton({ hasText }: AddStepButtonProps): JSX.Element {
   const getSupportedSteps = (): Array<
     Exclude<StepType, 'manualIntervention'>
   > => [
+    'absorbanceReader',
     'comment',
     'moveLabware',
     'moveLiquid',
@@ -101,7 +102,6 @@ export function AddStepButton({ hasText }: AddStepButtonProps): JSX.Element {
     'magnet',
     'temperature',
     'thermocycler',
-    'plateReader',
   ]
   const isStepTypeEnabled: Record<
     Exclude<StepType, 'manualIntervention'>,
@@ -116,7 +116,7 @@ export function AddStepButton({ hasText }: AddStepButtonProps): JSX.Element {
     temperature: getIsModuleOnDeck(modules, TEMPERATURE_MODULE_TYPE),
     thermocycler: getIsModuleOnDeck(modules, THERMOCYCLER_MODULE_TYPE),
     heaterShaker: getIsModuleOnDeck(modules, HEATERSHAKER_MODULE_TYPE),
-    plateReader:
+    absorbanceReader:
       getIsModuleOnDeck(modules, ABSORBANCE_READER_TYPE) &&
       enableAbsorbanceReader,
   }
diff --git a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts
index 0e6620523f7..120c843cb0d 100644
--- a/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts
+++ b/protocol-designer/src/pages/Designer/ProtocolSteps/Timeline/utils.ts
@@ -9,7 +9,7 @@ export const capitalizeFirstLetterAfterNumber = (title: string): string =>
   title.replace(
     /(^[\d\W]*)([a-zA-Z])|(-[a-zA-Z])/g,
     (match, prefix, firstLetter) => {
-      if (prefix) {
+      if (prefix != null) {
         return `${prefix}${firstLetter.toUpperCase()}`
       } else {
         return `${match.charAt(0)}${match.charAt(1).toUpperCase()}`
diff --git a/protocol-designer/src/pages/Designer/__tests__/utils.test.ts b/protocol-designer/src/pages/Designer/__tests__/utils.test.ts
index 6be91d71b2a..2e22a095b24 100644
--- a/protocol-designer/src/pages/Designer/__tests__/utils.test.ts
+++ b/protocol-designer/src/pages/Designer/__tests__/utils.test.ts
@@ -7,7 +7,7 @@ import {
   WASTE_CHUTE_CUTOUT,
   fixture96Plate,
 } from '@opentrons/shared-data'
-import { getSlotInformation } from '../utils'
+import { getSlotInformation, formatTime } from '../utils'
 import type { LabwareDefinition2 } from '@opentrons/shared-data'
 import type { AdditionalEquipmentName } from '@opentrons/step-generation'
 import type { AllTemporalPropertiesForTimelineFrame } from '../../../step-forms'
@@ -194,3 +194,21 @@ describe('getSlotInformation', () => {
     })
   })
 })
+
+describe('formatTime', () => {
+  it('input is 3:3:3 and output is 03:03:03', () => {
+    expect(formatTime('3:3:3')).toEqual('03:03:03')
+  })
+  it('input is 3:3 and output is 03:03', () => {
+    expect(formatTime('3:3')).toEqual('03:03')
+  })
+  it('input is 30:12 and output is 30:12', () => {
+    expect(formatTime('30:12')).toEqual('30:12')
+  })
+  it('input is 12:23:34 and output is 12:23:34', () => {
+    expect(formatTime('12:23:34')).toEqual('12:23:34')
+  })
+  it('input is 0:03 and output is 00:03', () => {
+    expect(formatTime('0:03')).toEqual('00:03')
+  })
+})
diff --git a/protocol-designer/src/pages/Designer/utils.ts b/protocol-designer/src/pages/Designer/utils.ts
index 3110f9d519d..7a9e5008154 100644
--- a/protocol-designer/src/pages/Designer/utils.ts
+++ b/protocol-designer/src/pages/Designer/utils.ts
@@ -105,3 +105,21 @@ export const getSlotInformation = (
     matchingLabwareFor4thColumn: matchingLabware,
   }
 }
+
+export const formatTime = (input: string): string => {
+  const timeParts = input.split(':')
+  if (timeParts.length === 3) {
+    const [hours, minutes, seconds] = timeParts
+    return [
+      hours.toString().padStart(2, '0'),
+      minutes.toString().padStart(2, '0'),
+      seconds.toString().padStart(2, '0'),
+    ].join(':')
+  } else {
+    const [minutes, seconds] = timeParts
+    return [
+      minutes.toString().padStart(2, '0'),
+      seconds.toString().padStart(2, '0'),
+    ].join(':')
+  }
+}
diff --git a/protocol-designer/src/pages/Landing/__tests__/Landing.test.tsx b/protocol-designer/src/pages/Landing/__tests__/Landing.test.tsx
index c064a66dfb2..0cb0d3c9a68 100644
--- a/protocol-designer/src/pages/Landing/__tests__/Landing.test.tsx
+++ b/protocol-designer/src/pages/Landing/__tests__/Landing.test.tsx
@@ -58,7 +58,7 @@ describe('Landing', () => {
     )
     fireEvent.click(screen.getByRole('button', { name: 'Create a protocol' }))
     expect(vi.mocked(toggleNewProtocolModal)).toHaveBeenCalled()
-    screen.getByText('Edit existing protocol')
+    screen.getByText('Import existing protocol')
     screen.getByRole('img', { name: 'welcome image' })
   })
 
diff --git a/protocol-designer/src/pages/Landing/index.tsx b/protocol-designer/src/pages/Landing/index.tsx
index 1e0424c5630..3f2f839e33b 100644
--- a/protocol-designer/src/pages/Landing/index.tsx
+++ b/protocol-designer/src/pages/Landing/index.tsx
@@ -25,7 +25,11 @@ import { toggleNewProtocolModal } from '../../navigation/actions'
 import { useKitchen } from '../../organisms/Kitchen/hooks'
 import { getHasOptedIn } from '../../analytics/selectors'
 import { useAnnouncements } from '../../organisms/AnnouncementModal/announcements'
-import { getLocalStorageItem, localStorageAnnouncementKey } from '../../persist'
+import {
+  getLocalStorageItem,
+  localStorageAnnouncementKey,
+  setLocalStorageItem,
+} from '../../persist'
 import welcomeImage from '../../assets/images/welcome_page.png'
 
 import type { ChangeEvent, ComponentProps } from 'react'
@@ -39,7 +43,7 @@ export function Landing(): JSX.Element {
   const [showAnnouncementModal, setShowAnnouncementModal] = useState<boolean>(
     false
   )
-  const { hasOptedIn } = useSelector(getHasOptedIn)
+  const { hasOptedIn, appVersion } = useSelector(getHasOptedIn)
   const { bakeToast, eatToast } = useKitchen()
   const announcements = useAnnouncements()
   const lastAnnouncement = announcements[announcements.length - 1]
@@ -52,7 +56,11 @@ export function Landing(): JSX.Element {
     hasOptedIn != null
 
   useEffect(() => {
-    if (userHasNotSeenAnnouncement) {
+    if (
+      userHasNotSeenAnnouncement &&
+      appVersion != null &&
+      hasOptedIn != null
+    ) {
       const toastId = bakeToast(
         t('learn_more', { version: process.env.OT_PD_VERSION }) as string,
         INFO_TOAST,
@@ -60,6 +68,9 @@ export function Landing(): JSX.Element {
           heading: t('updated_protocol_designer'),
           closeButton: true,
           linkText: t('view_release_notes'),
+          onClose: () => {
+            setLocalStorageItem(localStorageAnnouncementKey, announcementKey)
+          },
           onLinkClick: () => {
             eatToast(toastId)
             setShowAnnouncementModal(true)
@@ -69,7 +80,7 @@ export function Landing(): JSX.Element {
         }
       )
     }
-  }, [userHasNotSeenAnnouncement])
+  }, [userHasNotSeenAnnouncement, appVersion, hasOptedIn])
 
   useEffect(() => {
     if (metadata?.created != null) {
@@ -138,7 +149,7 @@ export function Landing(): JSX.Element {
         <StyledLabel>
           <Flex css={LINK_BUTTON_STYLE}>
             <StyledText desktopStyle="bodyLargeRegular">
-              {t('edit_existing')}
+              {t('import_existing_protocol')}
             </StyledText>
           </Flex>
           <input type="file" onChange={loadFile} />
diff --git a/protocol-designer/src/pages/ProtocolOverview/InstrumentsInfo.tsx b/protocol-designer/src/pages/ProtocolOverview/InstrumentsInfo.tsx
index ee40f77aef4..1ef1a76561f 100644
--- a/protocol-designer/src/pages/ProtocolOverview/InstrumentsInfo.tsx
+++ b/protocol-designer/src/pages/ProtocolOverview/InstrumentsInfo.tsx
@@ -1,6 +1,7 @@
 import { useTranslation } from 'react-i18next'
 
 import {
+  ALIGN_CENTER,
   Btn,
   COLORS,
   DIRECTION_COLUMN,
@@ -77,7 +78,7 @@ export function InstrumentsInfo({
 
   return (
     <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing12}>
-      <Flex justifyContent={JUSTIFY_SPACE_BETWEEN}>
+      <Flex justifyContent={JUSTIFY_SPACE_BETWEEN} alignItems={ALIGN_CENTER}>
         <StyledText desktopStyle="headingSmallBold">
           {t('instruments')}
         </StyledText>
diff --git a/protocol-designer/src/pages/ProtocolOverview/ProtocolMetadata.tsx b/protocol-designer/src/pages/ProtocolOverview/ProtocolMetadata.tsx
index 564c99d9f89..c5d85a6047e 100644
--- a/protocol-designer/src/pages/ProtocolOverview/ProtocolMetadata.tsx
+++ b/protocol-designer/src/pages/ProtocolOverview/ProtocolMetadata.tsx
@@ -1,5 +1,6 @@
 import { useTranslation } from 'react-i18next'
 import {
+  ALIGN_CENTER,
   Btn,
   COLORS,
   DIRECTION_COLUMN,
@@ -36,7 +37,7 @@ export function ProtocolMetadata({
 
   return (
     <Flex flexDirection={DIRECTION_COLUMN} gridGap={SPACING.spacing12}>
-      <Flex justifyContent={JUSTIFY_SPACE_BETWEEN}>
+      <Flex justifyContent={JUSTIFY_SPACE_BETWEEN} alignItems={ALIGN_CENTER}>
         <StyledText desktopStyle="headingSmallBold">
           {t('protocol_metadata')}
         </StyledText>
diff --git a/protocol-designer/src/step-forms/actions/thunks.ts b/protocol-designer/src/step-forms/actions/thunks.ts
index 0a0f5f17227..65079b0fe2d 100644
--- a/protocol-designer/src/step-forms/actions/thunks.ts
+++ b/protocol-designer/src/step-forms/actions/thunks.ts
@@ -1,12 +1,21 @@
 import { createContainer } from '../../labware-ingred/actions'
 import { getDeckSetupForActiveItem } from '../../top-selectors/labware-locations'
+import { uuid } from '../../utils'
+import { changeSavedStepForm } from '../../steplist/actions'
 
-import type { DeckSlotId } from '@opentrons/shared-data'
+import type {
+  DeckSlotId,
+  ModuleModel,
+  ModuleType,
+} from '@opentrons/shared-data'
 import type { ThunkAction } from '../../types'
 import type {
   CreateContainerAction,
   RenameLabwareAction,
 } from '../../labware-ingred/actions'
+import type { CreateModuleAction } from './modules'
+import type { ChangeSavedStepFormAction } from '../../steplist/actions'
+import type { FormData } from '../../form-types'
 
 export interface CreateContainerAboveModuleArgs {
   slot: DeckSlotId
@@ -37,3 +46,47 @@ export const createContainerAboveModule: (
     })
   )
 }
+
+interface ModuleAndChangeFormArgs {
+  slot: DeckSlotId
+  type: ModuleType
+  model: ModuleModel
+  moduleSteps: FormData[]
+  pauseSteps: FormData[]
+}
+export const createModuleEntityAndChangeForm: (
+  args: ModuleAndChangeFormArgs
+) => ThunkAction<CreateModuleAction | ChangeSavedStepFormAction> = args => (
+  dispatch,
+  getState
+) => {
+  const { slot, model, type, moduleSteps, pauseSteps } = args
+  const moduleId = `${uuid()}:${type}`
+
+  dispatch({
+    type: 'CREATE_MODULE',
+    payload: { slot, model, type, id: moduleId },
+  })
+
+  //  if steps are created with the module that has been regenerated, migrate them to use the correct moduleId
+  moduleSteps.forEach(step => {
+    dispatch(
+      changeSavedStepForm({
+        stepId: step.id,
+        update: {
+          moduleId,
+        },
+      })
+    )
+  })
+  pauseSteps.forEach(step => {
+    dispatch(
+      changeSavedStepForm({
+        stepId: step.id,
+        update: {
+          moduleId,
+        },
+      })
+    )
+  })
+}
diff --git a/protocol-designer/src/step-forms/selectors/index.ts b/protocol-designer/src/step-forms/selectors/index.ts
index d5a2c308329..e2dfa402e97 100644
--- a/protocol-designer/src/step-forms/selectors/index.ts
+++ b/protocol-designer/src/step-forms/selectors/index.ts
@@ -211,6 +211,7 @@ const MAGNETIC_BLOCK_INITIAL_STATE: MagneticBlockState = {
 const ABSORBANCE_READER_INITIAL_STATE: AbsorbanceReaderState = {
   type: ABSORBANCE_READER_TYPE,
   lidOpen: null,
+  initialization: null,
 }
 
 const _getInitialDeckSetup = (
diff --git a/protocol-designer/src/step-forms/types.ts b/protocol-designer/src/step-forms/types.ts
index cec0a6ee22c..a9f9f2af4ca 100644
--- a/protocol-designer/src/step-forms/types.ts
+++ b/protocol-designer/src/step-forms/types.ts
@@ -62,9 +62,16 @@ export interface HeaterShakerModuleState {
 export interface MagneticBlockState {
   type: typeof MAGNETIC_BLOCK_TYPE
 }
+export interface Initialization {
+  mode: 'single' | 'multi'
+  wavelengths: number[]
+  referenceWavelength?: number
+}
+
 export interface AbsorbanceReaderState {
   type: typeof ABSORBANCE_READER_TYPE
   lidOpen: boolean | null
+  initialization: Initialization | null
 }
 export interface ModuleTemporalProperties {
   slot: DeckSlot
diff --git a/protocol-designer/src/steplist/fieldLevel/errors.ts b/protocol-designer/src/steplist/fieldLevel/errors.ts
index 7405f097643..892e7f0a11a 100644
--- a/protocol-designer/src/steplist/fieldLevel/errors.ts
+++ b/protocol-designer/src/steplist/fieldLevel/errors.ts
@@ -34,7 +34,7 @@ export type ErrorChecker = (value: unknown) => string | null
 export const requiredField: ErrorChecker = (value: unknown) =>
   !value ? FIELD_ERRORS.REQUIRED : null
 export const isTimeFormat: ErrorChecker = (value: unknown): string | null => {
-  const timeRegex = new RegExp(/^\d{1,2}:\d{1,2}:\d{1,2}$/g)
+  const timeRegex = new RegExp(/^\d{1,2}:(?:[0-5]?\d):(?:[0-5]?\d)$/g)
   return (typeof value === 'string' && timeRegex.test(value)) || !value
     ? null
     : FIELD_ERRORS.BAD_TIME_HMS
@@ -42,7 +42,7 @@ export const isTimeFormat: ErrorChecker = (value: unknown): string | null => {
 export const isTimeFormatMinutesSeconds: ErrorChecker = (
   value: unknown
 ): string | null => {
-  const timeRegex = new RegExp(/^\d{1,2}:\d{1,2}$/g)
+  const timeRegex = new RegExp(/^\d+:[0-5]?\d$/g)
   return (typeof value === 'string' && timeRegex.test(value)) || !value
     ? null
     : FIELD_ERRORS.BAD_TIME_MS
diff --git a/protocol-designer/src/steplist/fieldLevel/index.ts b/protocol-designer/src/steplist/fieldLevel/index.ts
index 4d240fdd649..957c99f3583 100644
--- a/protocol-designer/src/steplist/fieldLevel/index.ts
+++ b/protocol-designer/src/steplist/fieldLevel/index.ts
@@ -416,12 +416,15 @@ const stepFieldHelperMap: Record<StepFieldName, StepFieldHelpers> = {
   },
   aspirate_flowRate: {
     maskValue: composeMaskers(trimDecimals(1)),
+    castValue: numberOrNull,
   },
   dispense_flowRate: {
     maskValue: composeMaskers(trimDecimals(1)),
+    castValue: numberOrNull,
   },
   mix_flowRate: {
     maskValue: composeMaskers(trimDecimals(1)),
+    castValue: numberOrNull,
   },
 }
 const profileFieldHelperMap: Record<string, StepFieldHelpers> = {
diff --git a/protocol-designer/src/steplist/formLevel/getDefaultsForStepType.ts b/protocol-designer/src/steplist/formLevel/getDefaultsForStepType.ts
index 3fa3f71be12..5aaecf70d86 100644
--- a/protocol-designer/src/steplist/formLevel/getDefaultsForStepType.ts
+++ b/protocol-designer/src/steplist/formLevel/getDefaultsForStepType.ts
@@ -175,7 +175,16 @@ export function getDefaultsForStepType(
         profileVolume: null,
         thermocyclerFormType: 'thermocyclerState',
       }
-
+    case 'absorbanceReader':
+      return {
+        absorbanceReaderFormType: 'initialize',
+        filePath: null,
+        lidOpen: null,
+        mode: null,
+        moduleId: null,
+        referenceWavelength: null,
+        wavelengths: null,
+      }
     default:
       return {}
   }
diff --git a/protocol-designer/src/steplist/formLevel/moveLabwareFormErrors.ts b/protocol-designer/src/steplist/formLevel/moveLabwareFormErrors.ts
index 3362a0a2bff..54a375caa0b 100644
--- a/protocol-designer/src/steplist/formLevel/moveLabwareFormErrors.ts
+++ b/protocol-designer/src/steplist/formLevel/moveLabwareFormErrors.ts
@@ -1,7 +1,7 @@
 import { getLabwareDefIsStandard } from '@opentrons/shared-data'
 import {
-  COMPATIBLE_LABWARE_ALLOWLIST_BY_MODULE_TYPE,
   COMPATIBLE_LABWARE_ALLOWLIST_FOR_ADAPTER,
+  getLabwareCompatibleWithModule,
 } from '../../utils/labwareModuleCompatibility'
 import type { LabwareLocation } from '@opentrons/shared-data'
 import type {
@@ -27,11 +27,9 @@ const getMoveLabwareError = (
     return null
   const selectedLabwareDefUri = labware?.labwareDefURI
   if ('moduleId' in newLocation) {
-    const loadName = labware?.def.parameters.loadName
     const moduleType =
       invariantContext.moduleEntities[newLocation.moduleId].type
-    const modAllowList = COMPATIBLE_LABWARE_ALLOWLIST_BY_MODULE_TYPE[moduleType]
-    errorString = !modAllowList.includes(loadName)
+    errorString = !getLabwareCompatibleWithModule(labware.def, moduleType)
       ? 'Labware incompatible with this module'
       : null
   } else if ('labwareId' in newLocation) {
diff --git a/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/stepFormToArgs.test.ts b/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/stepFormToArgs.test.ts
index 05557b3d1b7..47af5cf557c 100644
--- a/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/stepFormToArgs.test.ts
+++ b/protocol-designer/src/steplist/formLevel/stepFormToArgs/test/stepFormToArgs.test.ts
@@ -20,7 +20,7 @@ describe('form casting', () => {
       aspirate_delay_checkbox: false,
       aspirate_delay_mmFromBottom: '1',
       aspirate_delay_seconds: '1',
-      aspirate_flowRate: null,
+      aspirate_flowRate: '50',
       aspirate_labware: 'FAKE_LABWARE_DEF',
       aspirate_mix_checkbox: false,
       aspirate_mix_times: null,
@@ -60,6 +60,7 @@ describe('form casting', () => {
       aspirate_airGap_volume: 1,
       aspirate_delay_mmFromBottom: 1,
       aspirate_delay_seconds: 1,
+      aspirate_flowRate: 50,
       aspirate_mix_times: 0,
       aspirate_mix_volume: 0,
       aspirate_mmFromBottom: 1,
diff --git a/protocol-designer/src/top-selectors/labware-locations/index.ts b/protocol-designer/src/top-selectors/labware-locations/index.ts
index 6a2c5143b00..0bd13e71446 100644
--- a/protocol-designer/src/top-selectors/labware-locations/index.ts
+++ b/protocol-designer/src/top-selectors/labware-locations/index.ts
@@ -11,6 +11,7 @@ import {
   isAddressableAreaStandardSlot,
   MOVABLE_TRASH_ADDRESSABLE_AREAS,
   FLEX_MODULE_ADDRESSABLE_AREAS,
+  FLEX_STACKER_ADDRESSABLE_AREAS,
 } from '@opentrons/shared-data'
 import { COLUMN_4_SLOTS, getHasWasteChute } from '@opentrons/step-generation'
 import {
@@ -226,7 +227,8 @@ export const getUnoccupiedLabwareLocationOptions: Selector<
           !isTrashSlot &&
           !WASTE_CHUTE_ADDRESSABLE_AREAS.includes(slotId) &&
           !notSelectedStagingAreaAddressableAreas.includes(slotId) &&
-          !FLEX_MODULE_ADDRESSABLE_AREAS.includes(slotId)
+          !FLEX_MODULE_ADDRESSABLE_AREAS.includes(slotId) &&
+          !FLEX_STACKER_ADDRESSABLE_AREAS.includes(slotId)
         )
       })
       .map(slotId => ({ name: slotId, value: slotId }))
diff --git a/protocol-designer/src/utils/labwareModuleCompatibility.ts b/protocol-designer/src/utils/labwareModuleCompatibility.ts
index 1664e060f0a..2b5da5db36e 100644
--- a/protocol-designer/src/utils/labwareModuleCompatibility.ts
+++ b/protocol-designer/src/utils/labwareModuleCompatibility.ts
@@ -160,7 +160,7 @@ export const getLabwareIsCustom = (
 
 // This breaks pattern with other module compatibility checks, but it more exactly mirrors Protocol Engine's logic
 // See api/src/opentrons/protocol_engine/state/labware.py for details
-export const getLabwareCompatibleWithAbsorbanceReader = (
+const _getLabwareCompatibleWithAbsorbanceReader = (
   def: LabwareDefinition2
 ): boolean => {
   return (
@@ -170,6 +170,17 @@ export const getLabwareCompatibleWithAbsorbanceReader = (
   )
 }
 
+export const getLabwareCompatibleWithModule = (
+  def: LabwareDefinition2,
+  moduleType: ModuleType
+): boolean => {
+  return moduleType === ABSORBANCE_READER_TYPE
+    ? _getLabwareCompatibleWithAbsorbanceReader(def)
+    : COMPATIBLE_LABWARE_ALLOWLIST_BY_MODULE_TYPE[moduleType].includes(
+        def.parameters.loadName
+      )
+}
+
 export const getAdapterLabwareIsAMatch = (
   labwareId: string,
   allLabware: LabwareOnDeck[],
diff --git a/robot-server/Makefile b/robot-server/Makefile
index 2f79504900e..13db9dd8f2e 100755
--- a/robot-server/Makefile
+++ b/robot-server/Makefile
@@ -8,6 +8,8 @@ REDOC := npx @redocly/cli
 
 # Path of source package
 SRC_PATH = robot_server
+SCRIPTS_PATH = scripts
+TESTS_PATH = tests
 
 # Project to get the version for
 ot_project := $(OPENTRONS_PROJECT)
@@ -125,9 +127,9 @@ test-cov:
 
 .PHONY: lint
 lint:
-	$(python) -m mypy $(SRC_PATH) $(tests)
+	$(python) -m mypy $(SRC_PATH) $(SCRIPTS_PATH) $(TESTS_PATH)
 	$(python) -m black $(black_opts) --check .
-	$(python) -m flake8 $(SRC_PATH) $(tests) setup.py
+	$(python) -m flake8 $(SRC_PATH) $(SCRIPTS_PATH) $(TESTS_PATH) setup.py
 
 .PHONY: format
 format:
diff --git a/robot-server/robot_server/labware_offsets/fastapi_dependencies.py b/robot-server/robot_server/labware_offsets/fastapi_dependencies.py
index f472dc96a64..a343ee07cda 100644
--- a/robot-server/robot_server/labware_offsets/fastapi_dependencies.py
+++ b/robot-server/robot_server/labware_offsets/fastapi_dependencies.py
@@ -10,6 +10,9 @@
     AppStateAccessor,
     get_app_state,
 )
+import sqlalchemy
+
+from robot_server.persistence.fastapi_dependencies import get_sql_engine
 from .store import LabwareOffsetStore
 
 
@@ -20,10 +23,11 @@
 
 async def get_labware_offset_store(
     app_state: Annotated[AppState, Depends(get_app_state)],
+    sql_engine: Annotated[sqlalchemy.engine.Engine, Depends(get_sql_engine)],
 ) -> LabwareOffsetStore:
     """Get the server's singleton LabwareOffsetStore."""
     labware_offset_store = _labware_offset_store_accessor.get_from(app_state)
     if labware_offset_store is None:
-        labware_offset_store = LabwareOffsetStore()
+        labware_offset_store = LabwareOffsetStore(sql_engine)
         _labware_offset_store_accessor.set_on(app_state, labware_offset_store)
     return labware_offset_store
diff --git a/robot-server/robot_server/labware_offsets/router.py b/robot-server/robot_server/labware_offsets/router.py
index 6aca03e4b18..3a01ca73278 100644
--- a/robot-server/robot_server/labware_offsets/router.py
+++ b/robot-server/robot_server/labware_offsets/router.py
@@ -6,6 +6,8 @@
 from typing import Annotated, Literal
 
 import fastapi
+from pydantic import Json
+from pydantic.json_schema import SkipJsonSchema
 from server_utils.fastapi_utils.light_router import LightRouter
 
 from opentrons.protocol_engine import LabwareOffset, LabwareOffsetCreate, ModuleModel
@@ -22,7 +24,12 @@
     SimpleMultiBody,
 )
 
-from .store import LabwareOffsetNotFoundError, LabwareOffsetStore
+from .store import (
+    DO_NOT_FILTER,
+    DoNotFilterType,
+    LabwareOffsetNotFoundError,
+    LabwareOffsetStore,
+)
 from .fastapi_dependencies import get_labware_offset_store
 
 
@@ -76,11 +83,11 @@ async def post_labware_offset(  # noqa: D103
 async def get_labware_offsets(  # noqa: D103
     store: Annotated[LabwareOffsetStore, fastapi.Depends(get_labware_offset_store)],
     id: Annotated[
-        str | None,
+        Json[str] | SkipJsonSchema[DoNotFilterType],
         fastapi.Query(description="Filter for exact matches on the `id` field."),
-    ] = None,
+    ] = DO_NOT_FILTER,
     definition_uri: Annotated[
-        str | None,
+        Json[str] | SkipJsonSchema[DoNotFilterType],
         fastapi.Query(
             alias="definitionUri",
             description=(
@@ -88,23 +95,23 @@ async def get_labware_offsets(  # noqa: D103
                 " (Not to be confused with `location.definitionUri`.)"
             ),
         ),
-    ] = None,
+    ] = DO_NOT_FILTER,
     location_slot_name: Annotated[
-        DeckSlotName | None,
+        Json[DeckSlotName] | SkipJsonSchema[DoNotFilterType],
         fastapi.Query(
             alias="locationSlotName",
             description="Filter for exact matches on the `location.slotName` field.",
         ),
-    ] = None,
+    ] = DO_NOT_FILTER,
     location_module_model: Annotated[
-        ModuleModel | None,
+        Json[ModuleModel | None] | SkipJsonSchema[DoNotFilterType],
         fastapi.Query(
             alias="locationModuleModel",
             description="Filter for exact matches on the `location.moduleModel` field.",
         ),
-    ] = None,
+    ] = DO_NOT_FILTER,
     location_definition_uri: Annotated[
-        str | None,
+        Json[str | None] | SkipJsonSchema[DoNotFilterType],
         fastapi.Query(
             alias="locationDefinitionUri",
             description=(
@@ -112,9 +119,9 @@ async def get_labware_offsets(  # noqa: D103
                 " (Not to be confused with just `definitionUri`.)"
             ),
         ),
-    ] = None,
+    ] = DO_NOT_FILTER,
     cursor: Annotated[
-        int | None,
+        int | SkipJsonSchema[None],
         fastapi.Query(
             description=(
                 "The first index to return out of the overall filtered result list."
diff --git a/robot-server/robot_server/labware_offsets/store.py b/robot-server/robot_server/labware_offsets/store.py
index 9f7e76cfd57..a605f75da3e 100644
--- a/robot-server/robot_server/labware_offsets/store.py
+++ b/robot-server/robot_server/labware_offsets/store.py
@@ -1,63 +1,144 @@
 # noqa: D100
 
-from opentrons.protocol_engine import LabwareOffset, ModuleModel
+import enum
+from typing import Final, Literal, TypeAlias
+
+from opentrons.protocol_engine.types import (
+    LabwareOffset,
+    LabwareOffsetLocation,
+    LabwareOffsetVector,
+    ModuleModel,
+)
 from opentrons.types import DeckSlotName
 
+from robot_server.persistence.tables import labware_offset_table
+
+import sqlalchemy
+import sqlalchemy.exc
+
+
+class _DoNotFilter(enum.Enum):
+    DO_NOT_FILTER = enum.auto()
+
+
+DO_NOT_FILTER: Final = _DoNotFilter.DO_NOT_FILTER
+"""A sentinel value for when a filter should not be applied.
+
+This is different from filtering on `None`, which returns only entries where the
+value is equal to `None`.
+"""
+
+
+DoNotFilterType: TypeAlias = Literal[_DoNotFilter.DO_NOT_FILTER]
+"""The type of `DO_NOT_FILTER`, as `NoneType` is to `None`.
+
+Unfortunately, mypy doesn't let us write `Literal[DO_NOT_FILTER]`. Use this instead.
+"""
+
 
 # todo(mm, 2024-12-06): Convert to be SQL-based and persistent instead of in-memory.
 # https://opentrons.atlassian.net/browse/EXEC-1015
 class LabwareOffsetStore:
     """A persistent store for labware offsets, to support the `/labwareOffsets` endpoints."""
 
-    def __init__(self) -> None:
-        self._offsets_by_id: dict[str, LabwareOffset] = {}
+    def __init__(self, sql_engine: sqlalchemy.engine.Engine) -> None:
+        """Initialize the store.
+
+        Params:
+            sql_engine: The SQL database to use as backing storage. Assumed to already
+                have all the proper tables set up.
+        """
+        self._sql_engine = sql_engine
 
     def add(self, offset: LabwareOffset) -> None:
         """Store a new labware offset."""
-        assert offset.id not in self._offsets_by_id
-        self._offsets_by_id[offset.id] = offset
+        with self._sql_engine.begin() as transaction:
+            transaction.execute(
+                sqlalchemy.insert(labware_offset_table).values(_pydantic_to_sql(offset))
+            )
 
     def search(
         self,
-        id_filter: str | None,
-        definition_uri_filter: str | None,
-        location_slot_name_filter: DeckSlotName | None,
-        location_module_model_filter: ModuleModel | None,
-        location_definition_uri_filter: str | None,
+        id_filter: str | DoNotFilterType = DO_NOT_FILTER,
+        definition_uri_filter: str | DoNotFilterType = DO_NOT_FILTER,
+        location_slot_name_filter: DeckSlotName | DoNotFilterType = DO_NOT_FILTER,
+        location_module_model_filter: ModuleModel
+        | None
+        | DoNotFilterType = DO_NOT_FILTER,
+        location_definition_uri_filter: str | None | DoNotFilterType = DO_NOT_FILTER,
         # todo(mm, 2024-12-06): Support pagination (cursor & pageLength query params).
         # The logic for that is currently duplicated across several places in
         # robot-server and api. We should try to clean that up, or at least avoid
         # making it worse.
     ) -> list[LabwareOffset]:
         """Return all matching labware offsets in order from oldest-added to newest."""
+        statement = (
+            sqlalchemy.select(labware_offset_table)
+            .order_by(labware_offset_table.c.row_id)
+            .where(labware_offset_table.c.active == True)  # noqa: E712
+        )
 
-        def is_match(candidate: LabwareOffset) -> bool:
-            return (
-                id_filter in (None, candidate.id)
-                and definition_uri_filter in (None, candidate.definitionUri)
-                and location_slot_name_filter in (None, candidate.location.slotName)
-                and location_module_model_filter
-                in (None, candidate.location.moduleModel)
-                and location_definition_uri_filter
-                in (None, candidate.location.definitionUri)
+        if id_filter is not DO_NOT_FILTER:
+            statement = statement.where(labware_offset_table.c.offset_id == id_filter)
+        if definition_uri_filter is not DO_NOT_FILTER:
+            statement = statement.where(
+                labware_offset_table.c.definition_uri == definition_uri_filter
+            )
+        if location_slot_name_filter is not DO_NOT_FILTER:
+            statement = statement.where(
+                labware_offset_table.c.location_slot_name
+                == location_slot_name_filter.value
+            )
+        if location_module_model_filter is not DO_NOT_FILTER:
+            location_module_model_filter_value = (
+                location_module_model_filter.value
+                if location_module_model_filter is not None
+                else None
+            )
+            statement = statement.where(
+                labware_offset_table.c.location_module_model
+                == location_module_model_filter_value
+            )
+        if location_definition_uri_filter is not DO_NOT_FILTER:
+            statement = statement.where(
+                labware_offset_table.c.location_definition_uri
+                == location_definition_uri_filter
             )
 
-        return [
-            candidate
-            for candidate in self._offsets_by_id.values()
-            if is_match(candidate)
-        ]
+        with self._sql_engine.begin() as transaction:
+            result = transaction.execute(statement).all()
+
+        return [_sql_to_pydantic(row) for row in result]
 
     def delete(self, offset_id: str) -> LabwareOffset:
         """Delete a labware offset by its ID. Return what was just deleted."""
-        try:
-            return self._offsets_by_id.pop(offset_id)
-        except KeyError:
-            raise LabwareOffsetNotFoundError(bad_offset_id=offset_id) from None
+        with self._sql_engine.begin() as transaction:
+            try:
+                row_to_delete = transaction.execute(
+                    sqlalchemy.select(labware_offset_table).where(
+                        labware_offset_table.c.offset_id == offset_id
+                    )
+                ).one()
+            except sqlalchemy.exc.NoResultFound:
+                raise LabwareOffsetNotFoundError(bad_offset_id=offset_id) from None
+            if not row_to_delete.active:
+                # Already soft-deleted.
+                raise LabwareOffsetNotFoundError(bad_offset_id=offset_id)
+
+            transaction.execute(
+                sqlalchemy.update(labware_offset_table)
+                .where(labware_offset_table.c.offset_id == offset_id)
+                .values(active=False)
+            )
+
+        return _sql_to_pydantic(row_to_delete)
 
     def delete_all(self) -> None:
         """Delete all labware offsets."""
-        self._offsets_by_id.clear()
+        with self._sql_engine.begin() as transaction:
+            transaction.execute(
+                sqlalchemy.update(labware_offset_table).values(active=False)
+            )
 
 
 class LabwareOffsetNotFoundError(KeyError):
@@ -66,3 +147,38 @@ class LabwareOffsetNotFoundError(KeyError):
     def __init__(self, bad_offset_id: str) -> None:
         super().__init__(bad_offset_id)
         self.bad_offset_id = bad_offset_id
+
+
+def _sql_to_pydantic(row: sqlalchemy.engine.Row) -> LabwareOffset:
+    return LabwareOffset(
+        id=row.offset_id,
+        createdAt=row.created_at,
+        definitionUri=row.definition_uri,
+        location=LabwareOffsetLocation(
+            slotName=DeckSlotName(row.location_slot_name),
+            moduleModel=row.location_module_model,
+            definitionUri=row.location_definition_uri,
+        ),
+        vector=LabwareOffsetVector(
+            x=row.vector_x,
+            y=row.vector_y,
+            z=row.vector_z,
+        ),
+    )
+
+
+def _pydantic_to_sql(labware_offset: LabwareOffset) -> dict[str, object]:
+    return dict(
+        offset_id=labware_offset.id,
+        definition_uri=labware_offset.definitionUri,
+        location_slot_name=labware_offset.location.slotName.value,
+        location_module_model=labware_offset.location.moduleModel.value
+        if labware_offset.location.moduleModel is not None
+        else None,
+        location_definition_uri=labware_offset.location.definitionUri,
+        vector_x=labware_offset.vector.x,
+        vector_y=labware_offset.vector.y,
+        vector_z=labware_offset.vector.z,
+        created_at=labware_offset.createdAt,
+        active=True,
+    )
diff --git a/robot-server/robot_server/maintenance_runs/router/labware_router.py b/robot-server/robot_server/maintenance_runs/router/labware_router.py
index 100fafe910a..53dce4ae6eb 100644
--- a/robot-server/robot_server/maintenance_runs/router/labware_router.py
+++ b/robot-server/robot_server/maintenance_runs/router/labware_router.py
@@ -3,10 +3,11 @@
 import logging
 
 from fastapi import Depends, status
+
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 from server_utils.fastapi_utils.light_router import LightRouter
 
 from opentrons.protocol_engine import LabwareOffsetCreate, LabwareOffset
-from opentrons.protocols.models import LabwareDefinition
 
 from robot_server.errors.error_responses import ErrorBody
 from robot_server.service.json_api import RequestModel, SimpleBody, PydanticResponse
diff --git a/robot-server/robot_server/modules/module_data_mapper.py b/robot-server/robot_server/modules/module_data_mapper.py
index f0c623fdab3..28cce33c06b 100644
--- a/robot-server/robot_server/modules/module_data_mapper.py
+++ b/robot-server/robot_server/modules/module_data_mapper.py
@@ -6,12 +6,16 @@
 
 from opentrons.hardware_control.modules import (
     LiveData,
+    ModuleDataValidator,
     ModuleType,
     MagneticStatus,
     TemperatureStatus,
     HeaterShakerStatus,
     SpeedStatus,
     AbsorbanceReaderStatus,
+    PlatformState,
+    StackerAxisState,
+    FlexStackerStatus,
 )
 from opentrons.hardware_control.modules.magdeck import OFFSET_TO_LABWARE_BOTTOM
 from opentrons.drivers.types import (
@@ -22,12 +26,15 @@
 )
 from opentrons.drivers.rpi_drivers.types import USBPort as HardwareUSBPort
 
+from opentrons.hardware_control.modules.types import HopperDoorState, LatchState
 from opentrons.protocol_engine import ModuleModel, DeckType
 
 from .module_identifier import ModuleIdentity
 from .module_models import (
     AttachedModule,
     AttachedModuleData,
+    FlexStackerModule,
+    FlexStackerModuleData,
     MagneticModule,
     MagneticModuleData,
     ModuleCalibrationData,
@@ -71,7 +78,7 @@ def map_data(
         # rely on Pydantic to check/coerce data fields from dicts at run time
         if module_type == ModuleType.MAGNETIC:
             module_cls = MagneticModule
-
+            assert ModuleDataValidator.is_magnetic_module_data(live_data["data"])
             live_data_height = live_data["data"].get("height")
             assert isinstance(
                 live_data_height, (int, float)
@@ -92,6 +99,7 @@ def map_data(
 
         elif module_type == ModuleType.TEMPERATURE:
             module_cls = TemperatureModule
+            assert ModuleDataValidator.is_temperature_module_data(live_data["data"])
             module_data = TemperatureModuleData(
                 status=TemperatureStatus(live_data["status"]),
                 targetTemperature=cast(float, live_data["data"].get("targetTemp")),
@@ -100,6 +108,7 @@ def map_data(
 
         elif module_type == ModuleType.THERMOCYCLER:
             module_cls = ThermocyclerModule
+            assert ModuleDataValidator.is_thermocycler_data(live_data["data"])
             module_data = ThermocyclerModuleData(
                 status=TemperatureStatus(live_data["status"]),
                 targetTemperature=cast(float, live_data["data"].get("targetTemp")),
@@ -120,6 +129,7 @@ def map_data(
 
         elif module_type == ModuleType.HEATER_SHAKER:
             module_cls = HeaterShakerModule
+            assert ModuleDataValidator.is_heater_shaker_data(live_data["data"])
             module_data = HeaterShakerModuleData(
                 status=HeaterShakerStatus(live_data["status"]),
                 labwareLatchStatus=cast(
@@ -137,6 +147,7 @@ def map_data(
                 errorDetails=cast(str, live_data["data"].get("errorDetails")),
             )
         elif module_type == ModuleType.ABSORBANCE_READER:
+            assert ModuleDataValidator.is_absorbance_reader_data(live_data["data"])
             module_cls = AbsorbanceReaderModule
             module_data = AbsorbanceReaderModuleData(
                 status=AbsorbanceReaderStatus(live_data["status"]),
@@ -155,6 +166,21 @@ def map_data(
                     int, live_data["data"].get("referenceWavelength")
                 ),
             )
+        elif module_type == ModuleType.FLEX_STACKER:
+            module_cls = FlexStackerModule
+            assert ModuleDataValidator.is_flex_stacker_data(live_data["data"])
+            module_data = FlexStackerModuleData(
+                status=FlexStackerStatus(live_data["status"]),
+                latchState=cast(LatchState, live_data["data"].get("latchState")),
+                platformState=cast(
+                    PlatformState, live_data["data"].get("platformState")
+                ),
+                hopperDoorState=cast(
+                    HopperDoorState, live_data["data"].get("hopperDoorState")
+                ),
+                axisStateX=cast(StackerAxisState, live_data["data"].get("axisStateX")),
+                axisStateZ=cast(StackerAxisState, live_data["data"].get("axisStateZ")),
+            )
         else:
             assert False, f"Invalid module type {module_type}"
 
diff --git a/robot-server/robot_server/modules/module_models.py b/robot-server/robot_server/modules/module_models.py
index 7b6da4925ac..fb56e9e3fbf 100644
--- a/robot-server/robot_server/modules/module_models.py
+++ b/robot-server/robot_server/modules/module_models.py
@@ -12,6 +12,8 @@
     HeaterShakerStatus,
     SpeedStatus,
     AbsorbanceReaderStatus,
+    PlatformState,
+    StackerAxisState,
 )
 from opentrons.drivers.types import (
     ThermocyclerLidStatus,
@@ -19,6 +21,7 @@
     AbsorbanceReaderLidStatus,
     AbsorbanceReaderPlatePresence,
 )
+from opentrons.hardware_control.modules.types import HopperDoorState, LatchState
 from opentrons.protocol_engine import ModuleModel
 from opentrons.protocol_engine.types import Vec3f
 
@@ -343,19 +346,54 @@ class AbsorbanceReaderModule(
         AbsorbanceReaderModuleData,
     ]
 ):
-    """An attached Heater-Shaker Module."""
+    """An attached Absorbance Reader Module."""
 
     moduleType: Literal[ModuleType.ABSORBANCE_READER]
     moduleModel: Literal[ModuleModel.ABSORBANCE_READER_V1]
     data: AbsorbanceReaderModuleData
 
 
+class FlexStackerModuleData(BaseModel):
+    """Live data from a Flex Stacker module."""
+
+    status: str = Field(
+        ...,
+        description="Overall status of the module.",
+    )
+    latchState: LatchState = Field(..., description="The state of the labware latch.")
+    platformState: PlatformState = Field(..., description="The state of the platform.")
+    hopperDoorState: HopperDoorState = Field(
+        ..., description="The state of the hopper door."
+    )
+    axisStateX: StackerAxisState = Field(
+        ..., description="The state of the X axis limit switches."
+    )
+    axisStateZ: StackerAxisState = Field(
+        ..., description="The state of the Z axis limit switches."
+    )
+
+
+class FlexStackerModule(
+    _GenericModule[
+        Literal[ModuleType.FLEX_STACKER],
+        Literal[ModuleModel.FLEX_STACKER_MODULE_V1],
+        FlexStackerModuleData,
+    ]
+):
+    """An attached Flex Stacker Module."""
+
+    moduleType: Literal[ModuleType.FLEX_STACKER]
+    moduleModel: Literal[ModuleModel.FLEX_STACKER_MODULE_V1]
+    data: FlexStackerModuleData
+
+
 AttachedModule = Union[
     TemperatureModule,
     MagneticModule,
     ThermocyclerModule,
     HeaterShakerModule,
     AbsorbanceReaderModule,
+    FlexStackerModule,
 ]
 
 
@@ -365,4 +403,5 @@ class AbsorbanceReaderModule(
     ThermocyclerModuleData,
     HeaterShakerModuleData,
     AbsorbanceReaderModuleData,
+    FlexStackerModuleData,
 ]
diff --git a/robot-server/robot_server/persistence/_migrations/_util.py b/robot-server/robot_server/persistence/_migrations/_util.py
index b0fd8074966..1f57b0c5a73 100644
--- a/robot-server/robot_server/persistence/_migrations/_util.py
+++ b/robot-server/robot_server/persistence/_migrations/_util.py
@@ -41,6 +41,15 @@ def copy_rows_unmodified(
         dest_connection.execute(insert, row)
 
 
+def copy_contents(source_dir: Path, dest_dir: Path) -> None:
+    """Copy the contents of one directory to another (assumed to be empty)."""
+    for item in source_dir.iterdir():
+        if item.is_dir():
+            shutil.copytree(src=item, dst=dest_dir / item.name)
+        else:
+            shutil.copy(src=item, dst=dest_dir / item.name)
+
+
 def copy_if_exists(src: Path, dst: Path) -> None:
     """Like `shutil.copy()`, but no-op if `src` doesn't exist."""
     try:
diff --git a/robot-server/robot_server/persistence/_migrations/v3_to_v4.py b/robot-server/robot_server/persistence/_migrations/v3_to_v4.py
index b69eb0e5b4f..cdda9bc1a53 100644
--- a/robot-server/robot_server/persistence/_migrations/v3_to_v4.py
+++ b/robot-server/robot_server/persistence/_migrations/v3_to_v4.py
@@ -8,9 +8,8 @@
 
 from pathlib import Path
 from contextlib import ExitStack
-import shutil
 
-from ._util import add_column
+from ._util import add_column, copy_contents
 from ..database import sql_engine_ctx
 from ..file_and_directory_names import DB_FILE
 from ..tables import schema_4
@@ -21,11 +20,8 @@ class Migration3to4(Migration):  # noqa: D101
     def migrate(self, source_dir: Path, dest_dir: Path) -> None:
         """Migrate the persistence directory from schema 3 to 4."""
         # Copy over all existing directories and files to new version
-        for item in source_dir.iterdir():
-            if item.is_dir():
-                shutil.copytree(src=item, dst=dest_dir / item.name)
-            else:
-                shutil.copy(src=item, dst=dest_dir / item.name)
+        copy_contents(source_dir=source_dir, dest_dir=dest_dir)
+
         dest_db_file = dest_dir / DB_FILE
 
         # Append the new column to existing analyses in v4 database
diff --git a/robot-server/robot_server/persistence/_migrations/v4_to_v5.py b/robot-server/robot_server/persistence/_migrations/v4_to_v5.py
index 44b7f9a12d4..8768ca1cb0e 100644
--- a/robot-server/robot_server/persistence/_migrations/v4_to_v5.py
+++ b/robot-server/robot_server/persistence/_migrations/v4_to_v5.py
@@ -8,9 +8,8 @@
 
 from pathlib import Path
 from contextlib import ExitStack
-import shutil
 
-from ._util import add_column
+from ._util import add_column, copy_contents
 from ..database import sql_engine_ctx
 from ..file_and_directory_names import DB_FILE
 from ..tables import schema_5
@@ -21,11 +20,8 @@ class Migration4to5(Migration):  # noqa: D101
     def migrate(self, source_dir: Path, dest_dir: Path) -> None:
         """Migrate the persistence directory from schema 4 to 5."""
         # Copy over all existing directories and files to new version
-        for item in source_dir.iterdir():
-            if item.is_dir():
-                shutil.copytree(src=item, dst=dest_dir / item.name)
-            else:
-                shutil.copy(src=item, dst=dest_dir / item.name)
+        copy_contents(source_dir=source_dir, dest_dir=dest_dir)
+
         dest_db_file = dest_dir / DB_FILE
 
         # Append the new column to existing protocols in v4 database
diff --git a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py
index 8fe63806b8a..e9375e60d53 100644
--- a/robot-server/robot_server/persistence/_migrations/v6_to_v7.py
+++ b/robot-server/robot_server/persistence/_migrations/v6_to_v7.py
@@ -10,11 +10,10 @@
 import json
 from pathlib import Path
 from contextlib import ExitStack
-import shutil
 
 import sqlalchemy
 
-from ._util import add_column
+from ._util import add_column, copy_contents
 from ..database import sql_engine_ctx, sqlite_rowid
 from ..tables import schema_7
 from .._folder_migrator import Migration
@@ -28,11 +27,7 @@ class Migration6to7(Migration):  # noqa: D101
     def migrate(self, source_dir: Path, dest_dir: Path) -> None:
         """Migrate the persistence directory from schema 6 to 7."""
         # Copy over all existing directories and files to new version
-        for item in source_dir.iterdir():
-            if item.is_dir():
-                shutil.copytree(src=item, dst=dest_dir / item.name)
-            else:
-                shutil.copy(src=item, dst=dest_dir / item.name)
+        copy_contents(source_dir=source_dir, dest_dir=dest_dir)
 
         dest_db_file = dest_dir / DB_FILE
 
diff --git a/robot-server/robot_server/persistence/_migrations/v7_to_v8.py b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py
index 035d92cf045..c4b18a8a0b4 100644
--- a/robot-server/robot_server/persistence/_migrations/v7_to_v8.py
+++ b/robot-server/robot_server/persistence/_migrations/v7_to_v8.py
@@ -9,11 +9,10 @@
 import json
 from pathlib import Path
 from contextlib import ExitStack
-import shutil
 
 import sqlalchemy
 
-from ._util import add_column
+from ._util import add_column, copy_contents
 from ..database import sql_engine_ctx
 from ..tables import schema_8
 from .._folder_migrator import Migration
@@ -28,11 +27,7 @@ class Migration7to8(Migration):  # noqa: D101
     def migrate(self, source_dir: Path, dest_dir: Path) -> None:
         """Migrate the persistence directory from schema 6 to 7."""
         # Copy over all existing directories and files to new version
-        for item in source_dir.iterdir():
-            if item.is_dir():
-                shutil.copytree(src=item, dst=dest_dir / item.name)
-            else:
-                shutil.copy(src=item, dst=dest_dir / item.name)
+        copy_contents(source_dir=source_dir, dest_dir=dest_dir)
 
         dest_db_file = dest_dir / DB_FILE
 
diff --git a/robot-server/robot_server/persistence/_migrations/v8_to_v9.py b/robot-server/robot_server/persistence/_migrations/v8_to_v9.py
new file mode 100644
index 00000000000..81b583e3c52
--- /dev/null
+++ b/robot-server/robot_server/persistence/_migrations/v8_to_v9.py
@@ -0,0 +1,79 @@
+"""Migrate the persistence directory from schema 8 to 9.
+
+Summary of changes from schema 8:
+
+- Adds a new `labware_offset` table.
+"""
+
+from pathlib import Path
+
+import sqlalchemy
+
+from opentrons.protocol_engine import LabwareOffset, StateSummary
+
+from robot_server.persistence.database import sqlite_rowid, sql_engine_ctx
+from robot_server.persistence.file_and_directory_names import DB_FILE
+from robot_server.persistence.pydantic import json_to_pydantic
+from robot_server.persistence.tables import schema_9
+
+from ._util import copy_contents
+from .._folder_migrator import Migration
+
+
+class Migration8to9(Migration):  # noqa: D101
+    def migrate(self, source_dir: Path, dest_dir: Path) -> None:
+        """Migrate the persistence directory from schema 8 to 9."""
+        copy_contents(source_dir=source_dir, dest_dir=dest_dir)
+
+        with sql_engine_ctx(
+            dest_dir / DB_FILE
+        ) as engine, engine.begin() as transaction:
+            schema_9.labware_offset_table.create(transaction)
+            _import_labware_offsets_from_runs(transaction)
+
+
+def _import_labware_offsets_from_runs(connection: sqlalchemy.engine.Connection) -> None:
+    """Seed the new labware_offset table with records scraped from existing runs."""
+    raw_state_summaries = (
+        connection.execute(
+            sqlalchemy.select(schema_9.run_table.c.state_summary).where(
+                schema_9.run_table.c.state_summary.is_not(None)
+            )
+            # Be careful to preserve order.
+            # Offsets from newer runs should shadow offsets from older runs.
+            .order_by(sqlite_rowid)
+        )
+        .scalars()
+        .all()
+    )
+
+    state_summaries = (
+        json_to_pydantic(StateSummary, raw_state_summary)
+        for raw_state_summary in raw_state_summaries
+    )
+
+    for state_summary in state_summaries:
+        # Be careful to preserve order.
+        # Offsets added later to a run should shadow offsets added earlier to a run.
+        for labware_offset in state_summary.labwareOffsets:
+            converted = _pydantic_labware_offset_to_sql(labware_offset)
+            connection.execute(
+                sqlalchemy.insert(schema_9.labware_offset_table).values(converted)
+            )
+
+
+def _pydantic_labware_offset_to_sql(labware_offset: LabwareOffset) -> dict[str, object]:
+    return dict(
+        offset_id=labware_offset.id,
+        definition_uri=labware_offset.definitionUri,
+        location_slot_name=labware_offset.location.slotName.value,
+        location_module_model=labware_offset.location.moduleModel.value
+        if labware_offset.location.moduleModel is not None
+        else None,
+        location_definition_uri=labware_offset.location.definitionUri,
+        vector_x=labware_offset.vector.x,
+        vector_y=labware_offset.vector.y,
+        vector_z=labware_offset.vector.z,
+        created_at=labware_offset.createdAt,
+        active=True,
+    )
diff --git a/robot-server/robot_server/persistence/file_and_directory_names.py b/robot-server/robot_server/persistence/file_and_directory_names.py
index 220a32e7673..1d191a0f311 100644
--- a/robot-server/robot_server/persistence/file_and_directory_names.py
+++ b/robot-server/robot_server/persistence/file_and_directory_names.py
@@ -8,7 +8,7 @@
 
 from typing import Final
 
-LATEST_VERSION_DIRECTORY: Final = "8"
+LATEST_VERSION_DIRECTORY: Final = "9"
 
 DECK_CONFIGURATION_FILE: Final = "deck_configuration.json"
 PROTOCOLS_DIRECTORY: Final = "protocols"
diff --git a/robot-server/robot_server/persistence/persistence_directory.py b/robot-server/robot_server/persistence/persistence_directory.py
index 1f6a9fb6733..e5a86b31af2 100644
--- a/robot-server/robot_server/persistence/persistence_directory.py
+++ b/robot-server/robot_server/persistence/persistence_directory.py
@@ -11,7 +11,15 @@
 from anyio import Path as AsyncPath, to_thread
 
 from ._folder_migrator import MigrationOrchestrator
-from ._migrations import up_to_3, v3_to_v4, v4_to_v5, v5_to_v6, v6_to_v7, v7_to_v8
+from ._migrations import (
+    up_to_3,
+    v3_to_v4,
+    v4_to_v5,
+    v5_to_v6,
+    v6_to_v7,
+    v7_to_v8,
+    v8_to_v9,
+)
 from .file_and_directory_names import LATEST_VERSION_DIRECTORY
 
 _TEMP_PERSISTENCE_DIR_PREFIX: Final = "opentrons-robot-server-"
@@ -46,7 +54,7 @@ async def mark_directory_reset(self) -> None:
 def make_migration_orchestrator(prepared_root: Path) -> MigrationOrchestrator:
     """Return a `MigrationOrchestrator` configured for robot-server production use.
 
-    Production code should not use this directly.
+    Production code should not use this directly. Use `prepare_active_subdirectory()` instead.
     This is currently exposed only for tests.
     """
     return MigrationOrchestrator(
@@ -60,7 +68,8 @@ def make_migration_orchestrator(prepared_root: Path) -> MigrationOrchestrator:
             # schema that was never released to the public. It may be present on
             # internal robots.
             v6_to_v7.Migration6to7(subdirectory="7.1"),
-            v7_to_v8.Migration7to8(subdirectory=LATEST_VERSION_DIRECTORY),
+            v7_to_v8.Migration7to8(subdirectory="8"),
+            v8_to_v9.Migration8to9(subdirectory=LATEST_VERSION_DIRECTORY),
         ],
         temp_file_prefix="temp-",
     )
diff --git a/robot-server/robot_server/persistence/tables/__init__.py b/robot-server/robot_server/persistence/tables/__init__.py
index 56e149d6dfd..3c20c3f8a93 100644
--- a/robot-server/robot_server/persistence/tables/__init__.py
+++ b/robot-server/robot_server/persistence/tables/__init__.py
@@ -1,7 +1,7 @@
 """SQL database schemas."""
 
 # Re-export the latest schema.
-from .schema_8 import (
+from .schema_9 import (
     metadata,
     protocol_table,
     analysis_table,
@@ -13,6 +13,7 @@
     run_csv_rtp_table,
     data_files_table,
     boolean_setting_table,
+    labware_offset_table,
     PrimitiveParamSQLEnum,
     ProtocolKindSQLEnum,
     BooleanSettingKey,
@@ -33,6 +34,7 @@
     "run_csv_rtp_table",
     "data_files_table",
     "boolean_setting_table",
+    "labware_offset_table",
     "PrimitiveParamSQLEnum",
     "ProtocolKindSQLEnum",
     "BooleanSettingKey",
diff --git a/robot-server/robot_server/persistence/tables/schema_2.py b/robot-server/robot_server/persistence/tables/schema_2.py
index 607cb8062cb..ccf389332bd 100644
--- a/robot-server/robot_server/persistence/tables/schema_2.py
+++ b/robot-server/robot_server/persistence/tables/schema_2.py
@@ -62,7 +62,6 @@
     sqlalchemy.Column(
         "completed_analysis",
         # Stores a pickled dict. See CompletedAnalysisStore.
-        # TODO(mm, 2023-08-30): Remove this. See https://opentrons.atlassian.net/browse/RSS-98.
         sqlalchemy.LargeBinary,
         nullable=False,
     ),
diff --git a/robot-server/robot_server/persistence/tables/schema_9.py b/robot-server/robot_server/persistence/tables/schema_9.py
new file mode 100644
index 00000000000..4d671f29b8f
--- /dev/null
+++ b/robot-server/robot_server/persistence/tables/schema_9.py
@@ -0,0 +1,395 @@
+"""v9 of our SQLite schema."""
+
+import enum
+import sqlalchemy
+
+from robot_server.persistence._utc_datetime import UTCDateTime
+
+
+metadata = sqlalchemy.MetaData()
+
+
+class PrimitiveParamSQLEnum(enum.Enum):
+    """Enum type to store primitive param type."""
+
+    INT = "int"
+    FLOAT = "float"
+    BOOL = "bool"
+    STR = "str"
+
+
+class ProtocolKindSQLEnum(enum.Enum):
+    """What kind a stored protocol is."""
+
+    STANDARD = "standard"
+    QUICK_TRANSFER = "quick-transfer"
+
+
+class DataFileSourceSQLEnum(enum.Enum):
+    """The source this data file is from."""
+
+    UPLOADED = "uploaded"
+    GENERATED = "generated"
+
+
+class CommandStatusSQLEnum(enum.Enum):
+    """Command status sql enum."""
+
+    QUEUED = "queued"
+    RUNNING = "running"
+    SUCCEEDED = "succeeded"
+    FAILED = "failed"
+
+
+protocol_table = sqlalchemy.Table(
+    "protocol",
+    metadata,
+    sqlalchemy.Column(
+        "id",
+        sqlalchemy.String,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "created_at",
+        UTCDateTime,
+        nullable=False,
+    ),
+    sqlalchemy.Column("protocol_key", sqlalchemy.String, nullable=True),
+    sqlalchemy.Column(
+        "protocol_kind",
+        sqlalchemy.Enum(
+            ProtocolKindSQLEnum,
+            values_callable=lambda obj: [e.value for e in obj],
+            validate_strings=True,
+            create_constraint=True,
+        ),
+        index=True,
+        nullable=False,
+    ),
+)
+
+
+analysis_table = sqlalchemy.Table(
+    "analysis",
+    metadata,
+    sqlalchemy.Column(
+        "id",
+        sqlalchemy.String,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "protocol_id",
+        sqlalchemy.String,
+        sqlalchemy.ForeignKey("protocol.id"),
+        index=True,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "analyzer_version",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "completed_analysis",
+        # Stores a JSON string. See CompletedAnalysisStore.
+        sqlalchemy.String,
+        nullable=False,
+    ),
+)
+
+
+analysis_primitive_type_rtp_table = sqlalchemy.Table(
+    "analysis_primitive_rtp_table",
+    metadata,
+    sqlalchemy.Column(
+        "row_id",
+        sqlalchemy.Integer,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "analysis_id",
+        sqlalchemy.ForeignKey("analysis.id"),
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "parameter_variable_name",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "parameter_type",
+        sqlalchemy.Enum(
+            PrimitiveParamSQLEnum,
+            values_callable=lambda obj: [e.value for e in obj],
+            create_constraint=True,
+            # todo(mm, 2024-09-24): Can we add validate_strings=True here?
+        ),
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "parameter_value",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+)
+
+
+analysis_csv_rtp_table = sqlalchemy.Table(
+    "analysis_csv_rtp_table",
+    metadata,
+    sqlalchemy.Column(
+        "row_id",
+        sqlalchemy.Integer,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "analysis_id",
+        sqlalchemy.ForeignKey("analysis.id"),
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "parameter_variable_name",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "file_id",
+        sqlalchemy.ForeignKey("data_files.id"),
+        nullable=True,
+    ),
+)
+
+
+run_table = sqlalchemy.Table(
+    "run",
+    metadata,
+    sqlalchemy.Column(
+        "id",
+        sqlalchemy.String,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "created_at",
+        UTCDateTime,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "protocol_id",
+        sqlalchemy.String,
+        sqlalchemy.ForeignKey("protocol.id"),
+        nullable=True,
+    ),
+    sqlalchemy.Column(
+        "state_summary",
+        sqlalchemy.String,
+        nullable=True,
+    ),
+    sqlalchemy.Column("engine_status", sqlalchemy.String, nullable=True),
+    sqlalchemy.Column("_updated_at", UTCDateTime, nullable=True),
+    sqlalchemy.Column(
+        "run_time_parameters",
+        # Stores a JSON string. See RunStore.
+        sqlalchemy.String,
+        nullable=True,
+    ),
+)
+
+
+action_table = sqlalchemy.Table(
+    "action",
+    metadata,
+    sqlalchemy.Column(
+        "id",
+        sqlalchemy.String,
+        primary_key=True,
+    ),
+    sqlalchemy.Column("created_at", UTCDateTime, nullable=False),
+    sqlalchemy.Column("action_type", sqlalchemy.String, nullable=False),
+    sqlalchemy.Column(
+        "run_id",
+        sqlalchemy.String,
+        sqlalchemy.ForeignKey("run.id"),
+        nullable=False,
+    ),
+)
+
+
+run_command_table = sqlalchemy.Table(
+    "run_command",
+    metadata,
+    sqlalchemy.Column("row_id", sqlalchemy.Integer, primary_key=True),
+    sqlalchemy.Column(
+        "run_id", sqlalchemy.String, sqlalchemy.ForeignKey("run.id"), nullable=False
+    ),
+    # command_index in commands enumeration
+    sqlalchemy.Column("index_in_run", sqlalchemy.Integer, nullable=False),
+    sqlalchemy.Column("command_id", sqlalchemy.String, nullable=False),
+    sqlalchemy.Column("command", sqlalchemy.String, nullable=False),
+    sqlalchemy.Column(
+        "command_intent",
+        sqlalchemy.String,
+        # nullable=True to match the underlying SQL, which is nullable because of a bug
+        # in the migration that introduced this column. This is not intended to ever be
+        # null in practice.
+        nullable=True,
+    ),
+    sqlalchemy.Column("command_error", sqlalchemy.String, nullable=True),
+    sqlalchemy.Column(
+        "command_status",
+        sqlalchemy.Enum(
+            CommandStatusSQLEnum,
+            values_callable=lambda obj: [e.value for e in obj],
+            validate_strings=True,
+            # nullable=True because it was easier for the migration to add the column
+            # this way. This is not intended to ever be null in practice.
+            nullable=True,
+            # todo(mm, 2024-11-20): We want create_constraint=True here. Something
+            # about the way we compare SQL in test_tables.py is making that difficult--
+            # even when we correctly add the constraint in the migration, the SQL
+            # doesn't compare equal to what create_constraint=True here would emit.
+            create_constraint=False,
+        ),
+    ),
+    sqlalchemy.Index(
+        "ix_run_run_id_command_id",  # An arbitrary name for the index.
+        "run_id",
+        "command_id",
+        unique=True,
+    ),
+    sqlalchemy.Index(
+        "ix_run_run_id_index_in_run",  # An arbitrary name for the index.
+        "run_id",
+        "index_in_run",
+        unique=True,
+    ),
+    sqlalchemy.Index(
+        "ix_run_run_id_command_status_index_in_run",  # An arbitrary name for the index.
+        "run_id",
+        "command_status",
+        "index_in_run",
+        unique=True,
+    ),
+)
+
+
+data_files_table = sqlalchemy.Table(
+    "data_files",
+    metadata,
+    sqlalchemy.Column(
+        "id",
+        sqlalchemy.String,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "name",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "file_hash",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "created_at",
+        UTCDateTime,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "source",
+        sqlalchemy.Enum(
+            DataFileSourceSQLEnum,
+            values_callable=lambda obj: [e.value for e in obj],
+            validate_strings=True,
+            # create_constraint=False to match the underlying SQL, which omits
+            # the constraint because of a bug in the migration that introduced this
+            # column. This is not intended to ever have values other than those in
+            # DataFileSourceSQLEnum.
+            create_constraint=False,
+        ),
+        # nullable=True to match the underlying SQL, which is nullable because of a bug
+        # in the migration that introduced this column. This is not intended to ever be
+        # null in practice.
+        nullable=True,
+    ),
+)
+
+
+run_csv_rtp_table = sqlalchemy.Table(
+    "run_csv_rtp_table",
+    metadata,
+    sqlalchemy.Column(
+        "row_id",
+        sqlalchemy.Integer,
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "run_id",
+        sqlalchemy.ForeignKey("run.id"),
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "parameter_variable_name",
+        sqlalchemy.String,
+        nullable=False,
+    ),
+    sqlalchemy.Column(
+        "file_id",
+        sqlalchemy.ForeignKey("data_files.id"),
+        nullable=True,
+    ),
+)
+
+
+class BooleanSettingKey(enum.Enum):
+    """Keys for boolean settings."""
+
+    ENABLE_ERROR_RECOVERY = "enable_error_recovery"
+
+
+boolean_setting_table = sqlalchemy.Table(
+    "boolean_setting",
+    metadata,
+    sqlalchemy.Column(
+        "key",
+        sqlalchemy.Enum(
+            BooleanSettingKey,
+            values_callable=lambda obj: [e.value for e in obj],
+            validate_strings=True,
+            create_constraint=True,
+        ),
+        primary_key=True,
+    ),
+    sqlalchemy.Column(
+        "value",
+        sqlalchemy.Boolean,
+        nullable=False,
+    ),
+)
+
+
+labware_offset_table = sqlalchemy.Table(
+    "labware_offset",
+    metadata,
+    # Numeric row ID for ordering:
+    sqlalchemy.Column("row_id", sqlalchemy.Integer, primary_key=True),
+    # String UUID for exposing over HTTP:
+    sqlalchemy.Column(
+        "offset_id", sqlalchemy.String, nullable=False, unique=True, index=True
+    ),
+    # The URI identifying the labware definition that this offset applies to.
+    sqlalchemy.Column("definition_uri", sqlalchemy.String, nullable=False),
+    # Information about where the target labware needs to be placed, for the offset to apply:
+    sqlalchemy.Column("location_slot_name", sqlalchemy.String, nullable=False),
+    sqlalchemy.Column("location_module_model", sqlalchemy.String, nullable=True),
+    sqlalchemy.Column("location_definition_uri", sqlalchemy.String, nullable=True),
+    # The offset itself:
+    sqlalchemy.Column("vector_x", sqlalchemy.Float, nullable=False),
+    sqlalchemy.Column("vector_y", sqlalchemy.Float, nullable=False),
+    sqlalchemy.Column("vector_z", sqlalchemy.Float, nullable=False),
+    # Whether this record is "active", i.e. whether it should be considered as a
+    # candidate to apply to runs and affect actual robot motion:
+    sqlalchemy.Column("active", sqlalchemy.Boolean, nullable=False),
+    # When this record was created:
+    sqlalchemy.Column("created_at", UTCDateTime, nullable=False),
+)
diff --git a/robot-server/robot_server/protocols/analysis_models.py b/robot-server/robot_server/protocols/analysis_models.py
index f4b5c54fec8..522c065c5ad 100644
--- a/robot-server/robot_server/protocols/analysis_models.py
+++ b/robot-server/robot_server/protocols/analysis_models.py
@@ -141,9 +141,9 @@ class CompletedAnalysis(BaseModel):
 
     # Fields that should match local analysis:
     robotType: Optional[RobotType] = Field(
-        # robotType is deliberately typed as a Literal instead of an Enum.
-        # It's a bad idea at the moment to store enums in robot-server's database.
-        # https://opentrons.atlassian.net/browse/RSS-98
+        # robotType was typed as a Literal instead of an Enum because it was a bad idea
+        # at the time to store enums in robot-server's database
+        # (https://opentrons.atlassian.net/browse/RSS-98).
         default=None,  # default=None to fit objects that were stored before this field existed.
         description=(
             "The type of robot that this protocol can run on."
diff --git a/robot-server/robot_server/protocols/router.py b/robot-server/robot_server/protocols/router.py
index 574f9621004..ebd98a88dc5 100644
--- a/robot-server/robot_server/protocols/router.py
+++ b/robot-server/robot_server/protocols/router.py
@@ -449,7 +449,7 @@ async def _get_cached_protocol_analysis() -> PydanticResponse[
         files=[ProtocolFile(name=f.path.name, role=f.role) for f in source.files],
     )
 
-    log.info(f'Created protocol "{protocol_id}" and started analysis "{analysis_id}".')
+    log.info(f'Created protocol "{protocol_id}".')
 
     return await PydanticResponse.create(
         content=SimpleBody.model_construct(data=data),
@@ -504,6 +504,9 @@ async def _start_new_analysis_if_necessary(
                 new_parameters=analyzer.get_verified_run_time_parameters(),
             )
         ):
+            log.info(
+                f'Starting new analysis "{analysis_id}" for protocol "{protocol_id}".'
+            )
             started_new_analysis = True
             analyses.append(
                 await analyses_manager.start_analysis(
diff --git a/robot-server/robot_server/runs/router/labware_router.py b/robot-server/robot_server/runs/router/labware_router.py
index 06c16f8b71a..f9264da51e6 100644
--- a/robot-server/robot_server/runs/router/labware_router.py
+++ b/robot-server/robot_server/runs/router/labware_router.py
@@ -5,14 +5,11 @@
 
 from fastapi import Depends, status
 
-from opentrons_shared_data.labware.labware_definition import (
-    LabwareDefinition as SD_LabwareDefinition,
-)
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from server_utils.fastapi_utils.light_router import LightRouter
 
 from opentrons.protocol_engine import LabwareOffsetCreate, LabwareOffset
-from opentrons.protocols.models import LabwareDefinition
 
 from robot_server.errors.error_responses import ErrorBody
 from robot_server.service.json_api import (
@@ -136,14 +133,14 @@ async def add_labware_definition(
         " Repeated definitions will be deduplicated."
     ),
     responses={
-        status.HTTP_200_OK: {"model": SimpleBody[list[SD_LabwareDefinition]]},
+        status.HTTP_200_OK: {"model": SimpleBody[list[LabwareDefinition]]},
         status.HTTP_409_CONFLICT: {"model": ErrorBody[RunStopped]},
     },
 )
 async def get_run_loaded_labware_definitions(
     runId: str,
     run_data_manager: Annotated[RunDataManager, Depends(get_run_data_manager)],
-) -> PydanticResponse[SimpleBody[list[SD_LabwareDefinition]]]:
+) -> PydanticResponse[SimpleBody[list[LabwareDefinition]]]:
     """Get a run's loaded labware definition by the run ID.
 
     Args:
diff --git a/robot-server/scripts/settings_schema.py b/robot-server/scripts/settings_schema.py
index 76e8690e17a..dccf75af7b4 100644
--- a/robot-server/scripts/settings_schema.py
+++ b/robot-server/scripts/settings_schema.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 
+"""Generate a JSON schema representing the server's settings."""
+
 from sys import argv
 from robot_server.settings import RobotServerSettings
 
diff --git a/robot-server/scripts/spec_generator.py b/robot-server/scripts/spec_generator.py
index f3253f2471b..7deaf17c023 100755
--- a/robot-server/scripts/spec_generator.py
+++ b/robot-server/scripts/spec_generator.py
@@ -7,18 +7,16 @@
 """
 
 from argparse import ArgumentParser, FileType
-from fastapi import FastAPI
 from fastapi.openapi.utils import get_openapi
 import json
 from io import TextIOBase
-import os
 import sys
 
 from robot_server.app_setup import app
 from robot_server.versioning import API_VERSION
 
 
-def write_api_spec(output: TextIOBase) -> None:
+def _write_api_spec(output: TextIOBase) -> None:
     spec_dict = get_openapi(
         title="Opentrons HTTP API Spec",
         version=str(API_VERSION),
@@ -45,7 +43,7 @@ def _run_cmdline() -> int:
         help="Where to write the file (will be json)",
     )
     args = parser.parse_args()
-    write_api_spec(args.output)
+    _write_api_spec(args.output)
     return 0
 
 
diff --git a/robot-server/tests/deck_configuration/test_validation.py b/robot-server/tests/deck_configuration/test_validation.py
index 3f8de00a60b..e1359db9f93 100644
--- a/robot-server/tests/deck_configuration/test_validation.py
+++ b/robot-server/tests/deck_configuration/test_validation.py
@@ -228,6 +228,9 @@ def test_unrecognized_cutout_fixture() -> None:
                     "magneticBlockV1",
                     "absorbanceReaderV1",
                     "stagingAreaSlotWithMagneticBlockV1",
+                    "flexStackerModuleV1",
+                    "flexStackerModuleV1WithWasteChuteRightAdapterCovered",
+                    "flexStackerModuleV1WithWasteChuteRightAdapterNoCover",
                 ]
             ),
         )
diff --git a/robot-server/tests/integration/http_api/persistence/test_compatibility.py b/robot-server/tests/integration/http_api/persistence/test_compatibility.py
index 0e487585bed..e0c83acad49 100644
--- a/robot-server/tests/integration/http_api/persistence/test_compatibility.py
+++ b/robot-server/tests/integration/http_api/persistence/test_compatibility.py
@@ -49,6 +49,7 @@ class Snapshot:
 
     version: str
     expected_protocol_count: int
+    expected_labware_offset_count: int
     expected_runs: List[Union[Run, BadRun]]
     protocols_with_no_analyses: List[str] = field(default_factory=list)
 
@@ -67,6 +68,7 @@ def get_copy(self) -> Path:
 flex_dev_compat_snapshot = Snapshot(
     version="ot3_v0.14.0_python_validation",
     expected_protocol_count=1,
+    expected_labware_offset_count=0,
     expected_runs=[Run("305b0cca-fc78-4853-b113-40ac4c30cd8f", 1)],
 )
 
@@ -76,6 +78,7 @@ def get_copy(self) -> Path:
         Snapshot(
             version="v6.0.1",
             expected_protocol_count=4,
+            expected_labware_offset_count=0,
             expected_runs=[
                 Run("7bc1f20d-3925-4aa2-b200-82906112816f", 23),
                 Run("1b00190c-013f-463d-b371-5bf49b6ad61f", 16),
@@ -90,6 +93,7 @@ def get_copy(self) -> Path:
         Snapshot(
             version="v6.1.0",
             expected_protocol_count=2,
+            expected_labware_offset_count=13,
             expected_runs=[
                 Run("a4338d46-96af-4e23-877d-1d79227a0946", 147),
                 Run("efc7374f-2e64-45ea-83fe-bd7a55f2699e", 205),
@@ -101,6 +105,7 @@ def get_copy(self) -> Path:
         Snapshot(
             version="v6.2.0",
             expected_protocol_count=2,
+            expected_labware_offset_count=0,
             expected_runs=[
                 Run("199b991d-db3c-49ff-9b4f-905118c10685", 125),
                 Run("25a66ec6-2137-4680-8a94-d53c0e2a7488", 87),
@@ -112,6 +117,7 @@ def get_copy(self) -> Path:
         Snapshot(
             version="v6.2.0_large",
             expected_protocol_count=17,
+            expected_labware_offset_count=15,
             expected_runs=[
                 Run("eeb17dc0-1878-432a-bf3f-33e7d3023b8d", 218),
                 Run("917cf0f8-8b79-47ab-a407-918c182eb6df", 125),
@@ -144,6 +150,7 @@ def get_copy(self) -> Path:
         Snapshot(
             version="v7.1.1",
             expected_protocol_count=10,
+            expected_labware_offset_count=146,
             expected_runs=[
                 Run("69fe2d6f-3bda-4dfb-800b-cd93017d1cbd", 4634),
                 BadRun("04ec9eda-19b2-4850-9148-d28112565b37", 0),
@@ -246,6 +253,11 @@ async def test_protocols_analyses_and_runs_available_from_older_persistence_dir(
             # `GET /runs/{run_id}/commands/{command_id}`.
             # We skip it for performance. Adds ~10+ seconds
 
+            all_labware_offsets = (await robot_client.get_labware_offsets()).json()[
+                "data"
+            ]
+            assert len(all_labware_offsets) == snapshot.expected_labware_offset_count
+
 
 # TODO(mm, 2023-08-12): We can remove this test when we remove special handling for these
 # protocols. https://opentrons.atlassian.net/browse/RSS-306
diff --git a/robot-server/tests/integration/http_api/test_labware_offsets.tavern.yaml b/robot-server/tests/integration/http_api/test_labware_offsets.tavern.yaml
index d9ff35d7136..f84e5b15d56 100644
--- a/robot-server/tests/integration/http_api/test_labware_offsets.tavern.yaml
+++ b/robot-server/tests/integration/http_api/test_labware_offsets.tavern.yaml
@@ -83,7 +83,7 @@ stages:
   # Just a basic test here. More complicated tests for the filters belong in the unit tests.
   - name: Test getting labware offsets with a filter
     request:
-      url: '{ot3_server_base_url}/labwareOffsets?locationSlotName=A2'
+      url: '{ot3_server_base_url}/labwareOffsets?locationSlotName="A2"'
       method: GET
     response:
       json:
@@ -129,3 +129,122 @@ stages:
         meta:
           cursor: 0
           totalLength: 0
+
+---
+# Some of the filter query parameters can have `null` values or be omitted,
+# with different semantics between the two. That distinction takes a bit of care to
+# preserve across our code, so here we test it specifically.
+test_name: Test null vs. omitted filter query parameters
+marks:
+  - usefixtures:
+      - ot3_server_base_url
+stages:
+  - name: POST test offset 1
+    request:
+      method: POST
+      url: '{ot3_server_base_url}/labwareOffsets'
+      json:
+        data:
+          definitionUri: testNamespace/loadName1/1
+          location:
+            slotName: A1
+            # No moduleModel
+            # No definitionUri
+          vector:
+            x: 1
+            y: 2
+            z: 3
+    response:
+      status_code: 201
+      save:
+        json:
+          offset_1_data: data
+  - name: POST test offset 2
+    request:
+      method: POST
+      url: '{ot3_server_base_url}/labwareOffsets'
+      json:
+        data:
+          definitionUri: testNamespace/loadName2/1
+          location:
+            slotName: A1
+            moduleModel: temperatureModuleV2
+            # No definitionUri
+          vector:
+            x: 1
+            y: 2
+            z: 3
+    response:
+      status_code: 201
+      save:
+        json:
+          offset_2_data: data
+  - name: POST test offset 3
+    request:
+      method: POST
+      url: '{ot3_server_base_url}/labwareOffsets'
+      json:
+        data:
+          definitionUri: testNamespace/loadName2/1
+          location:
+            slotName: A1
+            # no moduleModel
+            definitionUri: testNamespace/adapterLoadName/1
+          vector:
+            x: 1
+            y: 2
+            z: 3
+    response:
+      status_code: 201
+      save:
+        json:
+          offset_3_data: data
+  - name: POST test offset 4
+    request:
+      method: POST
+      url: '{ot3_server_base_url}/labwareOffsets'
+      json:
+        data:
+          definitionUri: testNamespace/loadName3/1
+          location:
+            slotName: A1
+            moduleModel: temperatureModuleV2
+            definitionUri: testNamespace/adapterLoadName/1
+          vector:
+            x: 1
+            y: 2
+            z: 3
+    response:
+      status_code: 201
+      save:
+        json:
+          offset_4_data: data
+  - name: Test no filters
+    request:
+      url: '{ot3_server_base_url}/labwareOffsets'
+    response:
+      json:
+        data:
+          - !force_format_include '{offset_1_data}'
+          - !force_format_include '{offset_2_data}'
+          - !force_format_include '{offset_3_data}'
+          - !force_format_include '{offset_4_data}'
+        meta: !anydict
+  - name: Test filtering on locationModuleModel=null
+    request:
+      url: '{ot3_server_base_url}/labwareOffsets?locationModuleModel=null'
+    response:
+      json:
+        data:
+          - !force_format_include '{offset_1_data}'
+          - !force_format_include '{offset_3_data}'
+        meta: !anydict
+  - name: Test filtering on locationDefinitionUri=null
+    request:
+      url: '{ot3_server_base_url}/labwareOffsets?locationDefinitionUri=null'
+    response:
+      json:
+        data:
+          - !force_format_include '{offset_1_data}'
+          - !force_format_include '{offset_2_data}'
+        meta: !anydict
diff --git a/robot-server/tests/integration/robot_client.py b/robot-server/tests/integration/robot_client.py
index bda888507bb..8fb7b4e7f39 100644
--- a/robot-server/tests/integration/robot_client.py
+++ b/robot-server/tests/integration/robot_client.py
@@ -384,6 +384,12 @@ async def delete_error_recovery_settings(self) -> Response:
         response.raise_for_status()
         return response
 
+    async def get_labware_offsets(self) -> Response:
+        # Filter query parameters omitted for simplicity. This currently returns all offsets.
+        response = await self.httpx_client.get(url=f"{self.base_url}/labwareOffsets")
+        response.raise_for_status()
+        return response
+
     async def delete_all_labware_offsets(self) -> Response:
         response = await self.httpx_client.delete(url=f"{self.base_url}/labwareOffsets")
         response.raise_for_status()
diff --git a/robot-server/tests/labware_offsets/test_store.py b/robot-server/tests/labware_offsets/test_store.py
index 0f28f2e6825..a23b55aff9e 100644
--- a/robot-server/tests/labware_offsets/test_store.py
+++ b/robot-server/tests/labware_offsets/test_store.py
@@ -1,32 +1,92 @@
 # noqa: D100
 
+from datetime import datetime, timezone
+
+import pytest
+import sqlalchemy
 
-from datetime import datetime
 from opentrons.protocol_engine import (
     LabwareOffset,
     LabwareOffsetLocation,
     LabwareOffsetVector,
 )
+from opentrons.protocol_engine.types import ModuleModel
 from opentrons.types import DeckSlotName
-import pytest
+
 from robot_server.labware_offsets.store import (
     LabwareOffsetStore,
     LabwareOffsetNotFoundError,
 )
 
 
+@pytest.fixture
+def subject(sql_engine: sqlalchemy.engine.Engine) -> LabwareOffsetStore:
+    """Return a test subject."""
+    return LabwareOffsetStore(sql_engine)
+
+
 def _get_all(store: LabwareOffsetStore) -> list[LabwareOffset]:
-    return store.search(
-        id_filter=None,
-        definition_uri_filter=None,
-        location_definition_uri_filter=None,
-        location_module_model_filter=None,
-        location_slot_name_filter=None,
+    return store.search()
+
+
+def test_filter_fields(subject: LabwareOffsetStore) -> None:
+    """Test each filterable field to make sure it returns only matching entries."""
+    offset_a = LabwareOffset(
+        id="a",
+        createdAt=datetime.now(timezone.utc),
+        definitionUri="definitionUri a",
+        location=LabwareOffsetLocation(
+            slotName=DeckSlotName.SLOT_A1,
+            moduleModel=ModuleModel.THERMOCYCLER_MODULE_V1,
+            definitionUri="location.definitionUri a",
+        ),
+        vector=LabwareOffsetVector(x=1, y=2, z=3),
     )
+    offset_b = LabwareOffset(
+        id="b",
+        createdAt=datetime.now(timezone.utc),
+        definitionUri="definitionUri b",
+        location=LabwareOffsetLocation(
+            slotName=DeckSlotName.SLOT_B1,
+            moduleModel=ModuleModel.MAGNETIC_BLOCK_V1,
+            definitionUri="location.definitionUri b",
+        ),
+        vector=LabwareOffsetVector(x=1, y=2, z=3),
+    )
+
+    subject.add(offset_a)
+    subject.add(offset_b)
+
+    assert subject.search(id_filter=offset_a.id) == [offset_a]
+    assert subject.search(id_filter=offset_b.id) == [offset_b]
 
+    assert subject.search(definition_uri_filter=offset_a.definitionUri) == [offset_a]
+    assert subject.search(definition_uri_filter=offset_b.definitionUri) == [offset_b]
+
+    assert subject.search(location_slot_name_filter=offset_a.location.slotName) == [
+        offset_a
+    ]
+    assert subject.search(location_slot_name_filter=offset_b.location.slotName) == [
+        offset_b
+    ]
 
-def test_filters() -> None:
-    """Test that the `.search()` method applies filters correctly."""
+    assert subject.search(
+        location_module_model_filter=offset_a.location.moduleModel
+    ) == [offset_a]
+    assert subject.search(
+        location_module_model_filter=offset_b.location.moduleModel
+    ) == [offset_b]
+
+    assert subject.search(
+        location_definition_uri_filter=offset_a.location.definitionUri
+    ) == [offset_a]
+    assert subject.search(
+        location_definition_uri_filter=offset_b.location.definitionUri
+    ) == [offset_b]
+
+
+def test_filter_combinations(subject: LabwareOffsetStore) -> None:
+    """Test that multiple filters are combined correctly."""
     ids_and_definition_uris = [
         ("id-1", "definition-uri-a"),
         ("id-2", "definition-uri-b"),
@@ -38,7 +98,7 @@ def test_filters() -> None:
     labware_offsets = [
         LabwareOffset(
             id=id,
-            createdAt=datetime.now(),
+            createdAt=datetime.now(timezone.utc),
             definitionUri=definition_uri,
             location=LabwareOffsetLocation(slotName=DeckSlotName.SLOT_A1),
             vector=LabwareOffsetVector(x=1, y=2, z=3),
@@ -46,31 +106,14 @@ def test_filters() -> None:
         for (id, definition_uri) in ids_and_definition_uris
     ]
 
-    subject = LabwareOffsetStore()
-
     for labware_offset in labware_offsets:
         subject.add(labware_offset)
 
     # No filters:
-    assert (
-        subject.search(
-            id_filter=None,
-            definition_uri_filter=None,
-            location_definition_uri_filter=None,
-            location_module_model_filter=None,
-            location_slot_name_filter=None,
-        )
-        == labware_offsets
-    )
+    assert subject.search() == labware_offsets
 
     # Filter on one thing:
-    result = subject.search(
-        id_filter=None,
-        definition_uri_filter="definition-uri-b",
-        location_definition_uri_filter=None,
-        location_module_model_filter=None,
-        location_slot_name_filter=None,
-    )
+    result = subject.search(definition_uri_filter="definition-uri-b")
     assert len(result) == 3
     assert result == [
         entry for entry in labware_offsets if entry.definitionUri == "definition-uri-b"
@@ -80,9 +123,6 @@ def test_filters() -> None:
     result = subject.search(
         id_filter="id-2",
         definition_uri_filter="definition-uri-b",
-        location_definition_uri_filter=None,
-        location_module_model_filter=None,
-        location_slot_name_filter=None,
     )
     assert result == [labware_offsets[1]]
 
@@ -90,19 +130,16 @@ def test_filters() -> None:
     result = subject.search(
         id_filter="id-1",
         definition_uri_filter="definition-uri-b",
-        location_definition_uri_filter=None,
-        location_module_model_filter=None,
-        location_slot_name_filter=None,
     )
     assert result == []
 
 
-def test_delete() -> None:
-    """Test the `delete()` method."""
+def test_delete(subject: LabwareOffsetStore) -> None:
+    """Test the `delete()` and `delete_all()` methods."""
     a, b, c = [
         LabwareOffset(
             id=id,
-            createdAt=datetime.now(),
+            createdAt=datetime.now(timezone.utc),
             definitionUri="",
             location=LabwareOffsetLocation(slotName=DeckSlotName.SLOT_A1),
             vector=LabwareOffsetVector(x=1, y=2, z=3),
@@ -110,8 +147,6 @@ def test_delete() -> None:
         for id in ["id-a", "id-b", "id-c"]
     ]
 
-    subject = LabwareOffsetStore()
-
     with pytest.raises(LabwareOffsetNotFoundError):
         subject.delete("b")
 
@@ -122,3 +157,6 @@ def test_delete() -> None:
     assert _get_all(subject) == [a, c]
     with pytest.raises(LabwareOffsetNotFoundError):
         subject.delete(b.id)
+
+    subject.delete_all()
+    assert _get_all(subject) == []
diff --git a/robot-server/tests/maintenance_runs/router/test_labware_router.py b/robot-server/tests/maintenance_runs/router/test_labware_router.py
index d23204aa2d2..2b03b13c9e8 100644
--- a/robot-server/tests/maintenance_runs/router/test_labware_router.py
+++ b/robot-server/tests/maintenance_runs/router/test_labware_router.py
@@ -4,10 +4,10 @@
 from decoy import Decoy
 
 from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from opentrons.types import DeckSlotName
 from opentrons.protocol_engine import EngineStatus, types as pe_types
-from opentrons.protocols.models import LabwareDefinition
 
 from robot_server.service.json_api import RequestModel, SimpleBody
 from robot_server.maintenance_runs.maintenance_run_models import (
diff --git a/robot-server/tests/modules/test_module_data_mapper.py b/robot-server/tests/modules/test_module_data_mapper.py
index 9fef6e607f4..87bd1f19d7d 100644
--- a/robot-server/tests/modules/test_module_data_mapper.py
+++ b/robot-server/tests/modules/test_module_data_mapper.py
@@ -10,6 +10,7 @@
     MagneticStatus,
     TemperatureStatus,
     HeaterShakerStatus,
+    types as hc_types,
 )
 
 
@@ -174,22 +175,21 @@ def test_maps_magnetic_module_data(
     ],
 )
 @pytest.mark.parametrize(
-    "input_data",
+    "status,data",
     [
-        {"status": "idle", "data": {"currentTemp": 42.0, "targetTemp": None}},
-        {
-            "status": "holding at target",
-            "data": {"currentTemp": 84.0, "targetTemp": 84.0},
-        },
+        ("idle", {"currentTemp": 42.0, "targetTemp": None}),
+        ("holding at target", {"currentTemp": 84.0, "targetTemp": 84.0}),
     ],
 )
 def test_maps_temperature_module_data(
     input_model: str,
     deck_type: DeckType,
     expected_compatible: bool,
-    input_data: LiveData,
+    status: str,
+    data: hc_types.TemperatureModuleData,
 ) -> None:
     """It should map hardware data to a magnetic module."""
+    input_data: LiveData = {"status": status, "data": data}
     module_identity = ModuleIdentity(
         module_id="module-id",
         serial_number="serial-number",
@@ -236,9 +236,9 @@ def test_maps_temperature_module_data(
         ),
         moduleOffset=ModuleCalibrationData(offset=Vec3f(x=0.0, y=0.0, z=0.0)),
         data=TemperatureModuleData(
-            status=TemperatureStatus(input_data["status"]),
-            currentTemperature=input_data["data"]["currentTemp"],  # type: ignore[arg-type]
-            targetTemperature=input_data["data"]["targetTemp"],  # type: ignore[arg-type]
+            status=TemperatureStatus(status),
+            currentTemperature=data["currentTemp"],
+            targetTemperature=data["targetTemp"],
         ),
     )
 
@@ -253,11 +253,11 @@ def test_maps_temperature_module_data(
     ],
 )
 @pytest.mark.parametrize(
-    "input_data",
+    "status,data",
     [
-        {
-            "status": "idle",
-            "data": {
+        (
+            "idle",
+            {
                 "lid": "open",
                 "lidTarget": None,
                 "lidTemp": None,
@@ -271,10 +271,10 @@ def test_maps_temperature_module_data(
                 "currentStepIndex": None,
                 "totalStepCount": None,
             },
-        },
-        {
-            "status": "heating",
-            "data": {
+        ),
+        (
+            "heating",
+            {
                 "lid": "open",
                 "lidTarget": 1,
                 "lidTemp": 2,
@@ -288,16 +288,18 @@ def test_maps_temperature_module_data(
                 "currentStepIndex": 9,
                 "totalStepCount": 10,
             },
-        },
+        ),
     ],
 )
 def test_maps_thermocycler_module_data(
     input_model: str,
     deck_type: DeckType,
     expected_compatible: bool,
-    input_data: LiveData,
+    status: str,
+    data: hc_types.ThermocyclerData,
 ) -> None:
     """It should map hardware data to a magnetic module."""
+    input_data: LiveData = {"status": status, "data": data}
     module_identity = ModuleIdentity(
         module_id="module-id",
         serial_number="serial-number",
@@ -344,19 +346,19 @@ def test_maps_thermocycler_module_data(
         ),
         moduleOffset=ModuleCalibrationData(offset=Vec3f(x=0.0, y=0.0, z=0.0)),
         data=ThermocyclerModuleData(
-            status=TemperatureStatus(input_data["status"]),
-            currentTemperature=input_data["data"]["currentTemp"],  # type: ignore[arg-type]
-            targetTemperature=input_data["data"]["targetTemp"],  # type: ignore[arg-type]
-            lidStatus=input_data["data"]["lid"],  # type: ignore[arg-type]
-            lidTemperatureStatus=input_data["data"]["lidTempStatus"],  # type: ignore[arg-type]
-            lidTemperature=input_data["data"]["lidTemp"],  # type: ignore[arg-type]
-            lidTargetTemperature=input_data["data"]["lidTarget"],  # type: ignore[arg-type]
-            holdTime=input_data["data"]["holdTime"],  # type: ignore[arg-type]
-            rampRate=input_data["data"]["rampRate"],  # type: ignore[arg-type]
-            currentCycleIndex=input_data["data"]["currentCycleIndex"],  # type: ignore[arg-type]
-            totalCycleCount=input_data["data"]["totalCycleCount"],  # type: ignore[arg-type]
-            currentStepIndex=input_data["data"]["currentStepIndex"],  # type: ignore[arg-type]
-            totalStepCount=input_data["data"]["totalStepCount"],  # type: ignore[arg-type]
+            status=TemperatureStatus(status),
+            currentTemperature=data["currentTemp"],
+            targetTemperature=data["targetTemp"],
+            lidStatus=data["lid"],  # type: ignore[arg-type]
+            lidTemperatureStatus=data["lidTempStatus"],  # type: ignore[arg-type]
+            lidTemperature=data["lidTemp"],
+            lidTargetTemperature=data["lidTarget"],
+            holdTime=data["holdTime"],
+            rampRate=data["rampRate"],
+            currentCycleIndex=data["currentCycleIndex"],
+            totalCycleCount=data["totalCycleCount"],
+            currentStepIndex=data["currentStepIndex"],
+            totalStepCount=data["totalStepCount"],
         ),
     )
 
@@ -369,11 +371,11 @@ def test_maps_thermocycler_module_data(
     ],
 )
 @pytest.mark.parametrize(
-    "input_data",
+    "status,data",
     [
-        {
-            "status": "idle",
-            "data": {
+        (
+            "idle",
+            {
                 "temperatureStatus": "idle",
                 "speedStatus": "idle",
                 "labwareLatchStatus": "idle_open",
@@ -383,10 +385,10 @@ def test_maps_thermocycler_module_data(
                 "targetSpeed": None,
                 "errorDetails": None,
             },
-        },
-        {
-            "status": "running",
-            "data": {
+        ),
+        (
+            "running",
+            {
                 "temperatureStatus": "heating",
                 "speedStatus": "speeding up",
                 "labwareLatchStatus": "idle_closed",
@@ -396,13 +398,14 @@ def test_maps_thermocycler_module_data(
                 "targetSpeed": 9001,
                 "errorDetails": "oh no",
             },
-        },
+        ),
     ],
 )
 def test_maps_heater_shaker_module_data(
-    input_model: str, deck_type: DeckType, input_data: LiveData
+    input_model: str, deck_type: DeckType, status: str, data: hc_types.HeaterShakerData
 ) -> None:
     """It should map hardware data to a magnetic module."""
+    input_data: LiveData = {"status": status, "data": data}
     module_identity = ModuleIdentity(
         module_id="module-id",
         serial_number="serial-number",
@@ -449,14 +452,14 @@ def test_maps_heater_shaker_module_data(
         ),
         moduleOffset=ModuleCalibrationData(offset=Vec3f(x=0.0, y=0.0, z=0.0)),
         data=HeaterShakerModuleData(
-            status=HeaterShakerStatus(input_data["status"]),
-            labwareLatchStatus=input_data["data"]["labwareLatchStatus"],  # type: ignore[arg-type]
-            speedStatus=input_data["data"]["speedStatus"],  # type: ignore[arg-type]
-            currentSpeed=input_data["data"]["currentSpeed"],  # type: ignore[arg-type]
-            targetSpeed=input_data["data"]["targetSpeed"],  # type: ignore[arg-type]
-            temperatureStatus=input_data["data"]["temperatureStatus"],  # type: ignore[arg-type]
-            currentTemperature=input_data["data"]["currentTemp"],  # type: ignore[arg-type]
-            targetTemperature=input_data["data"]["targetTemp"],  # type: ignore[arg-type]
-            errorDetails=input_data["data"]["errorDetails"],  # type: ignore[arg-type]
+            status=HeaterShakerStatus(status),
+            labwareLatchStatus=data["labwareLatchStatus"],  # type: ignore[arg-type]
+            speedStatus=data["speedStatus"],  # type: ignore[arg-type]
+            currentSpeed=data["currentSpeed"],
+            targetSpeed=data["targetSpeed"],
+            temperatureStatus=data["temperatureStatus"],  # type: ignore[arg-type]
+            currentTemperature=data["currentTemp"],
+            targetTemperature=data["targetTemp"],
+            errorDetails=data["errorDetails"],
         ),
     )
diff --git a/robot-server/tests/persistence/test_tables.py b/robot-server/tests/persistence/test_tables.py
index 6363ed8f47f..87110d69eb6 100644
--- a/robot-server/tests/persistence/test_tables.py
+++ b/robot-server/tests/persistence/test_tables.py
@@ -19,6 +19,7 @@
     schema_6,
     schema_7,
     schema_8,
+    schema_9,
 )
 
 # The statements that we expect to emit when we create a fresh database.
@@ -158,10 +159,157 @@
         CONSTRAINT booleansettingkey CHECK ("key" IN ('enable_error_recovery'))
     )
     """,
+    """
+    CREATE TABLE labware_offset (
+        row_id INTEGER NOT NULL,
+        offset_id VARCHAR NOT NULL,
+        definition_uri VARCHAR NOT NULL,
+        location_slot_name VARCHAR NOT NULL,
+        location_module_model VARCHAR,
+        location_definition_uri VARCHAR,
+        vector_x FLOAT NOT NULL,
+        vector_y FLOAT NOT NULL,
+        vector_z FLOAT NOT NULL,
+        active BOOLEAN NOT NULL,
+        created_at DATETIME NOT NULL,
+        PRIMARY KEY (row_id)
+    )
+    """,
+    """
+    CREATE UNIQUE INDEX ix_labware_offset_offset_id ON labware_offset (offset_id)
+    """,
 ]
 
 
-EXPECTED_STATEMENTS_V8 = EXPECTED_STATEMENTS_LATEST
+EXPECTED_STATEMENTS_V9 = EXPECTED_STATEMENTS_LATEST
+
+
+EXPECTED_STATEMENTS_V8 = [
+    """
+    CREATE TABLE protocol (
+        id VARCHAR NOT NULL,
+        created_at DATETIME NOT NULL,
+        protocol_key VARCHAR,
+        protocol_kind VARCHAR(14) NOT NULL,
+        PRIMARY KEY (id),
+        CONSTRAINT protocolkindsqlenum CHECK (protocol_kind IN ('standard', 'quick-transfer'))
+    )
+    """,
+    """
+    CREATE TABLE analysis (
+        id VARCHAR NOT NULL,
+        protocol_id VARCHAR NOT NULL,
+        analyzer_version VARCHAR NOT NULL,
+        completed_analysis VARCHAR NOT NULL,
+        PRIMARY KEY (id),
+        FOREIGN KEY(protocol_id) REFERENCES protocol (id)
+    )
+    """,
+    """
+    CREATE TABLE analysis_primitive_rtp_table (
+        row_id INTEGER NOT NULL,
+        analysis_id VARCHAR NOT NULL,
+        parameter_variable_name VARCHAR NOT NULL,
+        parameter_type VARCHAR(5) NOT NULL,
+        parameter_value VARCHAR NOT NULL,
+        PRIMARY KEY (row_id),
+        FOREIGN KEY(analysis_id) REFERENCES analysis (id),
+        CONSTRAINT primitiveparamsqlenum CHECK (parameter_type IN ('int', 'float', 'bool', 'str'))
+    )
+    """,
+    """
+    CREATE TABLE analysis_csv_rtp_table (
+        row_id INTEGER NOT NULL,
+        analysis_id VARCHAR NOT NULL,
+        parameter_variable_name VARCHAR NOT NULL,
+        file_id VARCHAR,
+        PRIMARY KEY (row_id),
+        FOREIGN KEY(analysis_id) REFERENCES analysis (id),
+        FOREIGN KEY(file_id) REFERENCES data_files (id)
+    )
+    """,
+    """
+    CREATE INDEX ix_analysis_protocol_id ON analysis (protocol_id)
+    """,
+    """
+    CREATE TABLE run (
+        id VARCHAR NOT NULL,
+        created_at DATETIME NOT NULL,
+        protocol_id VARCHAR,
+        state_summary VARCHAR,
+        engine_status VARCHAR,
+        _updated_at DATETIME,
+        run_time_parameters VARCHAR,
+        PRIMARY KEY (id),
+        FOREIGN KEY(protocol_id) REFERENCES protocol (id)
+    )
+    """,
+    """
+    CREATE TABLE action (
+        id VARCHAR NOT NULL,
+        created_at DATETIME NOT NULL,
+        action_type VARCHAR NOT NULL,
+        run_id VARCHAR NOT NULL,
+        PRIMARY KEY (id),
+        FOREIGN KEY(run_id) REFERENCES run (id)
+    )
+    """,
+    """
+    CREATE TABLE run_command (
+        row_id INTEGER NOT NULL,
+        run_id VARCHAR NOT NULL,
+        index_in_run INTEGER NOT NULL,
+        command_id VARCHAR NOT NULL,
+        command VARCHAR NOT NULL,
+        command_intent VARCHAR,
+        command_error VARCHAR,
+        command_status VARCHAR(9),
+        PRIMARY KEY (row_id),
+        FOREIGN KEY(run_id) REFERENCES run (id)
+    )
+    """,
+    """
+    CREATE UNIQUE INDEX ix_run_run_id_command_id ON run_command (run_id, command_id)
+    """,
+    """
+    CREATE UNIQUE INDEX ix_run_run_id_index_in_run ON run_command (run_id, index_in_run)
+    """,
+    """
+    CREATE UNIQUE INDEX ix_run_run_id_command_status_index_in_run ON run_command (run_id, command_status, index_in_run)
+    """,
+    """
+    CREATE INDEX ix_protocol_protocol_kind ON protocol (protocol_kind)
+    """,
+    """
+    CREATE TABLE data_files (
+        id VARCHAR NOT NULL,
+        name VARCHAR NOT NULL,
+        file_hash VARCHAR NOT NULL,
+        created_at DATETIME NOT NULL,
+        source VARCHAR(9),
+        PRIMARY KEY (id)
+    )
+    """,
+    """
+    CREATE TABLE run_csv_rtp_table (
+        row_id INTEGER NOT NULL,
+        run_id VARCHAR NOT NULL,
+        parameter_variable_name VARCHAR NOT NULL,
+        file_id VARCHAR,
+        PRIMARY KEY (row_id),
+        FOREIGN KEY(run_id) REFERENCES run (id),
+        FOREIGN KEY(file_id) REFERENCES data_files (id)
+    )
+    """,
+    """
+    CREATE TABLE boolean_setting (
+        "key" VARCHAR(21) NOT NULL,
+        value BOOLEAN NOT NULL,
+        PRIMARY KEY ("key"),
+        CONSTRAINT booleansettingkey CHECK ("key" IN ('enable_error_recovery'))
+    )
+    """,
+]
 
 
 EXPECTED_STATEMENTS_V7 = [
@@ -683,6 +831,7 @@ def _normalize_statement(statement: str) -> str:
     ("metadata", "expected_statements"),
     [
         (latest_metadata, EXPECTED_STATEMENTS_LATEST),
+        (schema_9.metadata, EXPECTED_STATEMENTS_V9),
         (schema_8.metadata, EXPECTED_STATEMENTS_V8),
         (schema_7.metadata, EXPECTED_STATEMENTS_V7),
         (schema_6.metadata, EXPECTED_STATEMENTS_V6),
diff --git a/robot-server/tests/runs/router/test_labware_router.py b/robot-server/tests/runs/router/test_labware_router.py
index 25f80048df6..bf55021a6ad 100644
--- a/robot-server/tests/runs/router/test_labware_router.py
+++ b/robot-server/tests/runs/router/test_labware_router.py
@@ -5,10 +5,10 @@
 from decoy import Decoy
 
 from opentrons_shared_data.labware.types import LabwareDefinition as LabwareDefDict
+from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
 from opentrons.types import DeckSlotName
 from opentrons.protocol_engine import EngineStatus, types as pe_types
-from opentrons.protocols.models import LabwareDefinition
 
 from robot_server.errors.error_responses import ApiError
 from robot_server.service.json_api import RequestModel, SimpleBody
diff --git a/shared-data/Makefile b/shared-data/Makefile
index 2e972110c19..3236f350cef 100644
--- a/shared-data/Makefile
+++ b/shared-data/Makefile
@@ -39,7 +39,7 @@ lint: lint-js lint-py
 .PHONY: lib-js
 lib-js: export NODE_ENV := production
 lib-js:
-	NODE_OPTIONS=--openssl-legacy-provider yarn vite build
+	yarn vite build
 
 .PHONY: build-ts
 build-ts:
diff --git a/shared-data/command/schemas/11.json b/shared-data/command/schemas/11.json
index ec0d854e5f9..01cd2e3f4a8 100644
--- a/shared-data/command/schemas/11.json
+++ b/shared-data/command/schemas/11.json
@@ -2080,6 +2080,159 @@
       "title": "LoadLabwareParams",
       "type": "object"
     },
+    "LoadLidCreate": {
+      "description": "Load lid command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLid",
+          "default": "loadLid",
+          "enum": ["loadLid"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLidParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLidCreate",
+      "type": "object"
+    },
+    "LoadLidParams": {
+      "description": "Payload required to load a lid onto a labware.",
+      "properties": {
+        "loadName": {
+          "description": "Name used to reference a lid labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Labware the lid should be loaded onto.",
+          "title": "Location"
+        },
+        "namespace": {
+          "description": "The namespace the lid labware definition belongs to.",
+          "title": "Namespace",
+          "type": "string"
+        },
+        "version": {
+          "description": "The lid labware definition version.",
+          "title": "Version",
+          "type": "integer"
+        }
+      },
+      "required": ["location", "loadName", "namespace", "version"],
+      "title": "LoadLidParams",
+      "type": "object"
+    },
+    "LoadLidStackCreate": {
+      "description": "Load lid stack command creation request.",
+      "properties": {
+        "commandType": {
+          "const": "loadLidStack",
+          "default": "loadLidStack",
+          "enum": ["loadLidStack"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/LoadLidStackParams"
+        }
+      },
+      "required": ["params"],
+      "title": "LoadLidStackCreate",
+      "type": "object"
+    },
+    "LoadLidStackParams": {
+      "description": "Payload required to load a lid stack onto a location.",
+      "properties": {
+        "loadName": {
+          "description": "Name used to reference a lid labware definition.",
+          "title": "Loadname",
+          "type": "string"
+        },
+        "location": {
+          "anyOf": [
+            {
+              "$ref": "#/$defs/DeckSlotLocation"
+            },
+            {
+              "$ref": "#/$defs/ModuleLocation"
+            },
+            {
+              "$ref": "#/$defs/OnLabwareLocation"
+            },
+            {
+              "const": "offDeck",
+              "enum": ["offDeck"],
+              "type": "string"
+            },
+            {
+              "$ref": "#/$defs/AddressableAreaLocation"
+            }
+          ],
+          "description": "Location the lid stack should be loaded into.",
+          "title": "Location"
+        },
+        "namespace": {
+          "description": "The namespace the lid labware definition belongs to.",
+          "title": "Namespace",
+          "type": "string"
+        },
+        "quantity": {
+          "description": "The quantity of lids to load.",
+          "title": "Quantity",
+          "type": "integer"
+        },
+        "version": {
+          "description": "The lid labware definition version.",
+          "title": "Version",
+          "type": "integer"
+        }
+      },
+      "required": ["location", "loadName", "namespace", "version", "quantity"],
+      "title": "LoadLidStackParams",
+      "type": "object"
+    },
     "LoadLiquidClassCreate": {
       "description": "Load Liquid Class command creation request.",
       "properties": {
@@ -2370,7 +2523,8 @@
         "thermocyclerModuleV2",
         "heaterShakerModuleV1",
         "magneticBlockV1",
-        "absorbanceReaderV1"
+        "absorbanceReaderV1",
+        "flexStackerModuleV1"
       ],
       "title": "ModuleModel",
       "type": "string"
@@ -3768,6 +3922,47 @@
       "title": "RetractDispense",
       "type": "object"
     },
+    "RetrieveCreate": {
+      "description": "A request to execute a Flex Stacker retrieve command.",
+      "properties": {
+        "commandType": {
+          "const": "flexStacker/retrieve",
+          "default": "flexStacker/retrieve",
+          "enum": ["flexStacker/retrieve"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/RetrieveParams"
+        }
+      },
+      "required": ["params"],
+      "title": "RetrieveCreate",
+      "type": "object"
+    },
+    "RetrieveParams": {
+      "description": "Input parameters for a labware retrieval command.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the Flex Stacker.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "RetrieveParams",
+      "type": "object"
+    },
     "RowNozzleLayoutConfiguration": {
       "description": "Minimum information required for a new nozzle configuration.",
       "properties": {
@@ -4377,6 +4572,47 @@
       "title": "StatusBarAnimation",
       "type": "string"
     },
+    "StoreCreate": {
+      "description": "A request to execute a Flex Stacker store command.",
+      "properties": {
+        "commandType": {
+          "const": "flexStacker/store",
+          "default": "flexStacker/store",
+          "enum": ["flexStacker/store"],
+          "title": "Commandtype",
+          "type": "string"
+        },
+        "intent": {
+          "$ref": "#/$defs/CommandIntent",
+          "description": "The reason the command was added. If not specified or `protocol`, the command will be treated as part of the protocol run itself, and added to the end of the existing command queue.\n\nIf `setup`, the command will be treated as part of run setup. A setup command may only be enqueued if the run has not started.\n\nUse setup commands for activities like pre-run calibration checks and module setup, like pre-heating.",
+          "title": "Intent"
+        },
+        "key": {
+          "description": "A key value, unique in this run, that can be used to track the same logical command across multiple runs of the same protocol. If a value is not provided, one will be generated.",
+          "title": "Key",
+          "type": "string"
+        },
+        "params": {
+          "$ref": "#/$defs/StoreParams"
+        }
+      },
+      "required": ["params"],
+      "title": "StoreCreate",
+      "type": "object"
+    },
+    "StoreParams": {
+      "description": "Input parameters for a labware storage command.",
+      "properties": {
+        "moduleId": {
+          "description": "Unique ID of the flex stacker.",
+          "title": "Moduleid",
+          "type": "string"
+        }
+      },
+      "required": ["moduleId"],
+      "title": "StoreParams",
+      "type": "object"
+    },
     "Submerge": {
       "description": "Shared properties for the submerge function before aspiration or dispense.",
       "properties": {
@@ -5568,6 +5804,8 @@
       "dispenseInPlace": "#/$defs/DispenseInPlaceCreate",
       "dropTip": "#/$defs/DropTipCreate",
       "dropTipInPlace": "#/$defs/DropTipInPlaceCreate",
+      "flexStacker/retrieve": "#/$defs/RetrieveCreate",
+      "flexStacker/store": "#/$defs/StoreCreate",
       "getNextTip": "#/$defs/GetNextTipCreate",
       "getTipPresence": "#/$defs/GetTipPresenceCreate",
       "heaterShaker/closeLabwareLatch": "#/$defs/CloseLabwareLatchCreate",
@@ -5580,6 +5818,8 @@
       "home": "#/$defs/HomeCreate",
       "liquidProbe": "#/$defs/LiquidProbeCreate",
       "loadLabware": "#/$defs/LoadLabwareCreate",
+      "loadLid": "#/$defs/LoadLidCreate",
+      "loadLidStack": "#/$defs/LoadLidStackCreate",
       "loadLiquid": "#/$defs/LoadLiquidCreate",
       "loadLiquidClass": "#/$defs/LoadLiquidClassCreate",
       "loadModule": "#/$defs/LoadModuleCreate",
@@ -5696,6 +5936,12 @@
     {
       "$ref": "#/$defs/LoadPipetteCreate"
     },
+    {
+      "$ref": "#/$defs/LoadLidStackCreate"
+    },
+    {
+      "$ref": "#/$defs/LoadLidCreate"
+    },
     {
       "$ref": "#/$defs/MoveLabwareCreate"
     },
@@ -5831,6 +6077,12 @@
     {
       "$ref": "#/$defs/ReadAbsorbanceCreate"
     },
+    {
+      "$ref": "#/$defs/RetrieveCreate"
+    },
+    {
+      "$ref": "#/$defs/StoreCreate"
+    },
     {
       "$ref": "#/$defs/CalibrateGripperCreate"
     },
diff --git a/shared-data/command/schemas/7.json b/shared-data/command/schemas/7.json
index 30fe52f96bd..150abdf995f 100644
--- a/shared-data/command/schemas/7.json
+++ b/shared-data/command/schemas/7.json
@@ -1297,7 +1297,8 @@
         "p1000_single_gen2",
         "p1000_single_flex",
         "p1000_multi_flex",
-        "p1000_96"
+        "p1000_96",
+        "p200_96"
       ],
       "type": "string"
     },
diff --git a/shared-data/deck/definitions/5/ot3_standard.json b/shared-data/deck/definitions/5/ot3_standard.json
index fe47adc0a3c..9358c5844d0 100644
--- a/shared-data/deck/definitions/5/ot3_standard.json
+++ b/shared-data/deck/definitions/5/ot3_standard.json
@@ -760,6 +760,50 @@
           "zDimension": 0
         },
         "displayName": "Absorbance Reader Lid Dock in A4"
+      },
+      {
+        "id": "flexStackerModuleV1D4",
+        "areaType": "flexStacker",
+        "offsetFromCutoutFixture": [161.0, 0.0, 31.0],
+        "boundingBox": {
+          "xDimension": 128.0,
+          "yDimension": 86.0,
+          "zDimension": 0
+        },
+        "displayName": "Flex Stacker in D4"
+      },
+      {
+        "id": "flexStackerModuleV1C4",
+        "areaType": "flexStacker",
+        "offsetFromCutoutFixture": [161.0, 0.0, 31.0],
+        "boundingBox": {
+          "xDimension": 128.0,
+          "yDimension": 86.0,
+          "zDimension": 0
+        },
+        "displayName": "Flex Stacker in C4"
+      },
+      {
+        "id": "flexStackerModuleV1B4",
+        "areaType": "flexStacker",
+        "offsetFromCutoutFixture": [161.0, 0.0, 31.0],
+        "boundingBox": {
+          "xDimension": 128.0,
+          "yDimension": 86.0,
+          "zDimension": 0
+        },
+        "displayName": "Flex Stacker in B4"
+      },
+      {
+        "id": "flexStackerModuleV1A4",
+        "areaType": "flexStacker",
+        "offsetFromCutoutFixture": [161.0, 0.0, 31.0],
+        "boundingBox": {
+          "xDimension": 128.0,
+          "yDimension": 86.0,
+          "zDimension": 0
+        },
+        "displayName": "Flex Stacker in A4"
       }
     ],
     "cutouts": [
@@ -973,6 +1017,34 @@
       "fixtureGroup": {},
       "height": 124.5
     },
+    {
+      "id": "flexStackerModuleV1WithWasteChuteRightAdapterCovered",
+      "expectOpentronsModuleSerialNumber": true,
+      "mayMountTo": ["cutoutD3"],
+      "displayName": "Flex Stacker With Waste Chute Adapter for 96 Channel Pipette or Gripper",
+      "providesAddressableAreas": {
+        "cutoutD3": ["1ChannelWasteChute", "8ChannelWasteChute", "D4"]
+      },
+      "fixtureGroup": {},
+      "height": 124.5
+    },
+    {
+      "id": "flexStackerModuleV1WithWasteChuteRightAdapterNoCover",
+      "expectOpentronsModuleSerialNumber": true,
+      "mayMountTo": ["cutoutD3"],
+      "displayName": "Flex Stacker With Waste Chute Adapter",
+      "providesAddressableAreas": {
+        "cutoutD3": [
+          "1ChannelWasteChute",
+          "8ChannelWasteChute",
+          "96ChannelWasteChute",
+          "gripperWasteChute",
+          "flexStackerModuleV1D4"
+        ]
+      },
+      "fixtureGroup": {},
+      "height": 124.5
+    },
     {
       "id": "thermocyclerModuleV2Rear",
       "expectOpentronsModuleSerialNumber": true,
@@ -1125,6 +1197,20 @@
       },
       "fixtureGroup": {},
       "height": 10.65
+    },
+    {
+      "id": "flexStackerModuleV1",
+      "expectOpentronsModuleSerialNumber": true,
+      "mayMountTo": ["cutoutD3", "cutoutC3", "cutoutB3", "cutoutA3"],
+      "displayName": "Slot With a Flex Stacker",
+      "providesAddressableAreas": {
+        "cutoutD3": ["flexStackerModuleV1D4", "D3"],
+        "cutoutC3": ["flexStackerModuleV1C4", "C3"],
+        "cutoutB3": ["flexStackerModuleV1B4", "B3"],
+        "cutoutA3": ["flexStackerModuleV1A4", "A3"]
+      },
+      "fixtureGroup": {},
+      "height": 10.65
     }
   ],
   "gripperOffsets": {
diff --git a/shared-data/deck/schemas/5.json b/shared-data/deck/schemas/5.json
index 54e2f74b9bc..1db1a2de74f 100644
--- a/shared-data/deck/schemas/5.json
+++ b/shared-data/deck/schemas/5.json
@@ -142,7 +142,13 @@
                   "movableTrash",
                   "fixedTrash",
                   "wasteChute",
-                  "lidDock"
+                  "lidDock",
+                  "heaterShaker",
+                  "magneticBlock",
+                  "temperatureModule",
+                  "thermocycler",
+                  "absorbanceReader",
+                  "flexStacker"
                 ]
               },
               "offsetFromCutoutFixture": {
diff --git a/shared-data/deck/types/schemaV5.ts b/shared-data/deck/types/schemaV5.ts
index acd11fbb8be..976dc9c39e8 100644
--- a/shared-data/deck/types/schemaV5.ts
+++ b/shared-data/deck/types/schemaV5.ts
@@ -64,6 +64,10 @@ export type FlexAddressableAreaName =
   | 'absorbanceReaderV1LidDockB4'
   | 'absorbanceReaderV1LidDockC4'
   | 'absorbanceReaderV1LidDockD4'
+  | 'flexStackerModuleV1A4'
+  | 'flexStackerModuleV1B4'
+  | 'flexStackerModuleV1C4'
+  | 'flexStackerModuleV1D4'
 
 export type OT2AddressableAreaName =
   | '1'
@@ -126,6 +130,8 @@ export type WasteChuteCutoutFixtureId =
   | 'wasteChuteRightAdapterNoCover'
   | 'stagingAreaSlotWithWasteChuteRightAdapterCovered'
   | 'stagingAreaSlotWithWasteChuteRightAdapterNoCover'
+  | 'flexStackerModuleV1WithWasteChuteRightAdapterCovered'
+  | 'flexStackerModuleV1WithWasteChuteRightAdapterNoCover'
 
 export type FlexModuleCutoutFixtureId =
   | 'heaterShakerModuleV1'
@@ -135,6 +141,7 @@ export type FlexModuleCutoutFixtureId =
   | 'thermocyclerModuleV2Rear'
   | 'thermocyclerModuleV2Front'
   | 'absorbanceReaderV1'
+  | 'flexStackerModuleV1'
 
 export type OT2SingleStandardSlot = 'singleStandardSlot'
 
diff --git a/shared-data/js/constants.ts b/shared-data/js/constants.ts
index 608bb982887..d3521cd633e 100644
--- a/shared-data/js/constants.ts
+++ b/shared-data/js/constants.ts
@@ -381,6 +381,14 @@ export const ABSORBANCE_READER_LID_DOCK_C4_ADDRESSABLE_AREA: 'absorbanceReaderV1
   'absorbanceReaderV1LidDockC4'
 export const ABSORBANCE_READER_LID_DOCK_D4_ADDRESSABLE_AREA: 'absorbanceReaderV1LidDockD4' =
   'absorbanceReaderV1LidDockD4'
+export const FLEX_STACKER_A4_ADDRESSABLE_AREA: 'flexStackerModuleV1A4' =
+  'flexStackerModuleV1A4'
+export const FLEX_STACKER_B4_ADDRESSABLE_AREA: 'flexStackerModuleV1B4' =
+  'flexStackerModuleV1B4'
+export const FLEX_STACKER_C4_ADDRESSABLE_AREA: 'flexStackerModuleV1C4' =
+  'flexStackerModuleV1C4'
+export const FLEX_STACKER_D4_ADDRESSABLE_AREA: 'flexStackerModuleV1D4' =
+  'flexStackerModuleV1D4'
 
 export const MAGNETIC_BLOCK_ADDRESSABLE_AREAS: AddressableAreaName[] = [
   MAGNETIC_BLOCK_A1_ADDRESSABLE_AREA,
@@ -430,6 +438,13 @@ export const ABSORBANCE_READER_ADDRESSABLE_AREAS: AddressableAreaName[] = [
   ABSORBANCE_READER_LID_DOCK_D4_ADDRESSABLE_AREA,
 ]
 
+export const FLEX_STACKER_ADDRESSABLE_AREAS: AddressableAreaName[] = [
+  FLEX_STACKER_A4_ADDRESSABLE_AREA,
+  FLEX_STACKER_B4_ADDRESSABLE_AREA,
+  FLEX_STACKER_C4_ADDRESSABLE_AREA,
+  FLEX_STACKER_D4_ADDRESSABLE_AREA,
+]
+
 export const FLEX_USB_MODULE_ADDRESSABLE_AREAS: AddressableAreaName[] = [
   THERMOCYCLER_ADDRESSABLE_AREA,
   ...ABSORBANCE_READER_ADDRESSABLE_AREAS,
diff --git a/shared-data/js/labware.ts b/shared-data/js/labware.ts
index a085ffac89c..20d41c3a697 100644
--- a/shared-data/js/labware.ts
+++ b/shared-data/js/labware.ts
@@ -112,7 +112,7 @@ import opentronsFlex96Tiprack50UlV1Uncasted from '../labware/definitions/2/opent
 import opentronsFlex96TiprackAdapterV1Uncasted from '../labware/definitions/2/opentrons_flex_96_tiprack_adapter/1.json'
 import opentronsFlexDeckRiserV1Uncasted from '../labware/definitions/2/opentrons_flex_deck_riser/1.json'
 import opentronsFlexLidAbsorbancePlateReaderModuleV1Uncasted from '../labware/definitions/2/opentrons_flex_lid_absorbance_plate_reader_module/1.json'
-import opentronsToughPcrAutoSealingLidV1Uncasted from '../labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json'
+import opentronsToughPcrAutoSealingLidV1Uncasted from '../labware/definitions/3/opentrons_tough_pcr_auto_sealing_lid/1.json'
 import opentronsUniversalFlatAdapterV1Uncasted from '../labware/definitions/2/opentrons_universal_flat_adapter/1.json'
 import opentronsUniversalFlatAdapterCorning384Wellplate112UlFlatV1Uncasted from '../labware/definitions/2/opentrons_universal_flat_adapter_corning_384_wellplate_112ul_flat/1.json'
 import opentrons96DeepWellTempModAdapterV1Uncasted from '../labware/definitions/2/opentrons_96_deep_well_temp_mod_adapter/1.json'
diff --git a/shared-data/js/types.ts b/shared-data/js/types.ts
index 6abe511bb8f..dab252a54ec 100644
--- a/shared-data/js/types.ts
+++ b/shared-data/js/types.ts
@@ -238,6 +238,7 @@ export type LabwareRoles =
   | 'fixture'
   | 'maintenance'
   | 'lid'
+  | 'system'
 
 // NOTE: must be synced with shared-data/labware/schemas/2.json
 export interface LabwareDefinition2 {
diff --git a/shared-data/labware/definitions/3/agilent_1_reservoir_290ml/2.json b/shared-data/labware/definitions/3/agilent_1_reservoir_290ml/2.json
index 4a06fc94f97..f9bf94127ab 100644
--- a/shared-data/labware/definitions/3/agilent_1_reservoir_290ml/2.json
+++ b/shared-data/labware/definitions/3/agilent_1_reservoir_290ml/2.json
@@ -57,22 +57,22 @@
       "sections": [
         {
           "shape": "cuboidal",
-          "topXDimension": 107.25,
+          "topXDimension": 106.79,
           "topYDimension": 8,
           "bottomXDimension": 101.25,
           "bottomYDimension": 1.66,
           "topHeight": 2,
-          "bottomHeight": 8,
+          "bottomHeight": 0,
           "yCount": 8
         },
         {
           "shape": "cuboidal",
           "topXDimension": 107.5,
           "topYDimension": 71.25,
-          "bottomXDimension": 107.25,
+          "bottomXDimension": 106.79,
           "bottomYDimension": 71.0,
-          "topHeight": 39.22,
-          "bottomHeight": 2
+          "topHeight": 39.23,
+          "bottomHeight": 2.0
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/appliedbiosystemsmicroamp_384_wellplate_40ul/2.json b/shared-data/labware/definitions/3/appliedbiosystemsmicroamp_384_wellplate_40ul/2.json
index a6954ac9d06..d47afca68c4 100644
--- a/shared-data/labware/definitions/3/appliedbiosystemsmicroamp_384_wellplate_40ul/2.json
+++ b/shared-data/labware/definitions/3/appliedbiosystemsmicroamp_384_wellplate_40ul/2.json
@@ -4712,8 +4712,8 @@
         },
         {
           "shape": "conical",
-          "bottomDiameter": 1.4,
           "topDiameter": 3.17,
+          "bottomDiameter": 1.4,
           "topHeight": 5.77,
           "bottomHeight": 0.34
         },
diff --git a/shared-data/labware/definitions/3/biorad_96_wellplate_200ul_pcr/3.json b/shared-data/labware/definitions/3/biorad_96_wellplate_200ul_pcr/3.json
index 61f780b9bfd..24f0656db6b 100644
--- a/shared-data/labware/definitions/3/biorad_96_wellplate_200ul_pcr/3.json
+++ b/shared-data/labware/definitions/3/biorad_96_wellplate_200ul_pcr/3.json
@@ -38,9 +38,9 @@
   "gripHeightFromLabwareBottom": 10.14,
   "wells": {
     "H1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 11.24,
@@ -48,9 +48,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 20.24,
@@ -58,9 +58,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 29.24,
@@ -68,9 +68,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 38.24,
@@ -78,9 +78,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 47.24,
@@ -88,9 +88,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 56.24,
@@ -98,9 +98,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 65.24,
@@ -108,9 +108,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A1": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 14.38,
       "y": 74.24,
@@ -118,9 +118,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 11.24,
@@ -128,9 +128,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 20.24,
@@ -138,9 +138,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 29.24,
@@ -148,9 +148,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 38.24,
@@ -158,9 +158,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 47.24,
@@ -168,9 +168,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 56.24,
@@ -178,9 +178,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 65.24,
@@ -188,9 +188,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A2": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 23.38,
       "y": 74.24,
@@ -198,9 +198,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 11.24,
@@ -208,9 +208,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 20.24,
@@ -218,9 +218,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 29.24,
@@ -228,9 +228,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 38.24,
@@ -238,9 +238,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 47.24,
@@ -248,9 +248,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 56.24,
@@ -258,9 +258,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 65.24,
@@ -268,9 +268,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A3": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 32.38,
       "y": 74.24,
@@ -278,9 +278,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 11.24,
@@ -288,9 +288,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 20.24,
@@ -298,9 +298,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 29.24,
@@ -308,9 +308,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 38.24,
@@ -318,9 +318,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 47.24,
@@ -328,9 +328,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 56.24,
@@ -338,9 +338,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 65.24,
@@ -348,9 +348,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A4": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 41.38,
       "y": 74.24,
@@ -358,9 +358,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H5": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 50.38,
       "y": 11.24,
@@ -368,9 +368,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G5": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 50.38,
       "y": 20.24,
@@ -378,9 +378,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F5": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 50.38,
       "y": 29.24,
@@ -388,9 +388,9 @@
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@@ -398,9 +398,9 @@
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@@ -408,9 +408,9 @@
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+      "depth": 14.57,
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@@ -418,9 +418,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -428,9 +428,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -438,9 +438,9 @@
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@@ -448,9 +448,9 @@
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@@ -458,9 +458,9 @@
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@@ -468,9 +468,9 @@
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@@ -478,9 +478,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -488,9 +488,9 @@
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@@ -498,9 +498,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -508,9 +508,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -518,9 +518,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -528,9 +528,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -538,9 +538,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -548,9 +548,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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+      "depth": 14.57,
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@@ -558,9 +558,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D7": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
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+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 68.38,
       "y": 47.24,
@@ -568,9 +568,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
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@@ -578,9 +578,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -588,9 +588,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -598,9 +598,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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@@ -608,9 +608,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -618,9 +618,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -628,9 +628,9 @@
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@@ -638,9 +638,9 @@
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@@ -648,9 +648,9 @@
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@@ -658,9 +658,9 @@
       "geometryDefinitionId": "conicalWell"
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@@ -668,9 +668,9 @@
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     },
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@@ -678,9 +678,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H9": {
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@@ -688,9 +688,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G9": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
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+      "diameter": 5.44,
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       "x": 86.38,
       "y": 20.24,
@@ -698,9 +698,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F9": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
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+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 86.38,
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@@ -708,9 +708,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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@@ -718,9 +718,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D9": {
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@@ -728,9 +728,9 @@
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     },
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+      "depth": 14.57,
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@@ -738,9 +738,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B9": {
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+      "depth": 14.57,
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@@ -748,9 +748,9 @@
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     },
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@@ -758,9 +758,9 @@
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@@ -768,9 +768,9 @@
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@@ -778,9 +778,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F10": {
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@@ -788,9 +788,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E10": {
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@@ -798,9 +798,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
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       "x": 95.38,
       "y": 47.24,
@@ -808,9 +808,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C10": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 95.38,
       "y": 56.24,
@@ -818,9 +818,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B10": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 95.38,
       "y": 65.24,
@@ -828,9 +828,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A10": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 95.38,
       "y": 74.24,
@@ -838,9 +838,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
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       "x": 104.38,
       "y": 11.24,
@@ -848,9 +848,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G11": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
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       "y": 20.24,
@@ -858,9 +858,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F11": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 104.38,
       "y": 29.24,
@@ -868,9 +868,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E11": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
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       "y": 38.24,
@@ -878,9 +878,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D11": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
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       "totalLiquidVolume": 200,
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       "y": 47.24,
@@ -888,9 +888,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C11": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
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@@ -898,9 +898,9 @@
       "geometryDefinitionId": "conicalWell"
     },
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@@ -908,9 +908,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A11": {
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+      "depth": 14.57,
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@@ -918,9 +918,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H12": {
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       "x": 113.38,
       "y": 11.24,
@@ -928,9 +928,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G12": {
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+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
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       "x": 113.38,
       "y": 20.24,
@@ -938,9 +938,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F12": {
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       "x": 113.38,
       "y": 29.24,
@@ -948,9 +948,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E12": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 113.38,
       "y": 38.24,
@@ -958,9 +958,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D12": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 113.38,
       "y": 47.24,
@@ -968,9 +968,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C12": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 113.38,
       "y": 56.24,
@@ -978,9 +978,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B12": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
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@@ -988,9 +988,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A12": {
-      "depth": 14.81,
+      "depth": 14.57,
       "shape": "circular",
-      "diameter": 5.46,
+      "diameter": 5.44,
       "totalLiquidVolume": 200,
       "x": 113.38,
       "y": 74.24,
@@ -1150,22 +1150,22 @@
         },
         {
           "shape": "conical",
+          "topDiameter": 3.0,
           "bottomDiameter": 2.81,
-          "topDiameter": 3,
           "topHeight": 1.87,
           "bottomHeight": 1.21
         },
         {
           "shape": "conical",
-          "bottomDiameter": 3,
           "topDiameter": 4.98,
+          "bottomDiameter": 3,
           "topHeight": 8.58,
           "bottomHeight": 1.87
         },
         {
           "shape": "conical",
-          "bottomDiameter": 3,
           "topDiameter": 5.44,
+          "bottomDiameter": 4.98,
           "topHeight": 10.14,
           "bottomHeight": 8.58
         },
diff --git a/shared-data/labware/definitions/3/corning_12_wellplate_6.9ml_flat/3.json b/shared-data/labware/definitions/3/corning_12_wellplate_6.9ml_flat/3.json
index f51bce0859c..3a0001ef016 100644
--- a/shared-data/labware/definitions/3/corning_12_wellplate_6.9ml_flat/3.json
+++ b/shared-data/labware/definitions/3/corning_12_wellplate_6.9ml_flat/3.json
@@ -31,7 +31,7 @@
   "wells": {
     "C1": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 24.94,
@@ -41,7 +41,7 @@
     },
     "B1": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 24.94,
@@ -51,7 +51,7 @@
     },
     "A1": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 24.94,
@@ -61,7 +61,7 @@
     },
     "C2": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 50.95,
@@ -71,7 +71,7 @@
     },
     "B2": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 50.95,
@@ -81,7 +81,7 @@
     },
     "A2": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 50.95,
@@ -91,7 +91,7 @@
     },
     "C3": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 76.96,
@@ -101,7 +101,7 @@
     },
     "B3": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 76.96,
@@ -111,7 +111,7 @@
     },
     "A3": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 76.96,
@@ -121,7 +121,7 @@
     },
     "C4": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 102.97,
@@ -131,7 +131,7 @@
     },
     "B4": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 102.97,
@@ -141,7 +141,7 @@
     },
     "A4": {
       "shape": "circular",
-      "depth": 17.53,
+      "depth": 17.399,
       "diameter": 22.73,
       "totalLiquidVolume": 6900,
       "x": 102.97,
diff --git a/shared-data/labware/definitions/3/corning_384_wellplate_112ul_flat/3.json b/shared-data/labware/definitions/3/corning_384_wellplate_112ul_flat/3.json
index ca3758f2339..69a3b324063 100644
--- a/shared-data/labware/definitions/3/corning_384_wellplate_112ul_flat/3.json
+++ b/shared-data/labware/definitions/3/corning_384_wellplate_112ul_flat/3.json
@@ -457,7 +457,7 @@
   "gripHeightFromLabwareBottom": 12.4,
   "wells": {
     "P1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -465,10 +465,10 @@
       "x": 12.12,
       "y": 8.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "O1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -476,10 +476,10 @@
       "x": 12.12,
       "y": 13.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -487,10 +487,10 @@
       "x": 12.12,
       "y": 17.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "M1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -498,10 +498,10 @@
       "x": 12.12,
       "y": 22.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "L1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -509,10 +509,10 @@
       "x": 12.12,
       "y": 26.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "K1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -520,10 +520,10 @@
       "x": 12.12,
       "y": 31.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "J1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -531,10 +531,10 @@
       "x": 12.12,
       "y": 35.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "I1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -542,10 +542,10 @@
       "x": 12.12,
       "y": 40.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "H1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -553,10 +553,10 @@
       "x": 12.12,
       "y": 44.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "G1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -564,10 +564,10 @@
       "x": 12.12,
       "y": 49.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "F1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -575,10 +575,10 @@
       "x": 12.12,
       "y": 53.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "E1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -586,10 +586,10 @@
       "x": 12.12,
       "y": 58.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "D1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -597,10 +597,10 @@
       "x": 12.12,
       "y": 62.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "C1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -608,10 +608,10 @@
       "x": 12.12,
       "y": 67.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "B1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -619,10 +619,10 @@
       "x": 12.12,
       "y": 71.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "A1": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -630,10 +630,10 @@
       "x": 12.12,
       "y": 76.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "P2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -641,10 +641,10 @@
       "x": 16.62,
       "y": 8.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "O2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -652,10 +652,10 @@
       "x": 16.62,
       "y": 13.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -663,10 +663,10 @@
       "x": 16.62,
       "y": 17.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "M2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -674,10 +674,10 @@
       "x": 16.62,
       "y": 22.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "L2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -685,10 +685,10 @@
       "x": 16.62,
       "y": 26.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "K2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -696,10 +696,10 @@
       "x": 16.62,
       "y": 31.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "J2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -707,10 +707,10 @@
       "x": 16.62,
       "y": 35.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "I2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -718,10 +718,10 @@
       "x": 16.62,
       "y": 40.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "H2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -729,10 +729,10 @@
       "x": 16.62,
       "y": 44.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "G2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -740,10 +740,10 @@
       "x": 16.62,
       "y": 49.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "F2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -751,10 +751,10 @@
       "x": 16.62,
       "y": 53.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "E2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -762,10 +762,10 @@
       "x": 16.62,
       "y": 58.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "D2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -773,10 +773,10 @@
       "x": 16.62,
       "y": 62.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "C2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -784,10 +784,10 @@
       "x": 16.62,
       "y": 67.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "B2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -795,10 +795,10 @@
       "x": 16.62,
       "y": 71.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "A2": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -806,10 +806,10 @@
       "x": 16.62,
       "y": 76.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "P3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -817,10 +817,10 @@
       "x": 21.12,
       "y": 8.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "O3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -828,10 +828,10 @@
       "x": 21.12,
       "y": 13.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -839,10 +839,10 @@
       "x": 21.12,
       "y": 17.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "M3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -850,10 +850,10 @@
       "x": 21.12,
       "y": 22.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "L3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -861,10 +861,10 @@
       "x": 21.12,
       "y": 26.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "K3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -872,10 +872,10 @@
       "x": 21.12,
       "y": 31.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "J3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -883,10 +883,10 @@
       "x": 21.12,
       "y": 35.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "I3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -894,10 +894,10 @@
       "x": 21.12,
       "y": 40.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "H3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -905,10 +905,10 @@
       "x": 21.12,
       "y": 44.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "G3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -916,10 +916,10 @@
       "x": 21.12,
       "y": 49.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "F3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -927,10 +927,10 @@
       "x": 21.12,
       "y": 53.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "E3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -938,10 +938,10 @@
       "x": 21.12,
       "y": 58.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "D3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -949,10 +949,10 @@
       "x": 21.12,
       "y": 62.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "C3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -960,10 +960,10 @@
       "x": 21.12,
       "y": 67.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "B3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -971,10 +971,10 @@
       "x": 21.12,
       "y": 71.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "A3": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
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@@ -982,10 +982,10 @@
       "x": 21.12,
       "y": 76.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "P4": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -993,10 +993,10 @@
       "x": 25.62,
       "y": 8.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
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     "O4": {
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       "xDimension": 3.63,
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@@ -1004,10 +1004,10 @@
       "x": 25.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N4": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
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@@ -1015,10 +1015,10 @@
       "x": 25.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
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+      "geometryDefinitionId": "flatWell"
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+      "shape": "circular",
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@@ -4260,10 +4260,10 @@
       "x": 106.62,
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4271,10 +4271,10 @@
       "x": 106.62,
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
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     "E22": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4282,10 +4282,10 @@
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4293,10 +4293,10 @@
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
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@@ -4304,10 +4304,10 @@
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
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@@ -4315,10 +4315,10 @@
       "x": 106.62,
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4326,10 +4326,10 @@
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+      "geometryDefinitionId": "flatWell"
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-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4337,10 +4337,10 @@
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "O23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4348,10 +4348,10 @@
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       "y": 13.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4359,10 +4359,10 @@
       "x": 111.12,
       "y": 17.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "M23": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
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@@ -4370,10 +4370,10 @@
       "x": 111.12,
       "y": 22.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "L23": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -4381,10 +4381,10 @@
       "x": 111.12,
       "y": 26.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "K23": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
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@@ -4392,10 +4392,10 @@
       "x": 111.12,
       "y": 31.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "J23": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
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@@ -4403,10 +4403,10 @@
       "x": 111.12,
       "y": 35.99,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "I23": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
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@@ -4414,10 +4414,10 @@
       "x": 111.12,
       "y": 40.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "H23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4425,10 +4425,10 @@
       "x": 111.12,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "G23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4436,10 +4436,10 @@
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "F23": {
-      "shape": "rectangular",
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@@ -4447,10 +4447,10 @@
       "x": 111.12,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "E23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4458,10 +4458,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
     "D23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4469,10 +4469,10 @@
       "x": 111.12,
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
     },
     "C23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4480,10 +4480,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
     "B23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4491,10 +4491,10 @@
       "x": 111.12,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "A23": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4502,10 +4502,10 @@
       "x": 111.12,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "P24": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
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@@ -4513,10 +4513,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "O24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4524,10 +4524,10 @@
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "N24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4535,10 +4535,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "M24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4546,10 +4546,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "L24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4557,10 +4557,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "K24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4568,10 +4568,10 @@
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
     },
     "J24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4579,10 +4579,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
     "I24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4590,10 +4590,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
     "H24": {
-      "shape": "rectangular",
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@@ -4601,10 +4601,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
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-      "shape": "rectangular",
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@@ -4612,10 +4612,10 @@
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+      "geometryDefinitionId": "flatWell"
     },
     "F24": {
-      "shape": "rectangular",
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@@ -4623,10 +4623,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "E24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4634,10 +4634,10 @@
       "x": 115.62,
       "y": 58.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "D24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4645,10 +4645,10 @@
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
     },
     "C24": {
-      "shape": "rectangular",
+      "shape": "circular",
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       "yDimension": 3.63,
@@ -4656,10 +4656,10 @@
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       "z": 2.79,
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+      "geometryDefinitionId": "flatWell"
     },
     "B24": {
-      "shape": "rectangular",
+      "shape": "circular",
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@@ -4667,10 +4667,10 @@
       "x": 115.62,
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       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     },
     "A24": {
-      "shape": "rectangular",
+      "shape": "circular",
       "depth": 11.43,
       "xDimension": 3.63,
       "yDimension": 3.63,
@@ -4678,7 +4678,7 @@
       "x": 115.62,
       "y": 76.49,
       "z": 2.79,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "flatWell"
     }
   },
   "brand": {
@@ -5099,13 +5099,15 @@
     }
   },
   "innerLabwareGeometry": {
-    "conicalWell": {
+    "flatWell": {
       "sections": [
         {
-          "shape": "conical",
-          "bottomDiameter": 3.64,
-          "topDiameter": 2.74,
-          "topHeight": 11.65,
+          "shape": "cuboidal",
+          "topXDimension": 3.6322,
+          "topYDimension": 3.6322,
+          "bottomXDimension": 2.667,
+          "bottomYDimension": 2.667,
+          "topHeight": 11.43,
           "bottomHeight": 0.0
         }
       ]
diff --git a/shared-data/labware/definitions/3/corning_48_wellplate_1.6ml_flat/3.json b/shared-data/labware/definitions/3/corning_48_wellplate_1.6ml_flat/3.json
index 9caad9af4b0..ad4bf3005ac 100644
--- a/shared-data/labware/definitions/3/corning_48_wellplate_1.6ml_flat/3.json
+++ b/shared-data/labware/definitions/3/corning_48_wellplate_1.6ml_flat/3.json
@@ -35,7 +35,7 @@
     "F1": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 10.08,
@@ -45,7 +45,7 @@
     "E1": {
       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -55,7 +55,7 @@
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -65,7 +65,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -75,7 +75,7 @@
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -85,7 +85,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -95,7 +95,7 @@
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -105,7 +105,7 @@
     "E2": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -115,7 +115,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -125,7 +125,7 @@
     "C2": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -135,7 +135,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 62.4,
@@ -145,7 +145,7 @@
     "A2": {
       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -155,7 +155,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 10.08,
@@ -165,7 +165,7 @@
     "E3": {
       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -175,7 +175,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 36.24,
@@ -185,7 +185,7 @@
     "C3": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -195,7 +195,7 @@
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       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 62.4,
@@ -205,7 +205,7 @@
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       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 75.48,
@@ -215,7 +215,7 @@
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       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 10.08,
@@ -225,7 +225,7 @@
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       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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       "y": 23.16,
@@ -235,7 +235,7 @@
     "D4": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -245,7 +245,7 @@
     "C4": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -255,7 +255,7 @@
     "B4": {
       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -265,7 +265,7 @@
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       "shape": "circular",
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-      "diameter": 11.56,
+      "diameter": 11.1,
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@@ -275,7 +275,7 @@
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       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 10.08,
@@ -285,7 +285,7 @@
     "E5": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 23.16,
@@ -295,7 +295,7 @@
     "D5": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 36.24,
@@ -305,7 +305,7 @@
     "C5": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 49.32,
@@ -315,7 +315,7 @@
     "B5": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 62.4,
@@ -325,7 +325,7 @@
     "A5": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 70.48,
       "y": 75.48,
@@ -335,7 +335,7 @@
     "F6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 10.08,
@@ -345,7 +345,7 @@
     "E6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 23.16,
@@ -355,7 +355,7 @@
     "D6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 36.24,
@@ -365,7 +365,7 @@
     "C6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 49.32,
@@ -375,7 +375,7 @@
     "B6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 62.4,
@@ -385,7 +385,7 @@
     "A6": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 83.56,
       "y": 75.48,
@@ -395,7 +395,7 @@
     "F7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 10.08,
@@ -405,7 +405,7 @@
     "E7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 23.16,
@@ -415,7 +415,7 @@
     "D7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 36.24,
@@ -425,7 +425,7 @@
     "C7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 49.32,
@@ -435,7 +435,7 @@
     "B7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 62.4,
@@ -445,7 +445,7 @@
     "A7": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 96.64,
       "y": 75.48,
@@ -455,7 +455,7 @@
     "F8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 10.08,
@@ -465,7 +465,7 @@
     "E8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 23.16,
@@ -475,7 +475,7 @@
     "D8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 36.24,
@@ -485,7 +485,7 @@
     "C8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 49.32,
@@ -495,7 +495,7 @@
     "B8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 62.4,
@@ -505,7 +505,7 @@
     "A8": {
       "shape": "circular",
       "depth": 17.4,
-      "diameter": 11.56,
+      "diameter": 11.1,
       "totalLiquidVolume": 1600,
       "x": 109.72,
       "y": 75.48,
@@ -594,9 +594,9 @@
       "sections": [
         {
           "shape": "conical",
-          "bottomDiameter": 11.0998,
-          "topDiameter": 10.6426,
-          "topHeight": 17.399,
+          "bottomDiameter": 10.6426,
+          "topDiameter": 11.0998,
+          "topHeight": 17.4,
           "bottomHeight": 0.0
         }
       ]
diff --git a/shared-data/labware/definitions/3/nest_1_reservoir_195ml/3.json b/shared-data/labware/definitions/3/nest_1_reservoir_195ml/3.json
index 842b916fb8c..a5fb287ad8c 100644
--- a/shared-data/labware/definitions/3/nest_1_reservoir_195ml/3.json
+++ b/shared-data/labware/definitions/3/nest_1_reservoir_195ml/3.json
@@ -20,7 +20,7 @@
   "gripHeightFromLabwareBottom": 16.8,
   "wells": {
     "A1": {
-      "depth": 25,
+      "depth": 26.85,
       "shape": "rectangular",
       "xDimension": 106.8,
       "yDimension": 71.2,
@@ -71,11 +71,11 @@
         {
           "shape": "cuboidal",
           "topXDimension": 71.3,
-          "topYDimension": 70.6,
-          "bottomXDimension": 107.3,
+          "topYDimension": 107.3,
+          "bottomXDimension": 70.6,
           "bottomYDimension": 106.8,
           "topHeight": 26.85,
-          "bottomHeight": 2
+          "bottomHeight": 2.0
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/nest_1_reservoir_290ml/2.json b/shared-data/labware/definitions/3/nest_1_reservoir_290ml/2.json
index 13e9cd8f40c..46c5a494533 100644
--- a/shared-data/labware/definitions/3/nest_1_reservoir_290ml/2.json
+++ b/shared-data/labware/definitions/3/nest_1_reservoir_290ml/2.json
@@ -57,12 +57,22 @@
       "sections": [
         {
           "shape": "cuboidal",
-          "topXDimension": 70.6,
-          "topYDimension": 106.8,
-          "bottomXDimension": 71.3,
-          "bottomYDimension": 107.3,
-          "topHeight": 2.05,
-          "bottomHeight": 0.0
+          "topXDimension": 7.75,
+          "topYDimension": 70.75,
+          "bottomXDimension": 3.127,
+          "bottomYDimension": 66.85,
+          "topHeight": 2.0,
+          "bottomHeight": 0.0,
+          "xCount": 12
+        },
+        {
+          "shape": "cuboidal",
+          "topXDimension": 107.76,
+          "topYDimension": 71.0,
+          "bottomXDimension": 106.75,
+          "bottomYDimension": 70.75,
+          "topHeight": 39.55,
+          "bottomHeight": 2.0
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/nest_96_wellplate_100ul_pcr_full_skirt/3.json b/shared-data/labware/definitions/3/nest_96_wellplate_100ul_pcr_full_skirt/3.json
index 3e55fa4ed84..44114349497 100644
--- a/shared-data/labware/definitions/3/nest_96_wellplate_100ul_pcr_full_skirt/3.json
+++ b/shared-data/labware/definitions/3/nest_96_wellplate_100ul_pcr_full_skirt/3.json
@@ -33,7 +33,7 @@
   "gripHeightFromLabwareBottom": 10.65,
   "wells": {
     "A1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -43,7 +43,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -53,7 +53,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -63,7 +63,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -73,7 +73,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -83,7 +83,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -93,7 +93,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -103,7 +103,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H1": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -113,7 +113,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -123,7 +123,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -133,7 +133,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -143,7 +143,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -153,7 +153,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -163,7 +163,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -173,7 +173,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -183,7 +183,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H2": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -193,7 +193,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -203,7 +203,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -213,7 +213,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -223,7 +223,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -233,7 +233,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -243,7 +243,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -253,7 +253,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -263,7 +263,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H3": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -273,7 +273,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -283,7 +283,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -293,7 +293,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -303,7 +303,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -313,7 +313,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -323,7 +323,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -333,7 +333,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -343,7 +343,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H4": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -353,7 +353,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -363,7 +363,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -373,7 +373,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -383,7 +383,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -393,7 +393,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -403,7 +403,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -413,7 +413,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -423,7 +423,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H5": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -433,7 +433,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -443,7 +443,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -453,7 +453,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -463,7 +463,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -473,7 +473,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -483,7 +483,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -493,7 +493,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -503,7 +503,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H6": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -513,7 +513,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -523,7 +523,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -533,7 +533,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -543,7 +543,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D7": {
-      "depth": 14.78,
+      "depth": 14.7,
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       "totalLiquidVolume": 100,
@@ -553,7 +553,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -563,7 +563,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -573,7 +573,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -583,7 +583,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H7": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -593,7 +593,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -603,7 +603,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -613,7 +613,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -623,7 +623,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -633,7 +633,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -643,7 +643,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F8": {
-      "depth": 14.78,
+      "depth": 14.7,
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       "totalLiquidVolume": 100,
@@ -653,7 +653,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -663,7 +663,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H8": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -673,7 +673,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -683,7 +683,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -693,7 +693,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -703,7 +703,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -713,7 +713,7 @@
       "geometryDefinitionId": "conicalWell"
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     "E9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -723,7 +723,7 @@
       "geometryDefinitionId": "conicalWell"
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     "F9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -733,7 +733,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -743,7 +743,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H9": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -753,7 +753,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -763,7 +763,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -773,7 +773,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -783,7 +783,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -793,7 +793,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
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       "totalLiquidVolume": 100,
@@ -803,7 +803,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -813,7 +813,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -823,7 +823,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H10": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -833,7 +833,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -843,7 +843,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -853,7 +853,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -863,7 +863,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -873,7 +873,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -883,7 +883,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -893,7 +893,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -903,7 +903,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H11": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -913,7 +913,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -923,7 +923,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -933,7 +933,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -943,7 +943,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -953,7 +953,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "E12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -963,7 +963,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "F12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -973,7 +973,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "G12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
@@ -983,7 +983,7 @@
       "geometryDefinitionId": "conicalWell"
     },
     "H12": {
-      "depth": 14.78,
+      "depth": 14.7,
       "shape": "circular",
       "diameter": 5.34,
       "totalLiquidVolume": 100,
diff --git a/shared-data/labware/definitions/3/opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical/2.json b/shared-data/labware/definitions/3/opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical/2.json
index 7827cbb5916..788e56ee3ba 100644
--- a/shared-data/labware/definitions/3/opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical/2.json
+++ b/shared-data/labware/definitions/3/opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical/2.json
@@ -90,7 +90,7 @@
       "totalLiquidVolume": 50000,
       "diameter": 27.81,
       "shape": "circular",
-      "depth": 113,
+      "depth": 112.85,
       "x": 71.38,
       "y": 60.25,
       "z": 7.3,
@@ -100,7 +100,7 @@
       "totalLiquidVolume": 50000,
       "diameter": 27.81,
       "shape": "circular",
-      "depth": 113,
+      "depth": 112.85,
       "x": 71.38,
       "y": 25.25,
       "z": 7.3,
@@ -110,7 +110,7 @@
       "totalLiquidVolume": 50000,
       "diameter": 27.81,
       "shape": "circular",
-      "depth": 113,
+      "depth": 112.85,
       "x": 106.38,
       "y": 60.25,
       "z": 7.3,
@@ -120,7 +120,7 @@
       "totalLiquidVolume": 50000,
       "diameter": 27.81,
       "shape": "circular",
-      "depth": 113,
+      "depth": 112.85,
       "x": 106.38,
       "y": 25.25,
       "z": 7.3,
diff --git a/shared-data/labware/definitions/3/opentrons_10_tuberack_nest_4x50ml_6x15ml_conical/2.json b/shared-data/labware/definitions/3/opentrons_10_tuberack_nest_4x50ml_6x15ml_conical/2.json
index 417e3e893de..209aeac29e6 100644
--- a/shared-data/labware/definitions/3/opentrons_10_tuberack_nest_4x50ml_6x15ml_conical/2.json
+++ b/shared-data/labware/definitions/3/opentrons_10_tuberack_nest_4x50ml_6x15ml_conical/2.json
@@ -8,7 +8,7 @@
       "x": 13.88,
       "y": 67.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "B1": {
       "totalLiquidVolume": 15000,
@@ -18,7 +18,7 @@
       "x": 13.88,
       "y": 42.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "C1": {
       "totalLiquidVolume": 15000,
@@ -28,7 +28,7 @@
       "x": 13.88,
       "y": 17.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "A2": {
       "totalLiquidVolume": 15000,
@@ -38,7 +38,7 @@
       "x": 38.88,
       "y": 67.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "B2": {
       "totalLiquidVolume": 15000,
@@ -48,7 +48,7 @@
       "x": 38.88,
       "y": 42.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "C2": {
       "totalLiquidVolume": 15000,
@@ -58,47 +58,47 @@
       "x": 38.88,
       "y": 17.75,
       "z": 6.85,
-      "geometryDefinitionId": "conicalWell"
+      "geometryDefinitionId": "conicalWell15mL"
     },
     "A3": {
       "totalLiquidVolume": 50000,
-      "diameter": 27.95,
+      "diameter": 28.18,
       "shape": "circular",
-      "depth": 113.05,
+      "depth": 113.1,
       "x": 71.38,
       "y": 60.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "B3": {
       "totalLiquidVolume": 50000,
-      "diameter": 27.95,
+      "diameter": 28.18,
       "shape": "circular",
-      "depth": 113.05,
+      "depth": 113.1,
       "x": 71.38,
       "y": 25.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "A4": {
       "totalLiquidVolume": 50000,
-      "diameter": 27.95,
+      "diameter": 28.18,
       "shape": "circular",
-      "depth": 113.05,
+      "depth": 113.1,
       "x": 106.38,
       "y": 60.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     },
     "B4": {
       "totalLiquidVolume": 50000,
-      "diameter": 27.95,
+      "diameter": 28.18,
       "shape": "circular",
-      "depth": 113.05,
+      "depth": 113.1,
       "x": 106.38,
       "y": 25.25,
       "z": 7.3,
-      "geometryDefinitionId": "b"
+      "geometryDefinitionId": "conicalWell50mL"
     }
   },
   "groups": [
@@ -168,53 +168,66 @@
     "z": 0
   },
   "innerLabwareGeometry": {
-    "conicalWell": {
+    "conicalWell15mL": {
       "sections": [
+        {
+          "shape": "spherical",
+          "radiusOfCurvature": 1.235,
+          "topHeight": 0.92,
+          "bottomHeight": 0.0
+        },
         {
           "shape": "conical",
           "topDiameter": 13.8,
-          "bottomDiameter": 2.5,
+          "bottomDiameter": 2.38,
           "topHeight": 22.55,
-          "bottomHeight": 0.0
+          "bottomHeight": 0.92
         },
         {
           "shape": "conical",
-          "topDiameter": 14.78,
+          "topDiameter": 14.56,
           "bottomDiameter": 13.8,
-          "topHeight": 109.03,
+          "topHeight": 113.8,
           "bottomHeight": 22.55
         },
         {
           "shape": "conical",
           "topDiameter": 15.5,
-          "bottomDiameter": 14.78,
+          "bottomDiameter": 14.56,
           "topHeight": 117.8,
-          "bottomHeight": 109.03
+          "bottomHeight": 113.8
         }
       ]
     },
-    "b": {
+    "conicalWell50mL": {
       "sections": [
         {
           "shape": "conical",
           "topDiameter": 26.0,
-          "bottomDiameter": 6.0,
-          "topHeight": 14.28,
+          "bottomDiameter": 4.5,
+          "topHeight": 14.35,
           "bottomHeight": 0.0
         },
         {
           "shape": "conical",
-          "topDiameter": 27.0,
+          "topDiameter": 27.69,
           "bottomDiameter": 26.0,
-          "topHeight": 109.0,
-          "bottomHeight": 14.28
+          "topHeight": 108.8,
+          "bottomHeight": 14.35
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 27.95,
+          "bottomDiameter": 27.69,
+          "topHeight": 109.1,
+          "bottomHeight": 108.8
         },
         {
           "shape": "conical",
-          "topDiameter": 27.45,
-          "bottomDiameter": 27.0,
-          "topHeight": 113.3,
-          "bottomHeight": 109.0
+          "topDiameter": 28.18,
+          "bottomDiameter": 27.95,
+          "topHeight": 113.1,
+          "bottomHeight": 109.1
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap/2.json
index 1a0cc9ea508..97726f203f7 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap/2.json
@@ -334,7 +334,140 @@
   },
   "innerLabwareGeometry": {
     "conicalWell": {
-      "sections": []
+      "sections": [
+        {
+          "shape": "spherical",
+          "radiusOfCurvature": 2.88,
+          "topHeight": 1.45,
+          "bottomHeight": 0.0
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 6.0,
+          "bottomDiameter": 5.0,
+          "topHeight": 2.2,
+          "bottomHeight": 1.45
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 6.4,
+          "bottomDiameter": 6.0,
+          "topHeight": 2.45,
+          "bottomHeight": 2.2
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 6.8,
+          "bottomDiameter": 6.4,
+          "topHeight": 2.75,
+          "bottomHeight": 2.45
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 7.2,
+          "bottomDiameter": 6.8,
+          "topHeight": 3.14,
+          "bottomHeight": 2.75
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 7.6,
+          "bottomDiameter": 7.2,
+          "topHeight": 3.67,
+          "bottomHeight": 3.14
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 7.7,
+          "bottomDiameter": 7.6,
+          "topHeight": 3.93,
+          "bottomHeight": 3.67
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.0,
+          "bottomDiameter": 7.7,
+          "topHeight": 4.29,
+          "bottomHeight": 3.93
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.2,
+          "bottomDiameter": 8.0,
+          "topHeight": 4.53,
+          "bottomHeight": 4.29
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.4,
+          "bottomDiameter": 8.2,
+          "topHeight": 5.03,
+          "bottomHeight": 4.53
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.5,
+          "bottomDiameter": 8.4,
+          "topHeight": 5.15,
+          "bottomHeight": 5.03
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.6,
+          "bottomDiameter": 8.5,
+          "topHeight": 5.43,
+          "bottomHeight": 5.15
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.78,
+          "bottomDiameter": 8.6,
+          "topHeight": 6.97,
+          "bottomHeight": 5.43
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.9,
+          "bottomDiameter": 8.78,
+          "topHeight": 10.17,
+          "bottomHeight": 6.97
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 9.0,
+          "bottomDiameter": 8.9,
+          "topHeight": 13.32,
+          "bottomHeight": 10.17
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 9.1,
+          "bottomDiameter": 9.0,
+          "topHeight": 25.26,
+          "bottomHeight": 13.32
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 9.2,
+          "bottomDiameter": 9.1,
+          "topHeight": 32.5,
+          "bottomHeight": 25.26
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 9.6,
+          "bottomDiameter": 9.2,
+          "topHeight": 33.96,
+          "bottomHeight": 32.5
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 10.0,
+          "bottomDiameter": 9.6,
+          "topHeight": 39.02,
+          "bottomHeight": 33.96
+        }
+      ]
     }
   }
 }
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_generic_2ml_screwcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_generic_2ml_screwcap/2.json
index 660331eedfd..0914789708c 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_generic_2ml_screwcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_generic_2ml_screwcap/2.json
@@ -323,7 +323,29 @@
   },
   "innerLabwareGeometry": {
     "conicalWell": {
-      "sections": []
+      "sections": [
+        {
+          "shape": "conical",
+          "topDiameter": 6.5,
+          "bottomDiameter": 1.21,
+          "topHeight": 2.08,
+          "bottomHeight": 0.0
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.14,
+          "bottomDiameter": 6.5,
+          "topHeight": 3.04,
+          "bottomHeight": 2.08
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 8.5,
+          "bottomDiameter": 8.14,
+          "topHeight": 42.0,
+          "bottomHeight": 3.04
+        }
+      ]
     }
   }
 }
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_screwcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_screwcap/2.json
index 7d7a193d55d..9544e5cc9c2 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_screwcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_screwcap/2.json
@@ -27,9 +27,9 @@
   },
   "wells": {
     "A1": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 75.43,
@@ -37,9 +37,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B1": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 56.15,
@@ -47,9 +47,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C1": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 36.87,
@@ -57,9 +57,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D1": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 17.59,
@@ -67,9 +67,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A2": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 75.43,
@@ -77,9 +77,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B2": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 56.15,
@@ -87,9 +87,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C2": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 36.87,
@@ -97,9 +97,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D2": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 17.59,
@@ -107,9 +107,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A3": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 75.43,
@@ -117,9 +117,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B3": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 56.15,
@@ -127,9 +127,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C3": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 36.87,
@@ -137,9 +137,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D3": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 17.59,
@@ -147,9 +147,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A4": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 75.43,
@@ -157,9 +157,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B4": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 56.15,
@@ -167,9 +167,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C4": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 36.87,
@@ -177,9 +177,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D4": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 17.59,
@@ -187,9 +187,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A5": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 75.43,
@@ -197,9 +197,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B5": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 56.15,
@@ -207,9 +207,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C5": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 36.87,
@@ -217,9 +217,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D5": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 17.59,
@@ -227,9 +227,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A6": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 75.43,
@@ -237,9 +237,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B6": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 56.15,
@@ -247,9 +247,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C6": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 36.87,
@@ -257,9 +257,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D6": {
-      "depth": 43.9,
+      "depth": 42.6,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 17.59,
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_snapcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_snapcap/2.json
index c1025a18ad1..af1f609a7f4 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_snapcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_1.5ml_snapcap/2.json
@@ -29,7 +29,7 @@
     "A1": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 75.43,
@@ -39,7 +39,7 @@
     "B1": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 56.15,
@@ -49,7 +49,7 @@
     "C1": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 36.87,
@@ -59,7 +59,7 @@
     "D1": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 18.21,
       "y": 17.59,
@@ -69,7 +69,7 @@
     "A2": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 75.43,
@@ -79,7 +79,7 @@
     "B2": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 56.15,
@@ -89,7 +89,7 @@
     "C2": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 36.87,
@@ -99,7 +99,7 @@
     "D2": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 38.1,
       "y": 17.59,
@@ -109,7 +109,7 @@
     "A3": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 75.43,
@@ -119,7 +119,7 @@
     "B3": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 56.15,
@@ -129,7 +129,7 @@
     "C3": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 36.87,
@@ -139,7 +139,7 @@
     "D3": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 57.99,
       "y": 17.59,
@@ -149,7 +149,7 @@
     "A4": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 75.43,
@@ -159,7 +159,7 @@
     "B4": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 56.15,
@@ -169,7 +169,7 @@
     "C4": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 36.87,
@@ -179,7 +179,7 @@
     "D4": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 77.88,
       "y": 17.59,
@@ -189,7 +189,7 @@
     "A5": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 75.43,
@@ -199,7 +199,7 @@
     "B5": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 56.15,
@@ -209,7 +209,7 @@
     "C5": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 36.87,
@@ -219,7 +219,7 @@
     "D5": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 97.77,
       "y": 17.59,
@@ -229,7 +229,7 @@
     "A6": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 75.43,
@@ -239,7 +239,7 @@
     "B6": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
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       "y": 56.15,
@@ -249,7 +249,7 @@
     "C6": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 36.87,
@@ -259,7 +259,7 @@
     "D6": {
       "depth": 37.9,
       "shape": "circular",
-      "diameter": 10.2,
+      "diameter": 9.9,
       "totalLiquidVolume": 1500,
       "x": 117.66,
       "y": 17.59,
@@ -328,23 +328,30 @@
       "sections": [
         {
           "shape": "spherical",
-          "radiusOfCurvature": 2.72,
-          "topHeight": 1.57,
+          "radiusOfCurvature": 1.87,
+          "topHeight": 1.56,
           "bottomHeight": 0.0
         },
         {
           "shape": "conical",
-          "topDiameter": 8.9,
+          "topDiameter": 8.98,
           "bottomDiameter": 3.69,
-          "topHeight": 17.7,
-          "bottomHeight": 1.57
+          "topHeight": 17.4,
+          "bottomHeight": 1.56
         },
         {
           "shape": "conical",
           "topDiameter": 9.28,
-          "bottomDiameter": 8.9,
+          "bottomDiameter": 8.98,
+          "topHeight": 35.4,
+          "bottomHeight": 17.4
+        },
+        {
+          "shape": "conical",
+          "topDiameter": 9.9,
+          "bottomDiameter": 9.28,
           "topHeight": 37.9,
-          "bottomHeight": 17.7
+          "bottomHeight": 35.4
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_screwcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_screwcap/2.json
index 7b1ab858fe6..a66604fbb00 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_screwcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_screwcap/2.json
@@ -27,9 +27,9 @@
   },
   "wells": {
     "A1": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 75.43,
@@ -37,9 +37,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B1": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 56.15,
@@ -47,9 +47,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C1": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 36.87,
@@ -57,9 +57,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D1": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 17.59,
@@ -67,9 +67,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A2": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 75.43,
@@ -77,9 +77,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B2": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 56.15,
@@ -87,9 +87,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C2": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 36.87,
@@ -97,9 +97,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D2": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 17.59,
@@ -107,9 +107,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A3": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 75.43,
@@ -117,9 +117,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B3": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 56.15,
@@ -127,9 +127,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C3": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 36.87,
@@ -137,9 +137,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D3": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 17.59,
@@ -147,9 +147,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A4": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 75.43,
@@ -157,9 +157,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B4": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 56.15,
@@ -167,9 +167,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C4": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 36.87,
@@ -177,9 +177,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D4": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 17.59,
@@ -187,9 +187,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A5": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 75.43,
@@ -197,9 +197,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B5": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 56.15,
@@ -207,9 +207,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C5": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 36.87,
@@ -217,9 +217,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D5": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 17.59,
@@ -227,9 +227,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "A6": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 75.43,
@@ -237,9 +237,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "B6": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 56.15,
@@ -247,9 +247,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "C6": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 36.87,
@@ -257,9 +257,9 @@
       "geometryDefinitionId": "conicalWell"
     },
     "D6": {
-      "depth": 44.05,
+      "depth": 43.4,
       "shape": "circular",
-      "diameter": 8.69,
+      "diameter": 8.55,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 17.59,
diff --git a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_snapcap/2.json b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_snapcap/2.json
index 7ae81c69e0c..3918d0c0c42 100644
--- a/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_snapcap/2.json
+++ b/shared-data/labware/definitions/3/opentrons_24_tuberack_nest_2ml_snapcap/2.json
@@ -29,7 +29,7 @@
     "A1": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 75.43,
@@ -39,7 +39,7 @@
     "B1": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 56.15,
@@ -49,7 +49,7 @@
     "C1": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 36.87,
@@ -59,7 +59,7 @@
     "D1": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 18.21,
       "y": 17.59,
@@ -69,7 +69,7 @@
     "A2": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 75.43,
@@ -79,7 +79,7 @@
     "B2": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 56.15,
@@ -89,7 +89,7 @@
     "C2": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 36.87,
@@ -99,7 +99,7 @@
     "D2": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 38.1,
       "y": 17.59,
@@ -109,7 +109,7 @@
     "A3": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 75.43,
@@ -119,7 +119,7 @@
     "B3": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 56.15,
@@ -129,7 +129,7 @@
     "C3": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 36.87,
@@ -139,7 +139,7 @@
     "D3": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 57.99,
       "y": 17.59,
@@ -149,7 +149,7 @@
     "A4": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 75.43,
@@ -159,7 +159,7 @@
     "B4": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 56.15,
@@ -169,7 +169,7 @@
     "C4": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 36.87,
@@ -179,7 +179,7 @@
     "D4": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 77.88,
       "y": 17.59,
@@ -189,7 +189,7 @@
     "A5": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 75.43,
@@ -199,7 +199,7 @@
     "B5": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 56.15,
@@ -209,7 +209,7 @@
     "C5": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 36.87,
@@ -219,7 +219,7 @@
     "D5": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 97.77,
       "y": 17.59,
@@ -229,7 +229,7 @@
     "A6": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 75.43,
@@ -239,7 +239,7 @@
     "B6": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 56.15,
@@ -249,7 +249,7 @@
     "C6": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 36.87,
@@ -259,7 +259,7 @@
     "D6": {
       "depth": 39.28,
       "shape": "circular",
-      "diameter": 10.18,
+      "diameter": 9.28,
       "totalLiquidVolume": 2000,
       "x": 117.66,
       "y": 17.59,
@@ -362,11 +362,18 @@
         },
         {
           "shape": "conical",
-          "topDiameter": 8.9,
+          "topDiameter": 8.74,
           "bottomDiameter": 8.0,
-          "topHeight": 15.04,
+          "topHeight": 6.26,
           "bottomHeight": 3.98
         },
+        {
+          "shape": "conical",
+          "topDiameter": 8.9,
+          "bottomDiameter": 8.74,
+          "topHeight": 15.04,
+          "bottomHeight": 6.26
+        },
         {
           "shape": "conical",
           "topDiameter": 9.28,
diff --git a/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json b/shared-data/labware/definitions/3/opentrons_tough_pcr_auto_sealing_lid/1.json
similarity index 89%
rename from shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json
rename to shared-data/labware/definitions/3/opentrons_tough_pcr_auto_sealing_lid/1.json
index e86f24c6015..479fd00b772 100644
--- a/shared-data/labware/definitions/2/opentrons_tough_pcr_auto_sealing_lid/1.json
+++ b/shared-data/labware/definitions/3/opentrons_tough_pcr_auto_sealing_lid/1.json
@@ -30,14 +30,14 @@
   },
   "parameters": {
     "format": "irregular",
-    "quirks": ["stackingMaxFive"],
+    "quirks": [],
     "isTiprack": false,
     "isMagneticModuleCompatible": false,
     "loadName": "opentrons_tough_pcr_auto_sealing_lid"
   },
   "namespace": "opentrons",
   "version": 1,
-  "schemaVersion": 2,
+  "schemaVersion": 3,
   "stackingOffsetWithModule": {
     "thermocyclerModuleV2": {
       "x": 0,
@@ -77,6 +77,12 @@
       "z": 34
     }
   },
+  "stackLimit": 5,
+  "compatibleParentLabware": [
+    "armadillo_96_wellplate_200ul_pcr_full_skirt",
+    "opentrons_96_wellplate_200ul_pcr_full_skirt",
+    "opentrons_tough_pcr_auto_sealing_lid"
+  ],
   "gripForce": 15,
   "gripHeightFromLabwareBottom": 7.91,
   "gripperOffsets": {
diff --git a/shared-data/labware/definitions/3/protocol_engine_lid_stack_object/1.json b/shared-data/labware/definitions/3/protocol_engine_lid_stack_object/1.json
new file mode 100644
index 00000000000..f8aeb02350c
--- /dev/null
+++ b/shared-data/labware/definitions/3/protocol_engine_lid_stack_object/1.json
@@ -0,0 +1,41 @@
+{
+  "allowedRoles": ["system"],
+  "ordering": [],
+  "brand": {
+    "brand": "Opentrons",
+    "brandId": []
+  },
+  "metadata": {
+    "displayName": "Protocol Engine Lid Stack",
+    "displayCategory": "system",
+    "displayVolumeUnits": "\u00b5L",
+    "tags": []
+  },
+  "dimensions": {
+    "xDimension": 0,
+    "yDimension": 0,
+    "zDimension": 0
+  },
+  "wells": {},
+  "groups": [
+    {
+      "metadata": {},
+      "wells": []
+    }
+  ],
+  "cornerOffsetFromSlot": {
+    "x": 0,
+    "y": 0,
+    "z": 0
+  },
+  "parameters": {
+    "format": "irregular",
+    "quirks": [],
+    "isTiprack": false,
+    "isMagneticModuleCompatible": false,
+    "loadName": "protocol_engine_lid_stack_object"
+  },
+  "namespace": "opentrons",
+  "version": 1,
+  "schemaVersion": 3
+}
diff --git a/shared-data/labware/definitions/3/usascientific_12_reservoir_22ml/2.json b/shared-data/labware/definitions/3/usascientific_12_reservoir_22ml/2.json
index d17d27c041a..bbc013e5d09 100644
--- a/shared-data/labware/definitions/3/usascientific_12_reservoir_22ml/2.json
+++ b/shared-data/labware/definitions/3/usascientific_12_reservoir_22ml/2.json
@@ -37,7 +37,7 @@
   "wells": {
     "A1": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -48,7 +48,7 @@
     },
     "A2": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -59,7 +59,7 @@
     },
     "A3": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -70,7 +70,7 @@
     },
     "A4": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -81,7 +81,7 @@
     },
     "A5": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -92,7 +92,7 @@
     },
     "A6": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -103,7 +103,7 @@
     },
     "A7": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -114,7 +114,7 @@
     },
     "A8": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -125,7 +125,7 @@
     },
     "A9": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -136,7 +136,7 @@
     },
     "A10": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -147,7 +147,7 @@
     },
     "A11": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -158,7 +158,7 @@
     },
     "A12": {
       "shape": "rectangular",
-      "depth": 42.16,
+      "depth": 41.75,
       "xDimension": 8.33,
       "yDimension": 71.88,
       "totalLiquidVolume": 22000,
@@ -204,24 +204,32 @@
   "innerLabwareGeometry": {
     "cuboidalWell": {
       "sections": [
+        {
+          "shape": "spherical",
+          "radiusOfCurvature": 1.5362,
+          "topHeight": 0.25,
+          "bottomHeight": 0.0,
+          "yCount": 8
+        },
         {
           "shape": "squaredcone",
           "bottomCrossSection": "circular",
-          "circleDiameter": 2.5,
-          "rectangleXDimension": 7.98,
-          "rectangleYDimension": 70.98,
-          "topHeight": 4.05,
-          "bottomHeight": 0.0,
+          "circleDiameter": 1.68,
+          "rectangleXDimension": 7.9,
+          "rectangleYDimension": 7.9,
+          "topHeight": 4.0,
+          "bottomHeight": 0.25,
+          "xCount": 1,
           "yCount": 8
         },
         {
           "shape": "cuboidal",
           "topXDimension": 8.34,
           "topYDimension": 71.85,
-          "bottomXDimension": 7.98,
-          "bottomYDimension": 70.98,
+          "bottomXDimension": 7.9,
+          "bottomYDimension": 71.75,
           "topHeight": 41.75,
-          "bottomHeight": 4.05
+          "bottomHeight": 4.0
         }
       ]
     }
diff --git a/shared-data/labware/definitions/3/usascientific_96_wellplate_2.4ml_deep/2.json b/shared-data/labware/definitions/3/usascientific_96_wellplate_2.4ml_deep/2.json
index d9741e18c57..d7011a4920e 100644
--- a/shared-data/labware/definitions/3/usascientific_96_wellplate_2.4ml_deep/2.json
+++ b/shared-data/labware/definitions/3/usascientific_96_wellplate_2.4ml_deep/2.json
@@ -1211,7 +1211,26 @@
   },
   "innerLabwareGeometry": {
     "cuboidalWell": {
-      "sections": []
+      "sections": [
+        {
+          "shape": "cuboidal",
+          "topXDimension": 7.52,
+          "topYDimension": 7.52,
+          "bottomXDimension": 0.25,
+          "bottomYDimension": 0.25,
+          "topHeight": 2.63,
+          "bottomHeight": 0.0
+        },
+        {
+          "shape": "cuboidal",
+          "topXDimension": 8.2,
+          "topYDimension": 8.2,
+          "bottomXDimension": 7.52,
+          "bottomYDimension": 7.52,
+          "topHeight": 41.3,
+          "bottomHeight": 2.63
+        }
+      ]
     }
   }
 }
diff --git a/shared-data/labware/schemas/2.json b/shared-data/labware/schemas/2.json
index b60a731c242..51ff453829a 100644
--- a/shared-data/labware/schemas/2.json
+++ b/shared-data/labware/schemas/2.json
@@ -338,7 +338,14 @@
       "description": "Allowed behaviors and usage of a labware in a protocol.",
       "items": {
         "type": "string",
-        "enum": ["labware", "adapter", "fixture", "maintenance", "lid"]
+        "enum": [
+          "labware",
+          "adapter",
+          "fixture",
+          "maintenance",
+          "lid",
+          "system"
+        ]
       }
     },
     "stackingOffsetWithLabware": {
diff --git a/shared-data/labware/schemas/3.json b/shared-data/labware/schemas/3.json
index ee6a023877a..d386cbfbb8d 100644
--- a/shared-data/labware/schemas/3.json
+++ b/shared-data/labware/schemas/3.json
@@ -406,6 +406,11 @@
           "description": "Flag marking whether a labware is compatible by default with the Magnetic Module",
           "type": "boolean"
         },
+        "isDeckSlotCompatible": {
+          "description": "Flag marking whether a labware is compatible by with being placed or loaded in a base deck slot, defaults to true.",
+          "type": "boolean",
+          "default": true
+        },
         "magneticModuleEngageHeight": {
           "description": "Distance to move magnetic module magnets to engage",
           "$ref": "#/definitions/positiveNumber"
@@ -563,7 +568,14 @@
       "description": "Allowed behaviors and usage of a labware in a protocol.",
       "items": {
         "type": "string",
-        "enum": ["labware", "adapter", "fixture", "maintenance", "lid"]
+        "enum": [
+          "labware",
+          "adapter",
+          "fixture",
+          "maintenance",
+          "lid",
+          "system"
+        ]
       }
     },
     "stackingOffsetWithLabware": {
@@ -580,6 +592,18 @@
         "$ref": "#/definitions/coordinates"
       }
     },
+    "stackLimit": {
+      "type": "number",
+      "description": "The limit representing the maximum stack size for a given labware.",
+      "additionalProperties": false
+    },
+    "compatibleParentLabware": {
+      "type": "array",
+      "description": "Array of parent Labware on which a labware may be loaded, primarily the labware which owns a lid.",
+      "items": {
+        "type": "string"
+      }
+    },
     "gripperOffsets": {
       "type": "object",
       "description": "Offsets to add when picking up or dropping another labware stacked atop this one. Do not use this to adjust the position of the gripper paddles relative to this labware or the child labware; use `gripHeightFromLabwareBottom` on this definition or the child's definition for that.",
diff --git a/shared-data/liquid-class/definitions/1/water.json b/shared-data/liquid-class/definitions/1/water.json
index b9447aa9c52..d7bcd1afdc3 100644
--- a/shared-data/liquid-class/definitions/1/water.json
+++ b/shared-data/liquid-class/definitions/1/water.json
@@ -8,7 +8,7 @@
       "pipetteModel": "flex_1channel_50",
       "byTipType": [
         {
-          "tiprack": "opentrons_flex_96_tiprack_50ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -235,7 +235,7 @@
       "pipetteModel": "flex_8channel_50",
       "byTipType": [
         {
-          "tiprack": "opentrons_flex_96_tiprack_50ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -462,7 +462,7 @@
       "pipetteModel": "flex_1channel_1000",
       "byTipType": [
         {
-          "tiprack": "opentrons_flex_96_tiprack_50ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -686,7 +686,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_200ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -898,7 +898,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_1000ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -1115,7 +1115,7 @@
       "pipetteModel": "flex_8channel_1000",
       "byTipType": [
         {
-          "tiprack": "opentrons_flex_96_tiprack_50ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -1339,7 +1339,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_200ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -1551,7 +1551,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_1000ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -1768,7 +1768,7 @@
       "pipetteModel": "flex_96channel_1000",
       "byTipType": [
         {
-          "tiprack": "opentrons_flex_96_tiprack_50ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_50ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -1980,7 +1980,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_200ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_200ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
@@ -2192,7 +2192,7 @@
           }
         },
         {
-          "tiprack": "opentrons_flex_96_tiprack_1000ul",
+          "tiprack": "opentrons/opentrons_flex_96_tiprack_1000ul/1",
           "aspirate": {
             "submerge": {
               "positionReference": "well-top",
diff --git a/shared-data/module/definitions/3/flexStackerModuleV1.json b/shared-data/module/definitions/3/flexStackerModuleV1.json
new file mode 100644
index 00000000000..fa6f7db3494
--- /dev/null
+++ b/shared-data/module/definitions/3/flexStackerModuleV1.json
@@ -0,0 +1,524 @@
+{
+  "$otSharedSchema": "module/schemas/3",
+  "moduleType": "flexStackerModuleType",
+  "model": "flexStackerModuleV1",
+  "labwareOffset": {
+    "x": -0.125,
+    "y": 1.125,
+    "z": 68.275
+  },
+  "dimensions": {
+    "bareOverallHeight": 82,
+    "overLabwareHeight": 0,
+    "xDimension": 156.25,
+    "yDimension": 91.75,
+    "footprintXDimension": 128,
+    "footprintYDimension": 86,
+    "labwareInterfaceXDimension": 128,
+    "labwareInterfaceYDimension": 86
+  },
+  "cornerOffsetFromSlot": {
+    "x": -18,
+    "y": -1.8,
+    "z": 0
+  },
+  "calibrationPoint": {
+    "x": 12.0,
+    "y": 8.75,
+    "z": 68.275
+  },
+  "gripperOffsets": {
+    "default": {
+      "pickUpOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "dropOffset": {
+        "x": 0,
+        "y": 0,
+        "z": 1.0
+      }
+    }
+  },
+  "displayName": "Flex Stacker Module GEN1",
+  "quirks": [],
+  "slotTransforms": {
+    "ot2_standard": {
+      "3": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      },
+      "6": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      },
+      "9": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      }
+    },
+    "ot2_short_trash": {
+      "3": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      },
+      "6": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      },
+      "9": {
+        "labwareOffset": [
+          [-1, 0, 0, 0],
+          [0, -1, 0, 0],
+          [0, 0, 1, 0],
+          [0, 0, 0, 1]
+        ]
+      }
+    },
+    "ot3_standard": {
+      "D1": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "C1": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "B1": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "A1": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "D3": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "C3": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "B3": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      },
+      "A3": {
+        "labwareOffset": [
+          [1, 0, 0, 0.125],
+          [0, 1, 0, -1.125],
+          [0, 0, 1, -49.325],
+          [0, 0, 0, 1]
+        ]
+      }
+    }
+  },
+  "compatibleWith": [],
+  "incompatibleWithDecks": [],
+  "twoDimensionalRendering": {
+    "name": "svg",
+    "type": "element",
+    "value": "",
+    "attributes": {
+      "version": "1.1",
+      "id": "flexstacker",
+      "xmlns": "http://www.w3.org/2000/svg",
+      "xmlns:xlink": "http://www.w3.org/1999/xlink",
+      "x": "0px",
+      "y": "0px",
+      "viewBox": "0 0 148.6 91.8",
+      "style": "enable-background:new 0 0 148.6 91.8;",
+      "xml:space": "preserve"
+    },
+    "children": [
+      {
+        "name": "g",
+        "type": "element",
+        "value": "",
+        "attributes": {
+          "id": "moduleBaseFill"
+        },
+        "children": [
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+            "attributes": {
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+        ]
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+      {
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+        "type": "element",
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+        "attributes": {
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+        "children": [
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+        "name": "g",
+        "type": "element",
+        "value": "",
+        "attributes": {
+          "id": "moduleBaseInnerWalls"
+        },
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+      },
+      {
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+        "attributes": {
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+            "attributes": {
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+        "attributes": {
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+        },
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+        ]
+      },
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+        "type": "element",
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+}
diff --git a/shared-data/module/schemas/3.json b/shared-data/module/schemas/3.json
index 9bc24d9adef..09504bbe494 100644
--- a/shared-data/module/schemas/3.json
+++ b/shared-data/module/schemas/3.json
@@ -83,13 +83,14 @@
         "thermocyclerModuleType",
         "heaterShakerModuleType",
         "magneticBlockType",
-        "absorbanceReaderType"
+        "absorbanceReaderType",
+        "flexStackerModuleType"
       ],
       "type": "string"
     },
     "model": {
       "type": "string",
-      "pattern": "^(temperatureModule|magneticModule|thermocyclerModule|heaterShakerModule|magneticBlock|absorbanceReader)V[0-9]+$"
+      "pattern": "^(temperatureModule|magneticModule|thermocyclerModule|heaterShakerModule|magneticBlock|absorbanceReader|flexStackerModule)V[0-9]+$"
     },
     "labwareOffset": { "$ref": "#/definitions/coordinates" },
     "dimensions": {
diff --git a/shared-data/pipette/definitions/1/pipetteModelSpecs.json b/shared-data/pipette/definitions/1/pipetteModelSpecs.json
index 6a1eea16bd4..5549371ef61 100644
--- a/shared-data/pipette/definitions/1/pipetteModelSpecs.json
+++ b/shared-data/pipette/definitions/1/pipetteModelSpecs.json
@@ -10837,6 +10837,342 @@
       "quirks": [],
       "returnTipHeight": 0.83,
       "idleCurrent": 0.3
+    },
+    "p200_96_v1": {
+      "name": "p200_96",
+      "backCompatNames": [],
+      "top": {
+        "value": 0.5,
+        "min": 0,
+        "max": 45,
+        "units": "mm",
+        "type": "float"
+      },
+      "bottom": {
+        "value": 71.5,
+        "min": 55,
+        "max": 80,
+        "type": "float",
+        "units": "mm"
+      },
+      "blowout": {
+        "value": 76.5,
+        "min": 60,
+        "max": 85,
+        "units": "mm",
+        "type": "float"
+      },
+      "dropTip": {
+        "value": 92.5,
+        "min": 78,
+        "max": 119,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpCurrent": {
+        "value": 0.5,
+        "min": 0.05,
+        "max": 2.0,
+        "units": "amps",
+        "type": "float"
+      },
+      "pickUpDistance": {
+        "value": 13,
+        "min": 1,
+        "max": 30,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpIncrement": {
+        "value": 0.0,
+        "min": 0.0,
+        "max": 10.0,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpPresses": {
+        "value": 1,
+        "min": 0,
+        "max": 10,
+        "units": "presses",
+        "type": "int"
+      },
+      "pickUpSpeed": {
+        "value": 10,
+        "min": 1,
+        "max": 30,
+        "units": "mm/s",
+        "type": "float"
+      },
+      "nozzleOffset": [-8.0, -16.0, -259.15],
+      "modelOffset": [0.0, 0.0, 25.14],
+      "ulPerMm": [
+        {
+          "aspirate": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ],
+          "dispense": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
+            [2.9978, 0.037, 0.4886],
+            [3.7731, 0.0378, 0.4863],
+            [4.7575, 0.0516, 0.4342],
+            [5.5024, 0.011, 0.6275],
+            [6.2686, 0.0114, 0.6253],
+            [7.005, 0.0054, 0.6625],
+            [8.5207, 0.0063, 0.6563],
+            [10.0034, 0.003, 0.6844],
+            [11.5075, 0.0031, 0.6833],
+            [13.0327, 0.0032, 0.6829],
+            [14.5356, 0.0018, 0.7003],
+            [17.5447, 0.0014, 0.7063],
+            [20.5576, 0.0011, 0.7126],
+            [23.5624, 0.0007, 0.7197],
+            [26.5785, 0.0007, 0.721],
+            [29.593, 0.0005, 0.7248],
+            [32.6109, 0.0004, 0.7268],
+            [35.6384, 0.0004, 0.727],
+            [38.6439, 0.0002, 0.7343],
+            [41.6815, 0.0004, 0.7284],
+            [44.6895, 0.0002, 0.7372],
+            [47.6926, 0.0001, 0.7393],
+            [51.4567, 0.0001, 0.7382]
+          ]
+        }
+      ],
+      "plungerCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.5,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.25,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipSpeed": {
+        "value": 10,
+        "min": 0.001,
+        "max": 30,
+        "units": "mm/sec",
+        "type": "float"
+      },
+      "tipOverlap": {
+        "default": 10.5,
+        "opentrons/opentrons_96_tiprack_50ul/1": 10.5
+      },
+      "tipLength": {
+        "value": 78.3,
+        "units": "mm",
+        "type": "float",
+        "min": 0,
+        "max": 100
+      },
+      "quirks": [],
+      "returnTipHeight": 0.83,
+      "idleCurrent": 0.3
+    },
+    "p200_96_v3.0": {
+      "name": "p200_96",
+      "backCompatNames": [],
+      "top": {
+        "value": 0.5,
+        "min": 0,
+        "max": 45,
+        "units": "mm",
+        "type": "float"
+      },
+      "bottom": {
+        "value": 71.5,
+        "min": 55,
+        "max": 80,
+        "type": "float",
+        "units": "mm"
+      },
+      "blowout": {
+        "value": 76.5,
+        "min": 60,
+        "max": 85,
+        "units": "mm",
+        "type": "float"
+      },
+      "dropTip": {
+        "value": 92.5,
+        "min": 78,
+        "max": 119,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpCurrent": {
+        "value": 0.5,
+        "min": 0.05,
+        "max": 2.0,
+        "units": "amps",
+        "type": "float"
+      },
+      "pickUpDistance": {
+        "value": 13,
+        "min": 1,
+        "max": 30,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpIncrement": {
+        "value": 0.0,
+        "min": 0.0,
+        "max": 10.0,
+        "units": "mm",
+        "type": "float"
+      },
+      "pickUpPresses": {
+        "value": 1,
+        "min": 0,
+        "max": 10,
+        "units": "presses",
+        "type": "int"
+      },
+      "pickUpSpeed": {
+        "value": 10,
+        "min": 1,
+        "max": 30,
+        "units": "mm/s",
+        "type": "float"
+      },
+      "nozzleOffset": [-8.0, -16.0, -259.15],
+      "modelOffset": [0.0, 0.0, 25.14],
+      "ulPerMm": [
+        {
+          "aspirate": [
+            [0.6464, 0.4817, 0.0427],
+            [1.0889, 0.2539, 0.1591],
+            [1.5136, 0.1624, 0.2587],
+            [1.9108, 0.1042, 0.3467],
+            [2.2941, 0.0719, 0.4085],
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+            [32.6109, 0.0004, 0.7268],
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+      ],
+      "plungerCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.5,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipCurrent": {
+        "value": 1,
+        "min": 0.1,
+        "max": 1.25,
+        "units": "amps",
+        "type": "float"
+      },
+      "dropTipSpeed": {
+        "value": 10,
+        "min": 0.001,
+        "max": 30,
+        "units": "mm/sec",
+        "type": "float"
+      },
+      "tipOverlap": {
+        "default": 10.5,
+        "opentrons/opentrons_96_tiprack_50ul/1": 10.5
+      },
+      "tipLength": {
+        "value": 78.3,
+        "units": "mm",
+        "type": "float",
+        "min": 0,
+        "max": 100
+      },
+      "quirks": [],
+      "returnTipHeight": 0.83,
+      "idleCurrent": 0.3
     }
   },
   "mutableConfigs": [
diff --git a/shared-data/pipette/definitions/1/pipetteNameSpecs.json b/shared-data/pipette/definitions/1/pipetteNameSpecs.json
index 7beeb92aabc..37d44414ea1 100644
--- a/shared-data/pipette/definitions/1/pipetteNameSpecs.json
+++ b/shared-data/pipette/definitions/1/pipetteNameSpecs.json
@@ -738,5 +738,47 @@
       "opentrons/opentrons_flex_96_tiprack_50ul/1",
       "opentrons/opentrons_flex_96_filtertiprack_50ul/1"
     ]
+  },
+  "p200_96": {
+    "displayName": "Flex 96-Channel 200 μL",
+    "displayCategory": "FLEX",
+    "defaultAspirateFlowRate": {
+      "value": 7.85,
+      "min": 3,
+      "max": 812,
+      "valuesByApiLevel": {
+        "2.0": 7.85
+      }
+    },
+    "defaultDispenseFlowRate": {
+      "value": 7.85,
+      "min": 3,
+      "max": 812,
+      "valuesByApiLevel": {
+        "2.0": 7.85
+      }
+    },
+    "defaultBlowOutFlowRate": {
+      "value": 7.85,
+      "min": 3,
+      "max": 812,
+      "valuesByApiLevel": {
+        "2.0": 7.85
+      }
+    },
+    "channels": 96,
+    "minVolume": 5,
+    "maxVolume": 200,
+    "smoothieConfigs": {
+      "stepsPerMM": 2133.33,
+      "homePosition": 230.15,
+      "travelDistance": 80
+    },
+    "defaultTipracks": [
+      "opentrons/opentrons_flex_96_tiprack_200ul/1",
+      "opentrons/opentrons_flex_96_filtertiprack_200ul/1",
+      "opentrons/opentrons_flex_96_tiprack_50ul/1",
+      "opentrons/opentrons_flex_96_filtertiprack_50ul/1"
+    ]
   }
 }
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/1_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/1_0.json
new file mode 100644
index 00000000000..5719bb3437c
--- /dev/null
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/1_0.json
@@ -0,0 +1,660 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipettePropertiesSchema.json",
+  "displayName": "Flex 96-Channel 200 μL",
+  "model": "p200",
+  "displayCategory": "FLEX",
+  "validNozzleMaps": {
+    "maps": {
+      "SingleA1": ["A1"],
+      "SingleH1": ["H1"],
+      "SingleA12": ["A12"],
+      "SingleH12": ["H12"],
+      "Column1": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"],
+      "Column12": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"],
+      "RowA": [
+        "A1",
+        "A2",
+        "A3",
+        "A4",
+        "A5",
+        "A6",
+        "A7",
+        "A8",
+        "A9",
+        "A10",
+        "A11",
+        "A12"
+      ],
+      "RowH": [
+        "H1",
+        "H2",
+        "H3",
+        "H4",
+        "H5",
+        "H6",
+        "H7",
+        "H8",
+        "H9",
+        "H10",
+        "H11",
+        "H12"
+      ],
+      "Full": [
+        "A1",
+        "A2",
+        "A3",
+        "A4",
+        "A5",
+        "A6",
+        "A7",
+        "A8",
+        "A9",
+        "A10",
+        "A11",
+        "A12",
+        "B1",
+        "B2",
+        "B3",
+        "B4",
+        "B5",
+        "B6",
+        "B7",
+        "B8",
+        "B9",
+        "B10",
+        "B11",
+        "B12",
+        "C1",
+        "C2",
+        "C3",
+        "C4",
+        "C5",
+        "C6",
+        "C7",
+        "C8",
+        "C9",
+        "C10",
+        "C11",
+        "C12",
+        "D1",
+        "D2",
+        "D3",
+        "D4",
+        "D5",
+        "D6",
+        "D7",
+        "D8",
+        "D9",
+        "D10",
+        "D11",
+        "D12",
+        "E1",
+        "E2",
+        "E3",
+        "E4",
+        "E5",
+        "E6",
+        "E7",
+        "E8",
+        "E9",
+        "E10",
+        "E11",
+        "E12",
+        "F1",
+        "F2",
+        "F3",
+        "F4",
+        "F5",
+        "F6",
+        "F7",
+        "F8",
+        "F9",
+        "F10",
+        "F11",
+        "F12",
+        "G1",
+        "G2",
+        "G3",
+        "G4",
+        "G5",
+        "G6",
+        "G7",
+        "G8",
+        "G9",
+        "G10",
+        "G11",
+        "G12",
+        "H1",
+        "H2",
+        "H3",
+        "H4",
+        "H5",
+        "H6",
+        "H7",
+        "H8",
+        "H9",
+        "H10",
+        "H11",
+        "H12"
+      ]
+    }
+  },
+  "pickUpTipConfigurations": {
+    "pressFit": {
+      "presses": 1,
+      "increment": 0.0,
+      "configurationsByNozzleMap": {
+        "SingleA1": {
+          "default": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.981,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          }
+        },
+        "SingleH1": {
+          "default": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.981,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          }
+        },
+        "SingleA12": {
+          "default": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.981,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          }
+        },
+        "SingleH12": {
+          "default": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.981,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.981,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.981
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 10.5,
+            "current": 0.4,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.884,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.884,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.884
+              }
+            }
+          }
+        },
+        "Column1": {
+          "default": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              },
+              "v3": {
+                "default": 9.49,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.52,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.52
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              },
+              "v3": {
+                "default": 9.49,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.49
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16
+              },
+              "v3": {
+                "default": 9.52,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.52,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.52
+              }
+            }
+          }
+        },
+        "Column12": {
+          "default": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              },
+              "v3": {
+                "default": 9.49,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.52,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.52
+              }
+            }
+          },
+          "t200": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              },
+              "v3": {
+                "default": 9.49,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.49,
+                "opentrons/opentrons_flex_96_filtertiprack_200ul/1": 9.49
+              }
+            }
+          },
+          "t50": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16
+              },
+              "v3": {
+                "default": 9.52,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.52,
+                "opentrons/opentrons_flex_96_filtertiprack_50ul/1": 9.52
+              }
+            }
+          }
+        },
+        "RowA": {
+          "default": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.379,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.379,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.6
+              }
+            }
+          }
+        },
+        "RowH": {
+          "default": {
+            "speed": 10.0,
+            "distance": 13.0,
+            "current": 0.55,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 9.401,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 9.401,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.415
+              }
+            }
+          }
+        }
+      }
+    },
+    "camAction": {
+      "prep_move_distance": 8.25,
+      "prep_move_speed": 10.0,
+      "connectTiprackDistanceMM": 7.0,
+      "configurationsByNozzleMap": {
+        "Full": {
+          "default": {
+            "speed": 5.5,
+            "distance": 10.0,
+            "current": 1.5,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              }
+            }
+          },
+          "t200": {
+            "speed": 5.5,
+            "distance": 10.0,
+            "current": 1.5,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_200ul/1": 9.74
+              }
+            }
+          },
+          "t50": {
+            "speed": 5.5,
+            "distance": 10.0,
+            "current": 1.5,
+            "tipOverlaps": {
+              "v0": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.5
+              },
+              "v1": {
+                "default": 10.5,
+                "opentrons/opentrons_flex_96_tiprack_50ul/1": 10.16
+              }
+            }
+          }
+        }
+      }
+    }
+  },
+  "dropTipConfigurations": {
+    "camAction": {
+      "current": 1.5,
+      "speed": 5.5,
+      "distance": 10.8,
+      "prep_move_distance": 19.0,
+      "prep_move_speed": 10.0
+    }
+  },
+  "plungerMotorConfigurations": {
+    "idle": 0.3,
+    "run": 0.8
+  },
+  "plungerPositionsConfigurations": {
+    "default": {
+      "top": 0.5,
+      "bottom": 68.5,
+      "blowout": 73.5,
+      "drop": 80
+    }
+  },
+  "availableSensors": {
+    "sensors": ["pressure", "capacitive", "environment"],
+    "pressure": {
+      "count": 2
+    },
+    "capacitive": {
+      "count": 2
+    },
+    "environment": {
+      "count": 1
+    }
+  },
+  "partialTipConfigurations": {
+    "partialTipSupported": true,
+    "availableConfigurations": [1, 8, 12, 16, 24, 48, 96]
+  },
+  "backCompatNames": [],
+  "channels": 96,
+  "shaftDiameter": 2,
+  "shaftULperMM": 3.14159,
+  "backlashDistance": 3.0,
+  "quirks": [],
+  "plungerHomingConfigurations": {
+    "current": 0.8,
+    "speed": 5
+  },
+  "tipPresenceCheckDistanceMM": 8.0,
+  "endTipActionRetractDistanceMM": 2.0
+}
diff --git a/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/3_0.json b/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/3_0.json
index 5f3fa397dc8..5719bb3437c 100644
--- a/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/3_0.json
+++ b/shared-data/pipette/definitions/2/general/ninety_six_channel/p200/3_0.json
@@ -624,8 +624,8 @@
   "plungerPositionsConfigurations": {
     "default": {
       "top": 0.5,
-      "bottom": 67.5,
-      "blowout": 72.5,
+      "bottom": 68.5,
+      "blowout": 73.5,
       "drop": 80
     }
   },
@@ -649,7 +649,7 @@
   "channels": 96,
   "shaftDiameter": 2,
   "shaftULperMM": 3.14159,
-  "backlashDistance": 0.3,
+  "backlashDistance": 3.0,
   "quirks": [],
   "plungerHomingConfigurations": {
     "current": 0.8,
diff --git a/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/1_0.json b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/1_0.json
new file mode 100644
index 00000000000..437830a58c5
--- /dev/null
+++ b/shared-data/pipette/definitions/2/geometry/ninety_six_channel/p200/1_0.json
@@ -0,0 +1,305 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipetteGeometrySchema.json",
+  "pathTo3D": "pipette/definitions/2/geometry/ninety_six_channel/p200/placeholder.gltf",
+  "nozzleOffset": [-36.0, -25.5, -259.15],
+  "pipetteBoundingBoxOffsets": {
+    "backLeftCorner": [-67.0, -3.5, -259.15],
+    "frontRightCorner": [94.0, -113.0, -259.15]
+  },
+  "orderedRows": [
+    {
+      "key": "A",
+      "orderedNozzles": [
+        "A1",
+        "A2",
+        "A3",
+        "A4",
+        "A5",
+        "A6",
+        "A7",
+        "A8",
+        "A9",
+        "A10",
+        "A11",
+        "A12"
+      ]
+    },
+    {
+      "key": "B",
+      "orderedNozzles": [
+        "B1",
+        "B2",
+        "B3",
+        "B4",
+        "B5",
+        "B6",
+        "B7",
+        "B8",
+        "B9",
+        "B10",
+        "B11",
+        "B12"
+      ]
+    },
+    {
+      "key": "C",
+      "orderedNozzles": [
+        "C1",
+        "C2",
+        "C3",
+        "C4",
+        "C5",
+        "C6",
+        "C7",
+        "C8",
+        "C9",
+        "C10",
+        "C11",
+        "C12"
+      ]
+    },
+    {
+      "key": "D",
+      "orderedNozzles": [
+        "D1",
+        "D2",
+        "D3",
+        "D4",
+        "D5",
+        "D6",
+        "D7",
+        "D8",
+        "D9",
+        "D10",
+        "D11",
+        "D12"
+      ]
+    },
+    {
+      "key": "E",
+      "orderedNozzles": [
+        "E1",
+        "E2",
+        "E3",
+        "E4",
+        "E5",
+        "E6",
+        "E7",
+        "E8",
+        "E9",
+        "E10",
+        "E11",
+        "E12"
+      ]
+    },
+    {
+      "key": "F",
+      "orderedNozzles": [
+        "F1",
+        "F2",
+        "F3",
+        "F4",
+        "F5",
+        "F6",
+        "F7",
+        "F8",
+        "F9",
+        "F10",
+        "F11",
+        "F12"
+      ]
+    },
+    {
+      "key": "G",
+      "orderedNozzles": [
+        "G1",
+        "G2",
+        "G3",
+        "G4",
+        "G5",
+        "G6",
+        "G7",
+        "G8",
+        "G9",
+        "G10",
+        "G11",
+        "G12"
+      ]
+    },
+    {
+      "key": "H",
+      "orderedNozzles": [
+        "H1",
+        "H2",
+        "H3",
+        "H4",
+        "H5",
+        "H6",
+        "H7",
+        "H8",
+        "H9",
+        "H10",
+        "H11",
+        "H12"
+      ]
+    }
+  ],
+  "orderedColumns": [
+    {
+      "key": "1",
+      "orderedNozzles": ["A1", "B1", "C1", "D1", "E1", "F1", "G1", "H1"]
+    },
+    {
+      "key": "2",
+      "orderedNozzles": ["A2", "B2", "C2", "D2", "E2", "F2", "G2", "H2"]
+    },
+    {
+      "key": "3",
+      "orderedNozzles": ["A3", "B3", "C3", "D3", "E3", "F3", "G3", "H3"]
+    },
+    {
+      "key": "4",
+      "orderedNozzles": ["A4", "B4", "C4", "D4", "E4", "F4", "G4", "H4"]
+    },
+    {
+      "key": "5",
+      "orderedNozzles": ["A5", "B5", "C5", "D5", "E5", "F5", "G5", "H5"]
+    },
+    {
+      "key": "6",
+      "orderedNozzles": ["A6", "B6", "C6", "D6", "E6", "F6", "G6", "H6"]
+    },
+    {
+      "key": "7",
+      "orderedNozzles": ["A7", "B7", "C7", "D7", "E7", "F7", "G7", "H7"]
+    },
+    {
+      "key": "8",
+      "orderedNozzles": ["A8", "B8", "C8", "D8", "E8", "F8", "G8", "H8"]
+    },
+    {
+      "key": "9",
+      "orderedNozzles": ["A9", "B9", "C9", "D9", "E9", "F9", "G9", "H9"]
+    },
+    {
+      "key": "10",
+      "orderedNozzles": ["A10", "B10", "C10", "D10", "E10", "F10", "G10", "H10"]
+    },
+    {
+      "key": "11",
+      "orderedNozzles": ["A11", "B11", "C11", "D11", "E11", "F11", "G11", "H11"]
+    },
+    {
+      "key": "12",
+      "orderedNozzles": ["A12", "B12", "C12", "D12", "E12", "F12", "G12", "H12"]
+    }
+  ],
+  "nozzleMap": {
+    "A1": [-36.0, -25.5, -259.15],
+    "A2": [-27.0, -25.5, -259.15],
+    "A3": [-18.0, -25.5, -259.15],
+    "A4": [-9.0, -25.5, -259.15],
+    "A5": [0.0, -25.5, -259.15],
+    "A6": [9.0, -25.5, -259.15],
+    "A7": [18.0, -25.5, -259.15],
+    "A8": [27.0, -25.5, -259.15],
+    "A9": [36.0, -25.5, -259.15],
+    "A10": [45.0, -25.5, -259.15],
+    "A11": [54.0, -25.5, -259.15],
+    "A12": [63.0, -25.5, -259.15],
+    "B1": [-36.0, -34.5, -259.15],
+    "B2": [-27.0, -34.5, -259.15],
+    "B3": [-18.0, -34.5, -259.15],
+    "B4": [-9.0, -34.5, -259.15],
+    "B5": [0.0, -34.5, -259.15],
+    "B6": [9.0, -34.5, -259.15],
+    "B7": [18.0, -34.5, -259.15],
+    "B8": [27.0, -34.5, -259.15],
+    "B9": [36.0, -34.5, -259.15],
+    "B10": [45.0, -34.5, -259.15],
+    "B11": [54.0, -34.5, -259.15],
+    "B12": [63.0, -34.5, -259.15],
+    "C1": [-36.0, -43.5, -259.15],
+    "C2": [-27.0, -43.5, -259.15],
+    "C3": [-18.0, -43.5, -259.15],
+    "C4": [-9.0, -43.5, -259.15],
+    "C5": [0.0, -43.5, -259.15],
+    "C6": [9.0, -43.5, -259.15],
+    "C7": [18.0, -43.5, -259.15],
+    "C8": [27.0, -43.5, -259.15],
+    "C9": [36.0, -43.5, -259.15],
+    "C10": [45.0, -43.5, -259.15],
+    "C11": [54.0, -43.5, -259.15],
+    "C12": [63.0, -43.5, -259.15],
+    "D1": [-36.0, -52.5, -259.15],
+    "D2": [-27.0, -52.5, -259.15],
+    "D3": [-18.0, -52.5, -259.15],
+    "D4": [-9.0, -52.5, -259.15],
+    "D5": [0.0, -52.5, -259.15],
+    "D6": [9.0, -52.5, -259.15],
+    "D7": [18.0, -52.5, -259.15],
+    "D8": [27.0, -52.5, -259.15],
+    "D9": [36.0, -52.5, -259.15],
+    "D10": [45.0, -52.5, -259.15],
+    "D11": [54.0, -52.5, -259.15],
+    "D12": [63.0, -52.5, -259.15],
+    "E1": [-36.0, -61.5, -259.15],
+    "E2": [-27.0, -61.5, -259.15],
+    "E3": [-18.0, -61.5, -259.15],
+    "E4": [-9.0, -61.5, -259.15],
+    "E5": [0.0, -61.5, -259.15],
+    "E6": [9.0, -61.5, -259.15],
+    "E7": [18.0, -61.5, -259.15],
+    "E8": [27.0, -61.5, -259.15],
+    "E9": [36.0, -61.5, -259.15],
+    "E10": [45.0, -61.5, -259.15],
+    "E11": [54.0, -61.5, -259.15],
+    "E12": [63.0, -61.5, -259.15],
+    "F1": [-36.0, -70.5, -259.15],
+    "F2": [-27.0, -70.5, -259.15],
+    "F3": [-18.0, -70.5, -259.15],
+    "F4": [-9.0, -70.5, -259.15],
+    "F5": [0.0, -70.5, -259.15],
+    "F6": [9.0, -70.5, -259.15],
+    "F7": [18.0, -70.5, -259.15],
+    "F8": [27.0, -70.5, -259.15],
+    "F9": [36.0, -70.5, -259.15],
+    "F10": [45.0, -70.5, -259.15],
+    "F11": [54.0, -70.5, -259.15],
+    "F12": [63.0, -70.5, -259.15],
+    "G1": [-36.0, -79.5, -259.15],
+    "G2": [-27.0, -79.5, -259.15],
+    "G3": [-18.0, -79.5, -259.15],
+    "G4": [-9.0, -79.5, -259.15],
+    "G5": [0.0, -79.5, -259.15],
+    "G6": [9.0, -79.5, -259.15],
+    "G7": [18.0, -79.5, -259.15],
+    "G8": [27.0, -79.5, -259.15],
+    "G9": [36.0, -79.5, -259.15],
+    "G10": [45.0, -79.5, -259.15],
+    "G11": [54.0, -79.5, -259.15],
+    "G12": [63.0, -79.5, -259.15],
+    "H1": [-36.0, -88.5, -259.15],
+    "H2": [-27.0, -88.5, -259.15],
+    "H3": [-18.0, -88.5, -259.15],
+    "H4": [-9.0, -88.5, -259.15],
+    "H5": [0.0, -88.5, -259.15],
+    "H6": [9.0, -88.5, -259.15],
+    "H7": [18.0, -88.5, -259.15],
+    "H8": [27.0, -88.5, -259.15],
+    "H9": [36.0, -88.5, -259.15],
+    "H10": [45.0, -88.5, -259.15],
+    "H11": [54.0, -88.5, -259.15],
+    "H12": [63.0, -88.5, -259.15]
+  },
+  "lldSettings": {
+    "t50": {
+      "minHeight": 1.5,
+      "minVolume": 0
+    },
+    "t200": {
+      "minHeight": 1.5,
+      "minVolume": 0
+    }
+  }
+}
diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json
index 8e17a5ac22d..e2b30fd5af1 100644
--- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json
+++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/1_0.json
@@ -1,6 +1,57 @@
 {
   "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json",
   "supportedTips": {
+    "t20": {
+      "uiMaxFlowRate": 189.1,
+      "defaultAspirateFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultDispenseFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultBlowOutFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultFlowAcceleration": 16000.0,
+      "defaultTipLength": 52.0,
+      "defaultReturnTipHeight": 0.6,
+      "aspirate": {
+        "default": {
+          "1": [
+            [1.933333, 2.844459, 4.750159],
+            [2.833333, 1.12901, 8.066694],
+            [3.603333, 0.254744, 10.543779],
+            [4.836667, 1.101839, 7.491414],
+            [5.755, 0.277649, 11.47775],
+            [6.643333, 0.14813, 12.223126],
+            [7.548333, 0.145635, 12.239705],
+            [8.475, 0.15097, 12.199433],
+            [13.02, 0.071736, 12.870946],
+            [22.318333, 0.042305, 13.254131]
+          ]
+        }
+      },
+      "dispense": {
+        "default": {
+          "1": [
+            [1.933333, 2.844459, 4.750159],
+            [2.833333, 1.12901, 8.066694],
+            [3.603333, 0.254744, 10.543779],
+            [4.836667, 1.101839, 7.491414],
+            [5.755, 0.277649, 11.47775],
+            [6.643333, 0.14813, 12.223126],
+            [7.548333, 0.145635, 12.239705],
+            [8.475, 0.15097, 12.199433],
+            [13.02, 0.071736, 12.870946],
+            [22.318333, 0.042305, 13.254131]
+          ]
+        }
+      },
+      "defaultPushOutVolume": 2
+    },
     "t50": {
       "defaultAspirateFlowRate": {
         "default": 6,
diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/3_6.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/3_6.json
index 95f555dff89..30d8e77c32b 100644
--- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/3_6.json
+++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p1000/default/3_6.json
@@ -235,6 +235,7 @@
     "opentrons/opentrons_flex_96_tiprack_20ul/1",
     "opentrons/opentrons_flex_96_filtertiprack_1000ul/1",
     "opentrons/opentrons_flex_96_filtertiprack_200ul/1",
-    "opentrons/opentrons_flex_96_filtertiprack_50ul/1"
+    "opentrons/opentrons_flex_96_filtertiprack_50ul/1",
+    "opentrons/opentrons_flex_96_filtertiprack_20ul/1"
   ]
 }
diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json
new file mode 100644
index 00000000000..845d7bc7e3b
--- /dev/null
+++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/1_0.json
@@ -0,0 +1,288 @@
+{
+  "$otSharedSchema": "#/pipette/schemas/2/pipetteLiquidPropertiesSchema.json",
+  "supportedTips": {
+    "t20": {
+      "uiMaxFlowRate": 189.1,
+      "defaultAspirateFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultDispenseFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultBlowOutFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultFlowAcceleration": 16000.0,
+      "defaultTipLength": 57.9,
+      "defaultReturnTipHeight": 0.6,
+      "aspirate": {
+        "default": {
+          "1": [
+            [1.933333, 2.844459, 4.750159],
+            [2.833333, 1.12901, 8.066694],
+            [3.603333, 0.254744, 10.543779],
+            [4.836667, 1.101839, 7.491414],
+            [5.755, 0.277649, 11.47775],
+            [6.643333, 0.14813, 12.223126],
+            [7.548333, 0.145635, 12.239705],
+            [8.475, 0.15097, 12.199433],
+            [13.02, 0.071736, 12.870946],
+            [22.318333, 0.042305, 13.254131]
+          ]
+        }
+      },
+      "dispense": {
+        "default": {
+          "1": [
+            [1.933333, 2.844459, 4.750159],
+            [2.833333, 1.12901, 8.066694],
+            [3.603333, 0.254744, 10.543779],
+            [4.836667, 1.101839, 7.491414],
+            [5.755, 0.277649, 11.47775],
+            [6.643333, 0.14813, 12.223126],
+            [7.548333, 0.145635, 12.239705],
+            [8.475, 0.15097, 12.199433],
+            [13.02, 0.071736, 12.870946],
+            [22.318333, 0.042305, 13.254131]
+          ]
+        }
+      },
+      "defaultPushOutVolume": 2
+    },
+    "t50": {
+      "defaultAspirateFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultDispenseFlowRate": {
+        "default": 6,
+        "valuesByApiLevel": { "2.14": 6 }
+      },
+      "defaultBlowOutFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultFlowAcceleration": 16000.0,
+      "defaultTipLength": 57.9,
+      "defaultReturnTipHeight": 0.2,
+      "aspirate": {
+        "default": {
+          "1": [
+            [0.4148, -1705.1015, 20.5455],
+            [0.4476, -80.633, 47.2788],
+            [0.5512, -1.5936, 11.9026],
+            [0.6027, -18.9998, 21.4972],
+            [0.6503, -15.8781, 19.6156],
+            [0.7733, 3.0612, 7.2993],
+            [0.8391, -5.2227, 13.7056],
+            [0.9736, 3.0706, 6.7467],
+            [1.16, -0.374, 10.1005],
+            [1.3964, 1.3004, 8.1582],
+            [1.5815, -0.4837, 10.6494],
+            [1.8306, 1.1464, 8.0714],
+            [2.0345, 0.0132, 10.1459],
+            [2.6221, 0.5374, 9.0794],
+            [2.9655, -1.7582, 15.0986],
+            [3.5124, 0.2754, 9.0681],
+            [4.6591, 1.406, 5.097],
+            [5.367, 0.394, 9.8123],
+            [6.0839, 0.3365, 10.1205],
+            [6.8312, 0.3379, 10.1121],
+            [7.5676, 0.2611, 10.637],
+            [8.2397, 0.095, 11.8939],
+            [8.9776, 0.2015, 11.0165],
+            [10.413, 0.1332, 11.6294],
+            [11.8539, 0.1074, 11.8979],
+            [13.3655, 0.1286, 11.6464],
+            [14.8236, 0.0758, 12.3519],
+            [16.3203, 0.083, 12.2457],
+            [17.7915, 0.0581, 12.6515],
+            [19.2145, 0.0273, 13.1995],
+            [20.6718, 0.0388, 12.9792],
+            [22.1333, 0.0357, 13.044],
+            [25.0761, 0.0332, 13.0977],
+            [28.0339, 0.029, 13.2035],
+            [30.967, 0.0201, 13.4538],
+            [33.8727, 0.013, 13.6737],
+            [36.8273, 0.0172, 13.5324],
+            [39.7594, 0.0121, 13.7191],
+            [42.6721, 0.0083, 13.8687],
+            [45.5964, 0.0085, 13.8618],
+            [48.5297, 0.0084, 13.8668],
+            [51.4512, 0.0064, 13.9651]
+          ]
+        }
+      },
+      "dispense": {
+        "default": {
+          "1": [
+            [0.4148, -1705.1015, 20.5455],
+            [0.4476, -80.633, 47.2788],
+            [0.5512, -1.5936, 11.9026],
+            [0.6027, -18.9998, 21.4972],
+            [0.6503, -15.8781, 19.6156],
+            [0.7733, 3.0612, 7.2993],
+            [0.8391, -5.2227, 13.7056],
+            [0.9736, 3.0706, 6.7467],
+            [1.16, -0.374, 10.1005],
+            [1.3964, 1.3004, 8.1582],
+            [1.5815, -0.4837, 10.6494],
+            [1.8306, 1.1464, 8.0714],
+            [2.0345, 0.0132, 10.1459],
+            [2.6221, 0.5374, 9.0794],
+            [2.9655, -1.7582, 15.0986],
+            [3.5124, 0.2754, 9.0681],
+            [4.6591, 1.406, 5.097],
+            [5.367, 0.394, 9.8123],
+            [6.0839, 0.3365, 10.1205],
+            [6.8312, 0.3379, 10.1121],
+            [7.5676, 0.2611, 10.637],
+            [8.2397, 0.095, 11.8939],
+            [8.9776, 0.2015, 11.0165],
+            [10.413, 0.1332, 11.6294],
+            [11.8539, 0.1074, 11.8979],
+            [13.3655, 0.1286, 11.6464],
+            [14.8236, 0.0758, 12.3519],
+            [16.3203, 0.083, 12.2457],
+            [17.7915, 0.0581, 12.6515],
+            [19.2145, 0.0273, 13.1995],
+            [20.6718, 0.0388, 12.9792],
+            [22.1333, 0.0357, 13.044],
+            [25.0761, 0.0332, 13.0977],
+            [28.0339, 0.029, 13.2035],
+            [30.967, 0.0201, 13.4538],
+            [33.8727, 0.013, 13.6737],
+            [36.8273, 0.0172, 13.5324],
+            [39.7594, 0.0121, 13.7191],
+            [42.6721, 0.0083, 13.8687],
+            [45.5964, 0.0085, 13.8618],
+            [48.5297, 0.0084, 13.8668],
+            [51.4512, 0.0064, 13.9651]
+          ]
+        }
+      },
+      "defaultPushOutVolume": 7
+    },
+    "t200": {
+      "defaultAspirateFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultDispenseFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultBlowOutFlowRate": {
+        "default": 80,
+        "valuesByApiLevel": { "2.14": 80 }
+      },
+      "defaultFlowAcceleration": 16000.0,
+      "defaultTipLength": 58.35,
+      "defaultReturnTipHeight": 0.2,
+      "aspirate": {
+        "default": {
+          "1": [
+            [0.8314, -2.9322, 24.0741],
+            [0.8853, -30.0996, 48.7784],
+            [0.9778, -4.3627, 25.9941],
+            [0.975, 802.2301, -762.6744],
+            [1.1272, -4.6837, 24.0666],
+            [1.2747, -3.91, 23.1945],
+            [1.5656, -2.8032, 21.7836],
+            [1.6667, -7.2039, 28.6731],
+            [2.4403, -0.5147, 17.5244],
+            [3.0564, -1.6013, 20.1761],
+            [3.6444, -1.1974, 18.9418],
+            [4.1189, -1.7877, 21.0928],
+            [4.6467, -0.8591, 17.2684],
+            [5.2597, -0.207, 14.2379],
+            [5.8581, -0.2196, 14.3044],
+            [6.4772, -0.1025, 13.6183],
+            [7.8158, 0.0537, 12.6063],
+            [9.1664, 0.0507, 12.6302],
+            [10.5064, 0.0285, 12.8339],
+            [14.8361, 0.0818, 12.273],
+            [19.3933, 0.0801, 12.2991],
+            [23.9242, 0.0487, 12.9079],
+            [28.4922, 0.0379, 13.1666],
+            [36.145, 0.0277, 13.4572],
+            [43.7972, 0.0184, 13.7916],
+            [51.5125, 0.0154, 13.9248],
+            [59.2467, 0.0121, 14.0931],
+            [66.9428, 0.0084, 14.3151],
+            [74.6853, 0.0079, 14.3498],
+            [82.3722, 0.0052, 14.5512],
+            [90.1106, 0.0054, 14.5333],
+            [97.8369, 0.0043, 14.6288],
+            [105.6153, 0.0046, 14.5983],
+            [113.3686, 0.0036, 14.7076],
+            [121.1108, 0.003, 14.7785],
+            [136.61, 0.0026, 14.826],
+            [152.0708, 0.0018, 14.9298],
+            [167.6433, 0.0021, 14.8827],
+            [183.1011, 0.0012, 15.0438],
+            [198.5845, 0.0011, 15.0538],
+            [214.0264, 0.0008, 15.123]
+          ]
+        }
+      },
+      "dispense": {
+        "default": {
+          "1": [
+            [0.8314, -2.9322, 24.0741],
+            [0.8853, -30.0996, 48.7784],
+            [0.9778, -4.3627, 25.9941],
+            [0.975, 802.2301, -762.6744],
+            [1.1272, -4.6837, 24.0666],
+            [1.2747, -3.91, 23.1945],
+            [1.5656, -2.8032, 21.7836],
+            [1.6667, -7.2039, 28.6731],
+            [2.4403, -0.5147, 17.5244],
+            [3.0564, -1.6013, 20.1761],
+            [3.6444, -1.1974, 18.9418],
+            [4.1189, -1.7877, 21.0928],
+            [4.6467, -0.8591, 17.2684],
+            [5.2597, -0.207, 14.2379],
+            [5.8581, -0.2196, 14.3044],
+            [6.4772, -0.1025, 13.6183],
+            [7.8158, 0.0537, 12.6063],
+            [9.1664, 0.0507, 12.6302],
+            [10.5064, 0.0285, 12.8339],
+            [14.8361, 0.0818, 12.273],
+            [19.3933, 0.0801, 12.2991],
+            [23.9242, 0.0487, 12.9079],
+            [28.4922, 0.0379, 13.1666],
+            [36.145, 0.0277, 13.4572],
+            [43.7972, 0.0184, 13.7916],
+            [51.5125, 0.0154, 13.9248],
+            [59.2467, 0.0121, 14.0931],
+            [66.9428, 0.0084, 14.3151],
+            [74.6853, 0.0079, 14.3498],
+            [82.3722, 0.0052, 14.5512],
+            [90.1106, 0.0054, 14.5333],
+            [97.8369, 0.0043, 14.6288],
+            [105.6153, 0.0046, 14.5983],
+            [113.3686, 0.0036, 14.7076],
+            [121.1108, 0.003, 14.7785],
+            [136.61, 0.0026, 14.826],
+            [152.0708, 0.0018, 14.9298],
+            [167.6433, 0.0021, 14.8827],
+            [183.1011, 0.0012, 15.0438],
+            [198.5845, 0.0011, 15.0538],
+            [214.0264, 0.0008, 15.123]
+          ]
+        }
+      },
+      "defaultPushOutVolume": 5
+    }
+  },
+  "maxVolume": 200,
+  "minVolume": 0.5,
+  "defaultTipracks": [
+    "opentrons/opentrons_flex_96_tiprack_200ul/1",
+    "opentrons/opentrons_flex_96_tiprack_50ul/1"
+  ]
+}
diff --git a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json
index 6a371944682..d2814dca3c1 100644
--- a/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json
+++ b/shared-data/pipette/definitions/2/liquid/ninety_six_channel/p200/default/3_0.json
@@ -12,8 +12,8 @@
         "valuesByApiLevel": { "2.14": 6 }
       },
       "defaultBlowOutFlowRate": {
-        "default": 80,
-        "valuesByApiLevel": { "2.14": 80 }
+        "default": 10,
+        "valuesByApiLevel": { "2.14": 10 }
       },
       "defaultFlowAcceleration": 16000.0,
       "defaultTipLength": 52.0,
@@ -21,32 +21,30 @@
       "aspirate": {
         "default": {
           "1": [
-            [1.933333, 2.844459, 4.750159],
-            [2.833333, 1.12901, 8.066694],
-            [3.603333, 0.254744, 10.543779],
-            [4.836667, 1.101839, 7.491414],
-            [5.755, 0.277649, 11.47775],
-            [6.643333, 0.14813, 12.223126],
-            [7.548333, 0.145635, 12.239705],
-            [8.475, 0.15097, 12.199433],
-            [13.02, 0.071736, 12.870946],
-            [22.318333, 0.042305, 13.254131]
+            [0.534, 1.2036, 1.0349],
+            [0.747, 0.599, 1.3577],
+            [1.238, 0.9829, 1.071],
+            [2.545, 0.2887, 1.9304],
+            [4.41, 0.0567, 2.5208],
+            [9.075, 0.0172, 2.6952],
+            [13.744, 0.0059, 2.7975],
+            [18.45, 0.0042, 2.8213],
+            [22.198, 0.002, 2.8607]
           ]
         }
       },
       "dispense": {
         "default": {
           "1": [
-            [1.933333, 2.844459, 4.750159],
-            [2.833333, 1.12901, 8.066694],
-            [3.603333, 0.254744, 10.543779],
-            [4.836667, 1.101839, 7.491414],
-            [5.755, 0.277649, 11.47775],
-            [6.643333, 0.14813, 12.223126],
-            [7.548333, 0.145635, 12.239705],
-            [8.475, 0.15097, 12.199433],
-            [13.02, 0.071736, 12.870946],
-            [22.318333, 0.042305, 13.254131]
+            [0.534, 1.2036, 1.0349],
+            [0.747, 0.599, 1.3577],
+            [1.238, 0.9829, 1.071],
+            [2.545, 0.2887, 1.9304],
+            [4.41, 0.0567, 2.5208],
+            [9.075, 0.0172, 2.6952],
+            [13.744, 0.0059, 2.7975],
+            [18.45, 0.0042, 2.8213],
+            [22.198, 0.002, 2.8607]
           ]
         }
       },
@@ -63,8 +61,8 @@
         "valuesByApiLevel": { "2.14": 6 }
       },
       "defaultBlowOutFlowRate": {
-        "default": 80,
-        "valuesByApiLevel": { "2.14": 80 }
+        "default": 10,
+        "valuesByApiLevel": { "2.14": 10 }
       },
       "defaultFlowAcceleration": 16000.0,
       "defaultTipLength": 57.9,
@@ -72,36 +70,44 @@
       "aspirate": {
         "default": {
           "1": [
-            [1.9733, 2.7039, 5.1258],
-            [2.88, 1.0915, 8.3077],
-            [3.7642, 0.5906, 9.7502],
-            [4.9783, 1.0072, 8.1822],
-            [5.9342, 0.2998, 11.7038],
-            [6.8708, 0.1887, 12.3626],
-            [7.8092, 0.1497, 12.631],
-            [8.7525, 0.1275, 12.804],
-            [13.4575, 0.0741, 13.2718],
-            [22.8675, 0.0296, 13.87],
-            [37.0442, 0.0128, 14.2551],
-            [55.4792, -0.0013, 14.7754]
+            [0.604, 1.9387, 0.7265],
+            [1.002, 0.5052, 1.5924],
+            [1.548, 0.6099, 1.4875],
+            [2.078, 0.3391, 1.9067],
+            [2.587, 0.1922, 2.212],
+            [3.313, -0.1475, 3.0906],
+            [4.418, 0.1574, 2.0807],
+            [5.374, 0.0397, 2.6007],
+            [6.27, 0.0002, 2.8129],
+            [7.209, 0.0181, 2.7005],
+            [8.141, 0.0116, 2.7476],
+            [9.056, 0.0036, 2.8125],
+            [13.787, 0.009, 2.7636],
+            [23.24, 0.0035, 2.8396],
+            [37.387, 0.0011, 2.8942],
+            [56.204, 0.0003, 2.9235]
           ]
         }
       },
       "dispense": {
         "default": {
           "1": [
-            [1.9733, 2.7039, 5.1258],
-            [2.88, 1.0915, 8.3077],
-            [3.7642, 0.5906, 9.7502],
-            [4.9783, 1.0072, 8.1822],
-            [5.9342, 0.2998, 11.7038],
-            [6.8708, 0.1887, 12.3626],
-            [7.8092, 0.1497, 12.631],
-            [8.7525, 0.1275, 12.804],
-            [13.4575, 0.0741, 13.2718],
-            [22.8675, 0.0296, 13.87],
-            [37.0442, 0.0128, 14.2551],
-            [55.4792, -0.0013, 14.7754]
+            [0.604, 1.9387, 0.7265],
+            [1.002, 0.5052, 1.5924],
+            [1.548, 0.6099, 1.4875],
+            [2.078, 0.3391, 1.9067],
+            [2.587, 0.1922, 2.212],
+            [3.313, -0.1475, 3.0906],
+            [4.418, 0.1574, 2.0807],
+            [5.374, 0.0397, 2.6007],
+            [6.27, 0.0002, 2.8129],
+            [7.209, 0.0181, 2.7005],
+            [8.141, 0.0116, 2.7476],
+            [9.056, 0.0036, 2.8125],
+            [13.787, 0.009, 2.7636],
+            [23.24, 0.0035, 2.8396],
+            [37.387, 0.0011, 2.8942],
+            [56.204, 0.0003, 2.9235]
           ]
         }
       },
@@ -118,8 +124,8 @@
         "valuesByApiLevel": { "2.14": 80 }
       },
       "defaultBlowOutFlowRate": {
-        "default": 80,
-        "valuesByApiLevel": { "2.14": 80 }
+        "default": 10,
+        "valuesByApiLevel": { "2.14": 10 }
       },
       "defaultFlowAcceleration": 16000.0,
       "defaultTipLength": 58.35,
@@ -127,34 +133,36 @@
       "aspirate": {
         "default": {
           "1": [
-            [1.9331, 3.4604, 3.5588],
-            [2.9808, 1.5307, 7.2892],
-            [3.9869, 0.825, 9.3926],
-            [4.9762, 0.5141, 10.6323],
-            [5.9431, 0.3232, 11.5819],
-            [6.9223, 0.2644, 11.9317],
-            [7.8877, 0.1832, 12.4935],
-            [8.8562, 0.1512, 12.7463],
-            [47.7169, 0.0281, 13.836],
-            [95.63, 0.0007, 15.147],
-            [211.1169, 0.0005, 15.1655]
+            [1.229, 1.4716, 0.1219],
+            [3.221, 0.3008, 1.5608],
+            [5.172, 0.0914, 2.2354],
+            [7.054, 0.033, 2.5375],
+            [8.928, 0.0185, 2.6394],
+            [18.272, 0.007, 2.7424],
+            [46.608, 0.0021, 2.8326],
+            [94.448, 0.0008, 2.8908],
+            [142.077, 0.0002, 2.9503],
+            [190.089, 0.0002, 2.9453],
+            [199.841, 0.0004, 2.9137],
+            [204.342, -0.0159, 6.1694]
           ]
         }
       },
       "dispense": {
         "default": {
           "1": [
-            [1.9331, 3.4604, 3.5588],
-            [2.9808, 1.5307, 7.2892],
-            [3.9869, 0.825, 9.3926],
-            [4.9762, 0.5141, 10.6323],
-            [5.9431, 0.3232, 11.5819],
-            [6.9223, 0.2644, 11.9317],
-            [7.8877, 0.1832, 12.4935],
-            [8.8562, 0.1512, 12.7463],
-            [47.7169, 0.0281, 13.836],
-            [95.63, 0.0007, 15.147],
-            [211.1169, 0.0005, 15.1655]
+            [1.229, 1.4716, 0.1219],
+            [3.221, 0.3008, 1.5608],
+            [5.172, 0.0914, 2.2354],
+            [7.054, 0.033, 2.5375],
+            [8.928, 0.0185, 2.6394],
+            [18.272, 0.007, 2.7424],
+            [46.608, 0.0021, 2.8326],
+            [94.448, 0.0008, 2.8908],
+            [142.077, 0.0002, 2.9503],
+            [190.089, 0.0002, 2.9453],
+            [199.841, 0.0004, 2.9137],
+            [204.342, -0.0159, 6.1694]
           ]
         }
       },
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 994d4e743eb..57f86016de5 100644
--- a/shared-data/python/opentrons_shared_data/labware/labware_definition.py
+++ b/shared-data/python/opentrons_shared_data/labware/labware_definition.py
@@ -112,6 +112,7 @@ class DisplayCategory(str, Enum):
     adapter = "adapter"
     other = "other"
     lid = "lid"
+    system = "system"
 
 
 class LabwareRole(str, Enum):
@@ -120,6 +121,7 @@ class LabwareRole(str, Enum):
     adapter = "adapter"
     maintenance = "maintenance"
     lid = "lid"
+    system = "system"
 
 
 class Metadata(BaseModel):
@@ -180,6 +182,11 @@ class Parameters(BaseModel):
     magneticModuleEngageHeight: Optional[_NonNegativeNumber] = Field(
         None, description="Distance to move magnetic module magnets to engage"
     )
+    isDeckSlotCompatible: Optional[bool] = Field(
+        None,
+        description="Flag marking whether a labware is compatible with placement"
+        " or load into a base deck slot, will be treated as true if unspecified.",
+    )
 
 
 class Dimensions(BaseModel):
@@ -292,6 +299,30 @@ class ConicalFrustum(BaseModel):
         description="Number of instances of this shape in the stackup, used for wells that have multiple sub-wells",
     )
 
+    @cached_property
+    def height_to_volume_table(self) -> Dict[float, float]:
+        """Return a lookup table of heights to volumes."""
+        # the accuracy of this method is approximately +- 10*dx so for dx of 0.001 we have a +- 0.01 ul
+        dx = 0.005
+        total_height = self.topHeight - self.bottomHeight
+        y = 0.0
+        table: Dict[float, float] = {}
+        # fill in the table
+        a = self.topDiameter / 2
+        b = self.bottomDiameter / 2
+        while y < total_height:
+            r_y = (y / total_height) * (a - b) + b
+            table[y] = (pi * y / 3) * (b**2 + b * r_y + r_y**2)
+            y = y + dx
+
+        # we always want to include the volume at the max height
+        table[total_height] = (pi * total_height / 3) * (b**2 + a * b + a**2)
+        return table
+
+    @cached_property
+    def volume_to_height_table(self) -> Dict[float, float]:
+        return dict((v, k) for k, v in self.height_to_volume_table.items())
+
     @cached_property
     def count(self) -> int:
         return self.xCount * self.yCount
@@ -730,3 +761,12 @@ class LabwareDefinition(BaseModel):
         None,
         description="A dictionary holding all unique inner well geometries in a labware.",
     )
+    stackLimit: Optional[int] = Field(
+        None,
+        description="The limit representing the maximum stack size for a given labware,"
+        " defaults to 1 when unspecified indicating a single labware with no labware below it.",
+    )
+    compatibleParentLabware: Optional[List[str]] = Field(
+        None,
+        description="List of parent Labware on which a labware may be loaded, primarily the labware which owns a lid.",
+    )
diff --git a/shared-data/python/opentrons_shared_data/labware/types.py b/shared-data/python/opentrons_shared_data/labware/types.py
index 59634a26f54..91e9b12fc96 100644
--- a/shared-data/python/opentrons_shared_data/labware/types.py
+++ b/shared-data/python/opentrons_shared_data/labware/types.py
@@ -23,6 +23,7 @@
     Literal["adapter"],
     Literal["other"],
     Literal["lid"],
+    Literal["system"],
 ]
 
 LabwareFormat = Union[
@@ -39,6 +40,7 @@
     Literal["adapter"],
     Literal["maintenance"],
     Literal["lid"],
+    Literal["system"],
 ]
 
 
@@ -58,6 +60,7 @@ class LabwareParameters(TypedDict, total=False):
     isTiprack: bool
     loadName: str
     isMagneticModuleCompatible: bool
+    isDeckSlotCompatible: bool
     quirks: List[str]
     tipLength: float
     tipOverlap: float
@@ -140,3 +143,5 @@ class LabwareDefinition(TypedDict):
     gripForce: NotRequired[float]
     gripHeightFromLabwareBottom: NotRequired[float]
     innerLabwareGeometry: NotRequired[Dict[str, InnerWellGeometry]]
+    compatibleParentLabware: NotRequired[List[str]]
+    stackLimit: NotRequired[int]
diff --git a/shared-data/python/opentrons_shared_data/module/types.py b/shared-data/python/opentrons_shared_data/module/types.py
index ab9465b04f6..64907930396 100644
--- a/shared-data/python/opentrons_shared_data/module/types.py
+++ b/shared-data/python/opentrons_shared_data/module/types.py
@@ -19,6 +19,7 @@
 HeaterShakerModuleType = Literal["heaterShakerModuleType"]
 MagneticBlockType = Literal["magneticBlockType"]
 AbsorbanceReaderType = Literal["absorbanceReaderType"]
+FlexStackerModuleType = Literal["flexStackerModuleType"]
 
 ModuleType = Union[
     MagneticModuleType,
@@ -27,6 +28,7 @@
     HeaterShakerModuleType,
     MagneticBlockType,
     AbsorbanceReaderType,
+    FlexStackerModuleType,
 ]
 
 MagneticModuleModel = Literal["magneticModuleV1", "magneticModuleV2"]
@@ -35,6 +37,7 @@
 HeaterShakerModuleModel = Literal["heaterShakerModuleV1"]
 MagneticBlockModel = Literal["magneticBlockV1"]
 AbsorbanceReaderModel = Literal["absorbanceReaderV1"]
+FlexStackerModuleModel = Literal["flexStackerModuleV1"]
 
 ModuleModel = Union[
     MagneticModuleModel,
@@ -43,6 +46,7 @@
     HeaterShakerModuleModel,
     MagneticBlockModel,
     AbsorbanceReaderModel,
+    FlexStackerModuleModel,
 ]
 
 ModuleSlotTransform = TypedDict(
diff --git a/shared-data/python/opentrons_shared_data/pipette/load_data.py b/shared-data/python/opentrons_shared_data/pipette/load_data.py
index f495713b3d8..eed1947f531 100644
--- a/shared-data/python/opentrons_shared_data/pipette/load_data.py
+++ b/shared-data/python/opentrons_shared_data/pipette/load_data.py
@@ -128,7 +128,7 @@ def load_serial_lookup_table() -> Dict[str, str]:
         "eight_channel": "multi",
         "eight_channel_em": "multi_em",
     }
-    _model_shorthand = {"p1000": "p1k", "p300": "p3h"}
+    _model_shorthand = {"p1000": "p1k", "p300": "p3h", "p200": "p2h"}
     for channel_dir in _dirs_in(config_path):
         for model_dir in _dirs_in(channel_dir):
             for version_file in model_dir.iterdir():
diff --git a/shared-data/python/opentrons_shared_data/pipette/types.py b/shared-data/python/opentrons_shared_data/pipette/types.py
index 93bfe2c0593..8e04cee62ae 100644
--- a/shared-data/python/opentrons_shared_data/pipette/types.py
+++ b/shared-data/python/opentrons_shared_data/pipette/types.py
@@ -214,7 +214,6 @@ def dict_for_encode(self) -> bool:
 
 OverrideType = Dict[str, Union[Dict[str, QuirkConfig], MutableConfig, str]]
 
-
 PipetteName = Literal[
     "p10_single",
     "p10_multi",
@@ -264,6 +263,32 @@ class PipetteNameType(str, enum.Enum):
     P200_96 = "p200_96"
 
 
+# Mapping of public Python Protocol API pipette load names
+# to names used by the internal Opentrons system
+# TODO (spp, 2025-01-02): make the API load name a part of the pipette's definition
+PIPETTE_API_NAMES_MAP = {
+    "p10_single": PipetteNameType.P10_SINGLE,
+    "p10_multi": PipetteNameType.P10_MULTI,
+    "p20_single_gen2": PipetteNameType.P20_SINGLE_GEN2,
+    "p20_multi_gen2": PipetteNameType.P20_MULTI_GEN2,
+    "p50_single": PipetteNameType.P50_SINGLE,
+    "p50_multi": PipetteNameType.P50_MULTI,
+    "p300_single": PipetteNameType.P300_SINGLE,
+    "p300_multi": PipetteNameType.P300_MULTI,
+    "p300_single_gen2": PipetteNameType.P300_SINGLE_GEN2,
+    "p300_multi_gen2": PipetteNameType.P300_MULTI_GEN2,
+    "p1000_single": PipetteNameType.P1000_SINGLE,
+    "p1000_single_gen2": PipetteNameType.P1000_SINGLE_GEN2,
+    "flex_1channel_50": PipetteNameType.P50_SINGLE_FLEX,
+    "flex_8channel_50": PipetteNameType.P50_MULTI_FLEX,
+    "flex_1channel_1000": PipetteNameType.P1000_SINGLE_FLEX,
+    "flex_8channel_1000": PipetteNameType.P1000_MULTI_FLEX,
+    "flex_8channel_1000_em": PipetteNameType.P1000_MULTI_EM,
+    "flex_96channel_1000": PipetteNameType.P1000_96,
+    "flex_96channel_200": PipetteNameType.P200_96,
+}
+
+
 # Generic NewType for models because we get new ones frequently and theres
 # a huge number of them
 PipetteModel = NewType("PipetteModel", str)
diff --git a/shared-data/python/setup.py b/shared-data/python/setup.py
index d58ed77c94d..fefabd80c10 100644
--- a/shared-data/python/setup.py
+++ b/shared-data/python/setup.py
@@ -33,6 +33,7 @@
     "command",
     "commandAnnotation",
     "liquid",
+    "liquid-class",
 ]
 DATA_TYPES = ["definitions", "schemas"]
 DEST_BASE_PATH = "data"
diff --git a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap
index c4d02928884..991fdb2edff 100644
--- a/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap
+++ b/step-generation/src/__tests__/__snapshots__/fixtureGeneration.test.ts.snap
@@ -9345,6 +9345,143 @@ exports[`snapshot tests > makeContext 1`] = `
                   },
                 },
               },
+              "t20": {
+                "aspirate": {
+                  "default": {
+                    "1": [
+                      [
+                        1.933333,
+                        2.844459,
+                        4.750159,
+                      ],
+                      [
+                        2.833333,
+                        1.12901,
+                        8.066694,
+                      ],
+                      [
+                        3.603333,
+                        0.254744,
+                        10.543779,
+                      ],
+                      [
+                        4.836667,
+                        1.101839,
+                        7.491414,
+                      ],
+                      [
+                        5.755,
+                        0.277649,
+                        11.47775,
+                      ],
+                      [
+                        6.643333,
+                        0.14813,
+                        12.223126,
+                      ],
+                      [
+                        7.548333,
+                        0.145635,
+                        12.239705,
+                      ],
+                      [
+                        8.475,
+                        0.15097,
+                        12.199433,
+                      ],
+                      [
+                        13.02,
+                        0.071736,
+                        12.870946,
+                      ],
+                      [
+                        22.318333,
+                        0.042305,
+                        13.254131,
+                      ],
+                    ],
+                  },
+                },
+                "defaultAspirateFlowRate": {
+                  "default": 6,
+                  "valuesByApiLevel": {
+                    "2.14": 6,
+                  },
+                },
+                "defaultBlowOutFlowRate": {
+                  "default": 80,
+                  "valuesByApiLevel": {
+                    "2.14": 80,
+                  },
+                },
+                "defaultDispenseFlowRate": {
+                  "default": 6,
+                  "valuesByApiLevel": {
+                    "2.14": 6,
+                  },
+                },
+                "defaultFlowAcceleration": 16000,
+                "defaultPushOutVolume": 2,
+                "defaultReturnTipHeight": 0.6,
+                "defaultTipLength": 52,
+                "dispense": {
+                  "default": {
+                    "1": [
+                      [
+                        1.933333,
+                        2.844459,
+                        4.750159,
+                      ],
+                      [
+                        2.833333,
+                        1.12901,
+                        8.066694,
+                      ],
+                      [
+                        3.603333,
+                        0.254744,
+                        10.543779,
+                      ],
+                      [
+                        4.836667,
+                        1.101839,
+                        7.491414,
+                      ],
+                      [
+                        5.755,
+                        0.277649,
+                        11.47775,
+                      ],
+                      [
+                        6.643333,
+                        0.14813,
+                        12.223126,
+                      ],
+                      [
+                        7.548333,
+                        0.145635,
+                        12.239705,
+                      ],
+                      [
+                        8.475,
+                        0.15097,
+                        12.199433,
+                      ],
+                      [
+                        13.02,
+                        0.071736,
+                        12.870946,
+                      ],
+                      [
+                        22.318333,
+                        0.042305,
+                        13.254131,
+                      ],
+                    ],
+                  },
+                },
+                "uiMaxFlowRate": 189.1,
+              },
               "t200": {
                 "aspirate": {
                   "default": {
diff --git a/step-generation/src/commandCreators/atomic/moveLabware.ts b/step-generation/src/commandCreators/atomic/moveLabware.ts
index 904f95fb569..c24fac9b708 100644
--- a/step-generation/src/commandCreators/atomic/moveLabware.ts
+++ b/step-generation/src/commandCreators/atomic/moveLabware.ts
@@ -1,4 +1,5 @@
 import {
+  ABSORBANCE_READER_TYPE,
   HEATERSHAKER_MODULE_TYPE,
   THERMOCYCLER_MODULE_TYPE,
 } from '@opentrons/shared-data'
@@ -125,6 +126,11 @@ export const moveLabware: CommandCreator<MoveLabwareArgs> = (
       } else if (initialModuleState.targetSpeed !== null) {
         errors.push(errorCreators.heaterShakerIsShaking())
       }
+    } else if (
+      initialModuleState.type === ABSORBANCE_READER_TYPE &&
+      initialModuleState.lidOpen !== true
+    ) {
+      errors.push(errorCreators.absorbanceReaderLidClosed())
     }
   }
   const destModuleId =
@@ -173,6 +179,10 @@ export const moveLabware: CommandCreator<MoveLabwareArgs> = (
       if (destModuleState.targetSpeed !== null) {
         errors.push(errorCreators.heaterShakerIsShaking())
       }
+    } else if (destModuleState.type === ABSORBANCE_READER_TYPE) {
+      if (destModuleState.lidOpen !== true) {
+        errors.push(errorCreators.absorbanceReaderLidClosed())
+      }
     }
   }
 
diff --git a/step-generation/src/commandCreators/compound/distribute.ts b/step-generation/src/commandCreators/compound/distribute.ts
index 9c4c2cc865e..ceba8f3e89b 100644
--- a/step-generation/src/commandCreators/compound/distribute.ts
+++ b/step-generation/src/commandCreators/compound/distribute.ts
@@ -483,14 +483,20 @@ export const distribute: CommandCreator<DistributeArgs> = (
             }),
           ]
         : []
-
+      const aspirateDisposalVolumeOnce = chunkIndex === 0 ? disposalVolume : 0
       return [
         ...tipCommands,
         ...configureForVolumeCommand,
         ...mixBeforeAspirateCommands,
         curryCommandCreator(aspirate, {
           pipette,
-          volume: args.volume * destWellChunk.length + disposalVolume,
+          volume:
+            args.volume * destWellChunk.length +
+            //  only add disposal volume if its the 1st chunk and changing tip once
+            //  and not blowing out after dispenses
+            (args.changeTip === 'once' && blowoutLocation == null
+              ? aspirateDisposalVolumeOnce
+              : disposalVolume),
           labware: args.sourceLabware,
           well: args.sourceWell,
           flowRate: aspirateFlowRateUlSec,
diff --git a/step-generation/src/commandCreators/compound/transfer.ts b/step-generation/src/commandCreators/compound/transfer.ts
index e892dc94b3d..18f99b7e036 100644
--- a/step-generation/src/commandCreators/compound/transfer.ts
+++ b/step-generation/src/commandCreators/compound/transfer.ts
@@ -263,7 +263,7 @@ export const transfer: CommandCreator<TransferArgs> = (
             ? [
                 curryCommandCreator(configureForVolume, {
                   pipetteId: args.pipette,
-                  volume: chunksPerSubTransfer,
+                  volume: subTransferVol,
                 }),
               ]
             : []
diff --git a/step-generation/src/constants.ts b/step-generation/src/constants.ts
index cc215de8c99..1695723c282 100644
--- a/step-generation/src/constants.ts
+++ b/step-generation/src/constants.ts
@@ -59,6 +59,7 @@ export const HEATERSHAKER_MODULE_INITIAL_STATE: HeaterShakerModuleState = {
 const ABSORBANCE_READER_INITIAL_STATE: AbsorbanceReaderState = {
   type: 'absorbanceReaderType',
   lidOpen: null,
+  initialization: null,
 }
 const MAGNETIC_BLOCK_INITIAL_STATE: MagneticBlockState = {
   type: 'magneticBlockType',
diff --git a/step-generation/src/errorCreators.ts b/step-generation/src/errorCreators.ts
index 1684a129900..3ee0d661a98 100644
--- a/step-generation/src/errorCreators.ts
+++ b/step-generation/src/errorCreators.ts
@@ -157,6 +157,14 @@ export const heaterShakerLatchClosed = (): CommandCreatorError => {
   }
 }
 
+export const absorbanceReaderLidClosed = (): CommandCreatorError => {
+  return {
+    type: 'ABSORBANCE_READER_LID_CLOSED',
+    message:
+      'Attempted to interact with contents of an absorbance reader with the lid closed.',
+  }
+}
+
 export const heaterShakerIsShaking = (): CommandCreatorError => {
   return {
     type: 'HEATER_SHAKER_IS_SHAKING',
diff --git a/step-generation/src/types.ts b/step-generation/src/types.ts
index c1716fa62c3..2f48769ef80 100644
--- a/step-generation/src/types.ts
+++ b/step-generation/src/types.ts
@@ -75,9 +75,16 @@ export interface MagneticBlockState {
   type: typeof MAGNETIC_BLOCK_TYPE
 }
 
+export interface Initialization {
+  mode: 'single' | 'multi'
+  wavelengths: number[]
+  referenceWavelength?: number
+}
+
 export interface AbsorbanceReaderState {
   type: typeof ABSORBANCE_READER_TYPE
   lidOpen: boolean | null
+  initialization: Initialization | null
 }
 
 export type ModuleState =
@@ -532,6 +539,7 @@ export interface TimelineFrame {
 export type RobotState = TimelineFrame // legacy name alias
 
 export type ErrorType =
+  | 'ABSORBANCE_READER_LID_CLOSED'
   | 'CANNOT_MOVE_WITH_GRIPPER'
   | 'DROP_TIP_LOCATION_DOES_NOT_EXIST'
   | 'EQUIPMENT_DOES_NOT_EXIST'
diff --git a/yarn.lock b/yarn.lock
index d58c1ef61ac..a651fe1c429 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -4127,81 +4127,176 @@
   resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm-eabi/-/rollup-android-arm-eabi-4.16.2.tgz#29b7b3c70ddf532fe6dcf859cbfc3e4714c34842"
   integrity sha512-VGodkwtEuZ+ENPz/CpDSl091koMv8ao5jHVMbG1vNK+sbx/48/wVzP84M5xSfDAC69mAKKoEkSo+ym9bXYRK9w==
 
+"@rollup/rollup-android-arm-eabi@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm-eabi/-/rollup-android-arm-eabi-4.28.1.tgz#7f4c4d8cd5ccab6e95d6750dbe00321c1f30791e"
+  integrity sha512-2aZp8AES04KI2dy3Ss6/MDjXbwBzj+i0GqKtWXgw2/Ma6E4jJvujryO6gJAghIRVz7Vwr9Gtl/8na3nDUKpraQ==
+
 "@rollup/rollup-android-arm64@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm64/-/rollup-android-arm64-4.16.2.tgz#f50f65d0c3b8b30d070d8616b2dfc0978dd588bd"
   integrity sha512-5/W1xyIdc7jw6c/f1KEtg1vYDBWnWCsLiipK41NiaWGLG93eH2edgE6EgQJ3AGiPERhiOLUqlDSfjRK08C9xFg==
 
+"@rollup/rollup-android-arm64@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm64/-/rollup-android-arm64-4.28.1.tgz#17ea71695fb1518c2c324badbe431a0bd1879f2d"
+  integrity sha512-EbkK285O+1YMrg57xVA+Dp0tDBRB93/BZKph9XhMjezf6F4TpYjaUSuPt5J0fZXlSag0LmZAsTmdGGqPp4pQFA==
+
 "@rollup/rollup-darwin-arm64@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-arm64/-/rollup-darwin-arm64-4.16.2.tgz#be3d9fffbf6fc5b9d5f0642f1f0250e0ecab8d3e"
   integrity sha512-vOAKMqZSTbPfyPVu1jBiy+YniIQd3MG7LUnqV0dA6Q5tyhdqYtxacTHP1+S/ksKl6qCtMG1qQ0grcIgk/19JEA==
 
+"@rollup/rollup-darwin-arm64@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-arm64/-/rollup-darwin-arm64-4.28.1.tgz#dac0f0d0cfa73e7d5225ae6d303c13c8979e7999"
+  integrity sha512-prduvrMKU6NzMq6nxzQw445zXgaDBbMQvmKSJaxpaZ5R1QDM8w+eGxo6Y/jhT/cLoCvnZI42oEqf9KQNYz1fqQ==
+
 "@rollup/rollup-darwin-x64@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-x64/-/rollup-darwin-x64-4.16.2.tgz#fe45a772526b2c03d545e20f97a1e5cd60a46e52"
   integrity sha512-aIJVRUS3Dnj6MqocBMrcXlatKm64O3ITeQAdAxVSE9swyhNyV1dwnRgw7IGKIkDQofatd8UqMSyUxuFEa42EcA==
 
+"@rollup/rollup-darwin-x64@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-x64/-/rollup-darwin-x64-4.28.1.tgz#8f63baa1d31784904a380d2e293fa1ddf53dd4a2"
+  integrity sha512-WsvbOunsUk0wccO/TV4o7IKgloJ942hVFK1CLatwv6TJspcCZb9umQkPdvB7FihmdxgaKR5JyxDjWpCOp4uZlQ==
+
+"@rollup/rollup-freebsd-arm64@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-freebsd-arm64/-/rollup-freebsd-arm64-4.28.1.tgz#30ed247e0df6e8858cdc6ae4090e12dbeb8ce946"
+  integrity sha512-HTDPdY1caUcU4qK23FeeGxCdJF64cKkqajU0iBnTVxS8F7H/7BewvYoG+va1KPSL63kQ1PGNyiwKOfReavzvNA==
+
+"@rollup/rollup-freebsd-x64@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-freebsd-x64/-/rollup-freebsd-x64-4.28.1.tgz#57846f382fddbb508412ae07855b8a04c8f56282"
+  integrity sha512-m/uYasxkUevcFTeRSM9TeLyPe2QDuqtjkeoTpP9SW0XxUWfcYrGDMkO/m2tTw+4NMAF9P2fU3Mw4ahNvo7QmsQ==
+
 "@rollup/rollup-linux-arm-gnueabihf@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-gnueabihf/-/rollup-linux-arm-gnueabihf-4.16.2.tgz#450ecf66f30a51514413aafa79d28561db73151c"
   integrity sha512-/bjfUiXwy3P5vYr6/ezv//Yle2Y0ak3a+Av/BKoi76nFryjWCkki8AuVoPR7ZU/ckcvAWFo77OnFK14B9B5JsA==
 
+"@rollup/rollup-linux-arm-gnueabihf@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-gnueabihf/-/rollup-linux-arm-gnueabihf-4.28.1.tgz#378ca666c9dae5e6f94d1d351e7497c176e9b6df"
+  integrity sha512-QAg11ZIt6mcmzpNE6JZBpKfJaKkqTm1A9+y9O+frdZJEuhQxiugM05gnCWiANHj4RmbgeVJpTdmKRmH/a+0QbA==
+
 "@rollup/rollup-linux-arm-musleabihf@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-musleabihf/-/rollup-linux-arm-musleabihf-4.16.2.tgz#1e8807d220047084579cd01499c5476a325e0700"
   integrity sha512-S24b+tJHwpq2TNRz9T+r71FjMvyBBApY8EkYxz8Cwi/rhH6h+lu/iDUxyc9PuHf9UvyeBFYkWWcrDahai/NCGw==
 
+"@rollup/rollup-linux-arm-musleabihf@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-musleabihf/-/rollup-linux-arm-musleabihf-4.28.1.tgz#a692eff3bab330d5c33a5d5813a090c15374cddb"
+  integrity sha512-dRP9PEBfolq1dmMcFqbEPSd9VlRuVWEGSmbxVEfiq2cs2jlZAl0YNxFzAQS2OrQmsLBLAATDMb3Z6MFv5vOcXg==
+
 "@rollup/rollup-linux-arm64-gnu@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-gnu/-/rollup-linux-arm64-gnu-4.16.2.tgz#128adb9dbf0057b989127d2e7fd73931a6729410"
   integrity sha512-UN7VAXLyeyGbCQWiOtQN7BqmjTDw1ON2Oos4lfk0YR7yNhFEJWZiwGtvj9Ay4lsT/ueT04sh80Sg2MlWVVZ+Ug==
 
+"@rollup/rollup-linux-arm64-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-gnu/-/rollup-linux-arm64-gnu-4.28.1.tgz#6b1719b76088da5ac1ae1feccf48c5926b9e3db9"
+  integrity sha512-uGr8khxO+CKT4XU8ZUH1TTEUtlktK6Kgtv0+6bIFSeiSlnGJHG1tSFSjm41uQ9sAO/5ULx9mWOz70jYLyv1QkA==
+
 "@rollup/rollup-linux-arm64-musl@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-musl/-/rollup-linux-arm64-musl-4.16.2.tgz#fddc7730045301a7fb0132532890e5edcb23d2bc"
   integrity sha512-ZBKvz3+rIhQjusKMccuJiPsStCrPOtejCHxTe+yWp3tNnuPWtyCh9QLGPKz6bFNFbwbw28E2T6zDgzJZ05F1JQ==
 
+"@rollup/rollup-linux-arm64-musl@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-musl/-/rollup-linux-arm64-musl-4.28.1.tgz#865baf5b6f5ff67acb32e5a359508828e8dc5788"
+  integrity sha512-QF54q8MYGAqMLrX2t7tNpi01nvq5RI59UBNx+3+37zoKX5KViPo/gk2QLhsuqok05sSCRluj0D00LzCwBikb0A==
+
+"@rollup/rollup-linux-loongarch64-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-loongarch64-gnu/-/rollup-linux-loongarch64-gnu-4.28.1.tgz#23c6609ba0f7fa7a7f2038b6b6a08555a5055a87"
+  integrity sha512-vPul4uodvWvLhRco2w0GcyZcdyBfpfDRgNKU+p35AWEbJ/HPs1tOUrkSueVbBS0RQHAf/A+nNtDpvw95PeVKOA==
+
 "@rollup/rollup-linux-powerpc64le-gnu@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-powerpc64le-gnu/-/rollup-linux-powerpc64le-gnu-4.16.2.tgz#7154fe9ffc6405b2a6555ca931c42c0aa5198c2a"
   integrity sha512-LjMMFiVBRL3wOe095vHAekL4b7nQqf4KZEpdMWd3/W+nIy5o9q/8tlVKiqMbfieDypNXLsxM9fexOxd9Qcklyg==
 
+"@rollup/rollup-linux-powerpc64le-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-powerpc64le-gnu/-/rollup-linux-powerpc64le-gnu-4.28.1.tgz#652ef0d9334a9f25b9daf85731242801cb0fc41c"
+  integrity sha512-pTnTdBuC2+pt1Rmm2SV7JWRqzhYpEILML4PKODqLz+C7Ou2apEV52h19CR7es+u04KlqplggmN9sqZlekg3R1A==
+
 "@rollup/rollup-linux-riscv64-gnu@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-riscv64-gnu/-/rollup-linux-riscv64-gnu-4.16.2.tgz#7a7d091a94fa7c50ebf72d5578475093e01c739e"
   integrity sha512-ohkPt0lKoCU0s4B6twro2aft+QROPdUiWwOjPNTzwTsBK5w+2+iT9kySdtOdq0gzWJAdiqsV4NFtXOwGZmIsHA==
 
+"@rollup/rollup-linux-riscv64-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-riscv64-gnu/-/rollup-linux-riscv64-gnu-4.28.1.tgz#1eb6651839ee6ebca64d6cc64febbd299e95e6bd"
+  integrity sha512-vWXy1Nfg7TPBSuAncfInmAI/WZDd5vOklyLJDdIRKABcZWojNDY0NJwruY2AcnCLnRJKSaBgf/GiJfauu8cQZA==
+
 "@rollup/rollup-linux-s390x-gnu@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.16.2.tgz#39b87bd355dfafbc062ca856d3d6bc5aa1905d89"
   integrity sha512-jm2lvLc+/gqXfndlpDw05jKvsl/HKYxUEAt1h5UXcMFVpO4vGpoWmJVUfKDtTqSaHcCNw1his1XjkgR9aort3w==
 
+"@rollup/rollup-linux-s390x-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.28.1.tgz#015c52293afb3ff2a293cf0936b1d43975c1e9cd"
+  integrity sha512-/yqC2Y53oZjb0yz8PVuGOQQNOTwxcizudunl/tFs1aLvObTclTwZ0JhXF2XcPT/zuaymemCDSuuUPXJJyqeDOg==
+
 "@rollup/rollup-linux-x64-gnu@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.16.2.tgz#30b88169db18dec202ab9662d5148523d59da553"
   integrity sha512-oc5/SlITI/Vj/qL4UM+lXN7MERpiy1HEOnrE+SegXwzf7WP9bzmZd6+MDljCEZTdSY84CpvUv9Rq7bCaftn1+g==
 
+"@rollup/rollup-linux-x64-gnu@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.28.1.tgz#b83001b5abed2bcb5e2dbeec6a7e69b194235c1e"
+  integrity sha512-fzgeABz7rrAlKYB0y2kSEiURrI0691CSL0+KXwKwhxvj92VULEDQLpBYLHpF49MSiPG4sq5CK3qHMnb9tlCjBw==
+
 "@rollup/rollup-linux-x64-musl@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.16.2.tgz#d4fd52a28d5ce4aaed436311d89a9a1eaff87c2d"
   integrity sha512-/2VWEBG6mKbS2itm7hzPwhIPaxfZh/KLWrYg20pCRLHhNFtF+epLgcBtwy3m07bl/k86Q3PFRAf2cX+VbZbwzQ==
 
+"@rollup/rollup-linux-x64-musl@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.28.1.tgz#6cc7c84cd4563737f8593e66f33b57d8e228805b"
+  integrity sha512-xQTDVzSGiMlSshpJCtudbWyRfLaNiVPXt1WgdWTwWz9n0U12cI2ZVtWe/Jgwyv/6wjL7b66uu61Vg0POWVfz4g==
+
 "@rollup/rollup-win32-arm64-msvc@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.16.2.tgz#edd352302e3fa6a2d612447590b0a0887cdbf762"
   integrity sha512-Wg7ANh7+hSilF0lG3e/0Oy8GtfTIfEk1327Bw8juZOMOoKmJLs3R+a4JDa/4cHJp2Gs7QfCDTepXXcyFD0ubBg==
 
+"@rollup/rollup-win32-arm64-msvc@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.28.1.tgz#631ffeee094d71279fcd1fe8072bdcf25311bc11"
+  integrity sha512-wSXmDRVupJstFP7elGMgv+2HqXelQhuNf+IS4V+nUpNVi/GUiBgDmfwD0UGN3pcAnWsgKG3I52wMOBnk1VHr/A==
+
 "@rollup/rollup-win32-ia32-msvc@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.16.2.tgz#f17cc1db108f364bf6ef427f98844b5f742d31f0"
   integrity sha512-J/jCDKVMWp0Y2ELnTjpQFYUCUWv1Jr+LdFrJVZtdqGyjDo0PHPa7pCamjHvJel6zBFM3doFFqAr7cmXYWBAbfw==
 
+"@rollup/rollup-win32-ia32-msvc@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.28.1.tgz#06d1d60d5b9f718e8a6c4a43f82e3f9e3254587f"
+  integrity sha512-ZkyTJ/9vkgrE/Rk9vhMXhf8l9D+eAhbAVbsGsXKy2ohmJaWg0LPQLnIxRdRp/bKyr8tXuPlXhIoGlEB5XpJnGA==
+
 "@rollup/rollup-win32-x64-msvc@4.16.2":
   version "4.16.2"
   resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.16.2.tgz#98fb87589960075d39c44784e3a99f67138602f4"
   integrity sha512-3nIf+SJMs2ZzrCh+SKNqgLVV9hS/UY0UjT1YU8XQYFGLiUfmHYJ/5trOU1XSvmHjV5gTF/K3DjrWxtyzKKcAHA==
 
+"@rollup/rollup-win32-x64-msvc@4.28.1":
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.28.1.tgz#4dff5c4259ebe6c5b4a8f2c5bc3829b7a8447ff0"
+  integrity sha512-ZvK2jBafvttJjoIdKm/Q/Bh7IJ1Ose9IBOwpOXcOvW3ikGTQGmKDgxTC6oCAzW6PynbkKP8+um1du81XJHZ0JA==
+
 "@serialport/binding-mock@10.2.2":
   version "10.2.2"
   resolved "https://registry.yarnpkg.com/@serialport/binding-mock/-/binding-mock-10.2.2.tgz#d322a8116a97806addda13c62f50e73d16125874"
@@ -4765,7 +4860,7 @@
     "@smithy/types" "^3.0.0"
     tslib "^2.6.2"
 
-"@storybook/addon-actions@7.6.17", "@storybook/addon-actions@^7.6.16":
+"@storybook/addon-actions@7.6.17":
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/@storybook/addon-actions/-/addon-actions-7.6.17.tgz#b1be5ab28b22b4a50c6aa0cd0a3671ca5b6f5f71"
   integrity sha512-TBphs4v6LRfyTpFo/WINF0TkMaE3rrNog7wW5mbz6n0j8o53kDN4o9ZEcygSL5zQX43CAaghQTeDCss7ueG7ZQ==
@@ -4820,7 +4915,7 @@
     remark-slug "^6.0.0"
     ts-dedent "^2.0.0"
 
-"@storybook/addon-essentials@^7.6.16":
+"@storybook/addon-essentials@7.6.17":
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/@storybook/addon-essentials/-/addon-essentials-7.6.17.tgz#d49d9a77edc999518c6871b66032a647787c39f4"
   integrity sha512-qlSpamxuYfT2taF953nC9QijGF2pSbg1ewMNpdwLTj16PTZvR/d8NCDMTJujI1bDwM2m18u8Yc43ibh5LEmxCw==
@@ -4847,7 +4942,7 @@
   dependencies:
     "@storybook/global" "^5.0.0"
 
-"@storybook/addon-links@^7.6.16":
+"@storybook/addon-links@7.6.17":
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/@storybook/addon-links/-/addon-links-7.6.17.tgz#5a678ff09c1b5056b67cb345c115cfcd343ffe86"
   integrity sha512-iFUwKObRn0EKI0zMETsil2p9a/81rCuSMEWECsi+khkCAs1FUnD2cT6Ag5ydcNcBXsdtdfDJdtXQrkw+TSoStQ==
@@ -5292,7 +5387,7 @@
   resolved "https://registry.yarnpkg.com/@storybook/react-dom-shim/-/react-dom-shim-7.6.17.tgz#5875915316f687bf658cc6686ea49f2928eae4b2"
   integrity sha512-32Sa/G+WnvaPiQ1Wvjjw5UM9rr2c4GDohwCcWVv3/LJuiFPqNS6zglAtmnsrlIBnUwRBMLMh/ekCTdqMiUmfDw==
 
-"@storybook/react-vite@^7.6.16":
+"@storybook/react-vite@7.6.17":
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/@storybook/react-vite/-/react-vite-7.6.17.tgz#29ea46ef27595d10ad115b33833ed5b167f02960"
   integrity sha512-4dIm3CuRl44X1TLzN3WoZh/bChzJF7Ud28li9atj9C8db0bb/y0zl8cahrsRFoR7/LyfqdOVLqaztrnA5SsWfg==
@@ -5305,7 +5400,7 @@
     magic-string "^0.30.0"
     react-docgen "^7.0.0"
 
-"@storybook/react@7.6.17", "@storybook/react@^7.6.16":
+"@storybook/react@7.6.17":
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/@storybook/react/-/react-7.6.17.tgz#3e585b37f4a45d01b60543e1952a46ae3da70e81"
   integrity sha512-lVqzQSU03rRJWYW+gK2gq6mSo3/qtnVICY8B8oP7gc36jVu4ksDIu45bTfukM618ODkUZy0vZe6T4engK3azjA==
@@ -5605,6 +5700,11 @@
   resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
   integrity sha512-EYNwp3bU+98cpU4lAWYYL7Zz+2gryWH1qbdDTidVd6hkiR6weksdbMadyXKXNPEkQFhXM+hVO9ZygomHXp+AIw==
 
+"@types/estree@1.0.6":
+  version "1.0.6"
+  resolved "https://registry.yarnpkg.com/@types/estree/-/estree-1.0.6.tgz#628effeeae2064a1b4e79f78e81d87b7e5fc7b50"
+  integrity sha512-AYnb1nQyY49te+VRAVgmzfcgjYS91mY5P0TKUDCLEM+gNnA+3T6rWITXRLYCpahpqSQbN5cE+gHpnPyXjHWxcw==
+
 "@types/estree@^0.0.51":
   version "0.0.51"
   resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.51.tgz#cfd70924a25a3fd32b218e5e420e6897e1ac4f40"
@@ -13605,11 +13705,6 @@ immer@5.1.0:
   resolved "https://registry.yarnpkg.com/immer/-/immer-5.1.0.tgz#38d9eba40dbb0389b7ae7b8b99e4661df0cf89e3"
   integrity sha512-t6gyFtTcokCuI0tX9KQZJQAkIjSqo/nTeJnwojfty69EzrorZbywwhZ8qNNlF+faajHeRnhOvM2F40KHLFCghQ==
 
-immer@9.0.6:
-  version "9.0.6"
-  resolved "https://registry.yarnpkg.com/immer/-/immer-9.0.6.tgz#7a96bf2674d06c8143e327cbf73539388ddf1a73"
-  integrity sha512-G95ivKpy+EvVAnAab4fVa4YGYn24J1SpEktnJX7JJ45Bd7xqME/SCplFzYFmTbrkwZbQ4xJK1xMTUYBkN6pWsQ==
-
 "immutable@^3.8.1 || ^4.0.0":
   version "4.3.5"
   resolved "https://registry.yarnpkg.com/immutable/-/immutable-4.3.5.tgz#f8b436e66d59f99760dc577f5c99a4fd2a5cc5a0"
@@ -17463,7 +17558,7 @@ picocolors@^1.0.0:
   resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.0.0.tgz#cb5bdc74ff3f51892236eaf79d68bc44564ab81c"
   integrity sha512-1fygroTLlHu66zi26VoTDv8yRgm0Fccecssto+MhsZ0D/DGW2sm8E8AjW7NU5VVTRt5GxbeZ5qBuJr+HyLYkjQ==
 
-picocolors@^1.1.0:
+picocolors@^1.1.0, picocolors@^1.1.1:
   version "1.1.1"
   resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.1.1.tgz#3d321af3eab939b083c8f929a1d12cda81c26b6b"
   integrity sha512-xceH2snhtb5M9liqDsmEw56le376mTZkEX/jEb/RxNFyegNul7eNslCXP9FDj/Lcu0X8KEyMceP2ntpaHrDEVA==
@@ -18325,6 +18420,15 @@ postcss@^8.1.7, postcss@^8.4, postcss@^8.4.38:
     picocolors "^1.0.0"
     source-map-js "^1.2.0"
 
+postcss@^8.4.43:
+  version "8.4.49"
+  resolved "https://registry.yarnpkg.com/postcss/-/postcss-8.4.49.tgz#4ea479048ab059ab3ae61d082190fabfd994fe19"
+  integrity sha512-OCVPnIObs4N29kxTjzLfUryOkvZEq+pf8jTF0lg8E7uETuWHA+v7j3c/xJmiqpX450191LlmZfUKkXxkTry7nA==
+  dependencies:
+    nanoid "^3.3.7"
+    picocolors "^1.1.1"
+    source-map-js "^1.2.1"
+
 preact@^10.25.1:
   version "10.25.1"
   resolved "https://registry.yarnpkg.com/preact/-/preact-10.25.1.tgz#1c4b84253c42dee874bfbf6a92bdce45e3662665"
@@ -19889,6 +19993,34 @@ rollup@^4.13.0:
     "@rollup/rollup-win32-x64-msvc" "4.16.2"
     fsevents "~2.3.2"
 
+rollup@^4.20.0:
+  version "4.28.1"
+  resolved "https://registry.yarnpkg.com/rollup/-/rollup-4.28.1.tgz#7718ba34d62b449dfc49adbfd2f312b4fe0df4de"
+  integrity sha512-61fXYl/qNVinKmGSTHAZ6Yy8I3YIJC/r2m9feHo6SwVAVcLT5MPwOUFe7EuURA/4m0NR8lXG4BBXuo/IZEsjMg==
+  dependencies:
+    "@types/estree" "1.0.6"
+  optionalDependencies:
+    "@rollup/rollup-android-arm-eabi" "4.28.1"
+    "@rollup/rollup-android-arm64" "4.28.1"
+    "@rollup/rollup-darwin-arm64" "4.28.1"
+    "@rollup/rollup-darwin-x64" "4.28.1"
+    "@rollup/rollup-freebsd-arm64" "4.28.1"
+    "@rollup/rollup-freebsd-x64" "4.28.1"
+    "@rollup/rollup-linux-arm-gnueabihf" "4.28.1"
+    "@rollup/rollup-linux-arm-musleabihf" "4.28.1"
+    "@rollup/rollup-linux-arm64-gnu" "4.28.1"
+    "@rollup/rollup-linux-arm64-musl" "4.28.1"
+    "@rollup/rollup-linux-loongarch64-gnu" "4.28.1"
+    "@rollup/rollup-linux-powerpc64le-gnu" "4.28.1"
+    "@rollup/rollup-linux-riscv64-gnu" "4.28.1"
+    "@rollup/rollup-linux-s390x-gnu" "4.28.1"
+    "@rollup/rollup-linux-x64-gnu" "4.28.1"
+    "@rollup/rollup-linux-x64-musl" "4.28.1"
+    "@rollup/rollup-win32-arm64-msvc" "4.28.1"
+    "@rollup/rollup-win32-ia32-msvc" "4.28.1"
+    "@rollup/rollup-win32-x64-msvc" "4.28.1"
+    fsevents "~2.3.2"
+
 run-parallel@^1.1.9:
   version "1.2.0"
   resolved "https://registry.yarnpkg.com/run-parallel/-/run-parallel-1.2.0.tgz#66d1368da7bdf921eb9d95bd1a9229e7f21a43ee"
@@ -20533,6 +20665,11 @@ source-map-js@^1.2.0:
   resolved "https://registry.yarnpkg.com/source-map-js/-/source-map-js-1.2.0.tgz#16b809c162517b5b8c3e7dcd315a2a5c2612b2af"
   integrity sha512-itJW8lvSA0TXEphiRoawsCksnlf8SyvmFzIhltqAHluXd88pkCd+cXJVHTDwdCr0IzwptSm035IHQktUu1QUMg==
 
+source-map-js@^1.2.1:
+  version "1.2.1"
+  resolved "https://registry.yarnpkg.com/source-map-js/-/source-map-js-1.2.1.tgz#1ce5650fddd87abc099eda37dcff024c2667ae46"
+  integrity sha512-UXWMKhLOwVKb728IUtQPXxfYU+usdybtUrK/8uGE8CQMvrhOpwvzDBwj0QhSL7MQc7vIsISBG8VQ8+IDQxpfQA==
+
 source-map-resolve@^0.5.0:
   version "0.5.3"
   resolved "https://registry.yarnpkg.com/source-map-resolve/-/source-map-resolve-0.5.3.tgz#190866bece7553e1f8f267a2ee82c606b5509a1a"
@@ -20805,7 +20942,7 @@ storybook-addon-pseudo-states@2.0.0:
   resolved "https://registry.yarnpkg.com/storybook-addon-pseudo-states/-/storybook-addon-pseudo-states-2.0.0.tgz#4fa251aaea04ebc6d17b7e57e5f09ea240f14583"
   integrity sha512-tLuuwB1k+xFsX8C1fn4G/vJm5wX33jvSLeqTsJgWwI3/AKJUf6Thbg/kg14I2AwN8nqffjun2PzE05Iea23n0w==
 
-storybook@^7.6.16:
+storybook@7.6.17:
   version "7.6.17"
   resolved "https://registry.yarnpkg.com/storybook/-/storybook-7.6.17.tgz#d7fdbbf57d61d386b3ccc6721285bc914f54269b"
   integrity sha512-8+EIo91bwmeFWPg1eysrxXlhIYv3OsXrznTr4+4Eq0NikqAoq6oBhtlN5K2RGS2lBVF537eN+9jTCNbR+WrzDA==
@@ -22710,14 +22847,14 @@ vite-node@2.1.8:
     pathe "^1.1.2"
     vite "^5.0.0"
 
-vite@5.3.2:
-  version "5.3.2"
-  resolved "https://registry.yarnpkg.com/vite/-/vite-5.3.2.tgz#2f0a8531c71060467ed3e0a205a203f269b6d9c8"
-  integrity sha512-6lA7OBHBlXUxiJxbO5aAY2fsHHzDr1q7DvXYnyZycRs2Dz+dXBWuhpWHvmljTRTpQC2uvGmUFFkSHF2vGo90MA==
+vite@5.4.11:
+  version "5.4.11"
+  resolved "https://registry.yarnpkg.com/vite/-/vite-5.4.11.tgz#3b415cd4aed781a356c1de5a9ebafb837715f6e5"
+  integrity sha512-c7jFQRklXua0mTzneGW9QVyxFjUgwcihC4bXEtujIo2ouWCe1Ajt/amn2PCxYnhYfd5k09JX3SB7OYWFKYqj8Q==
   dependencies:
     esbuild "^0.21.3"
-    postcss "^8.4.38"
-    rollup "^4.13.0"
+    postcss "^8.4.43"
+    rollup "^4.20.0"
   optionalDependencies:
     fsevents "~2.3.3"