PE/JSONv6: Implement moveToCoordinates command

[SyntaxColoring]

Implement the moveToCoordinates Protocol Engine command as it's already been specified in the JSON Protocol schema v6.

At the time of writing, that's this:

opentrons/shared-data/protocol/schemas/6.json

Lines 403 to 431 in b8c7c88

	{
	"description": "Move To Coordinates",
	"type": "object",
	"required": ["commandType", "params"],
	"properties": {
	"key": { "type": "string" },
	"commandType": { "enum": ["moveToCoordinates"] },
	"params": {
	"type": "object",
	"required": ["pipetteId", "coordinates"],
	"properties": {
	"pipetteId": { "type": "string" },
	"coordinates": {
	"$ref": "#/definitions/offset",
	"description": "X, Y and Z coordinates in mm from deck's origin location (left-front-bottom corner of work space)"
	},
	"minimumZHeight": {
	"description": "Optional minimal Z margin in mm. If this is larger than the API's default safe Z margin, it will make the arc higher. If it's smaller, it will have no effect. Specifying this for movements that would not arc (moving within the same well in the same labware) will cause an arc movement instead.",
	"type": "number",
	"minimum": 0
	},
	"forceDirect": {
	"description": "Default is false. If true, moving from one labware/well to another will not arc to the default safe z, but instead will move directly to the specified location. This will also force the 'minimumZHeight' param to be ignored. A 'direct' movement is in X/Y/Z simultaneously",
	"type": "boolean"
	}
	}
	}
	}
	},