refactor(api): FailedGripperPickupError follow-up

[caila-marashaj]

Overview

This is a follow-up to this pr, which introduces the FailedGripperPickupError. This just addresses some feedback about surface-level bits of the code.

Changelog

• renamed the check_labware_pickup function to raise_error_if_gripper_pickup_failed
• moved the above function from gripper.py to ot3api.py
• change the gripper_opened variable in labware_movement.py to holding_labware

[codecov]

Codecov Report

Merging #14178 (c14c780) into edge (a32571e) will decrease coverage by 0.01%.
Report is 1 commits behind head on edge.
The diff coverage is n/a.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #14178      +/-   ##
==========================================
- Coverage   70.40%   70.39%   -0.01%     
==========================================
  Files        2510     2510              
  Lines       71201    71188      -13     
  Branches     8971     8971              
==========================================
- Hits        50127    50115      -12     
+ Misses      18880    18879       -1     
  Partials     2194     2194              

Flag	Coverage Δ
g-code-testing	96.44% <ø> (ø)
notify-server	89.13% <ø> (ø)

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

Files	Coverage Δ
api/src/opentrons/hardware_control/__init__.py	100.00% <ø> (ø)
api/src/opentrons/hardware_control/api.py	82.42% <ø> (ø)
api/src/opentrons/hardware_control/ot3api.py	79.58% <ø> (ø)
...c/opentrons/hardware_control/protocols/__init__.py	100.00% <ø> (ø)
...entrons/hardware_control/protocols/calibratable.py	55.55% <ø> (ø)
...entrons/hardware_control/protocols/configurable.py	44.44% <ø> (-24.31%)	⬇️
...ardware_control/protocols/instrument_configurer.py	63.15% <ø> (ø)
...trons/hardware_control/protocols/liquid_handler.py	60.00% <ø> (-4.71%)	⬇️
...ns/hardware_control/protocols/motion_controller.py	51.85% <ø> (+0.12%)	⬆️

[sfoster1]

Looks good to me!