refactor(api): Allow aspirate, dispense and blow-out in place in PE and PAPI

[TamarZanzouri]

Overview

closes https://opentrons.atlassian.net/browse/RCORE-540.
Allow PE and PAPI via engine core to preform aspirate, dispense and blow-out in place.

Test Plan

Test on an OT-2 with core ff on or on an OT-3.
upload the following protocol:

from opentrons import protocol_api, types

metadata = {
    "apiLevel": "2.12",
}

def run(ctx: protocol_api.ProtocolContext) -> None:
    tip_rack = ctx.load_labware("opentrons_96_tiprack_300ul", 6)
    labware = ctx.load_labware("nest_96_wellplate_100ul_pcr_full_skirt", 3)
    pipette = ctx.load_instrument("p20_single_GEN2", types.Mount.RIGHT, [tip_rack])
    well = tip_rack.wells()[0]
    
    # offset the well to something obvious
    # to observe that the offset is not respected
    well_offset = types.Point(x=9, y=-9, z=0)

    pipette.pick_up_tip(well.top().move(well_offset))
    location_no_well = types.Location(point=labware["A1"].top().point, labware=None)
    pipette.move_to(location_no_well)
    pipette.aspirate()
    pipette.dispense(volume=20.0)
    pipette.blow_out()
    pipette.drop_tip()

• make sure the pipette does an in-place command without a move to.

Changelog

• Add PE aspirate and blow-out in place commands.
• Added sync_client methods to aspirate, dispense and blow-out in place.
• Wired up engine/core aspirate, dispense and blow-out to use in-place commands when well_core is None.
• refactored instrumnt_context and added a method to return wether we are passing a Well or a Location to the core's.

Review requests

Does the changes make sense?
Did I forget anything for the PE commands?

Risk assessment

Low. Should act the same as the legacy papi. Should test with core ff on and off to make sure it behaves the same

[codecov]

Codecov Report

Merging #12105 (16b6fba) into edge (f302abb) will decrease coverage by 0.26%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             edge   #12105      +/-   ##
==========================================
- Coverage   74.02%   73.76%   -0.26%     
==========================================
  Files        2172     1458     -714     
  Lines       59816    48132   -11684     
  Branches     6104     2994    -3110     
==========================================
- Hits        44278    35504    -8774     
+ Misses      14174    12173    -2001     
+ Partials     1364      455     -909     

Flag	Coverage Δ
app	46.80% <ø> (-25.66%)	⬇️
notify-server	89.13% <ø> (ø)
protocol-designer	45.89% <ø> (ø)
shared-data	75.90% <ø> (+0.72%)	⬆️
step-generation	88.46% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...i/src/opentrons/protocol_api/instrument_context.py	89.04% <ø> (+0.43%)	⬆️
api/src/opentrons/protocol_api/protocol_context.py	91.75% <ø> (+0.38%)	⬆️
...c/opentrons/protocol_engine/clients/sync_client.py	100.00% <ø> (ø)
...src/opentrons/protocol_engine/commands/__init__.py	100.00% <ø> (ø)
...entrons/protocol_engine/commands/command_unions.py	100.00% <ø> (ø)
...src/opentrons/protocol_engine/errors/exceptions.py	100.00% <ø> (ø)
shared-data/js/helpers/index.ts	78.15% <0.00%> (ø)
app/src/organisms/LabwareDetails/Gallery.tsx
app/src/pages/Devices/ProtocolRunDetails/index.tsx
...ettingsCalibration/DeckCalibrationConfirmModal.tsx
... and 712 more

[TamarZanzouri]

Tested the aspirate-in-place and dispense-in-place on an OT2 with core ff on. will test blow-out-in-place

[mcous]

Still LGTM!