feat(api, shared-data): build out functionality for tracking liquid height

[aaron-kulkarni]

Overview

Added public getter and private setter for tracking liquid level heights of wells.

re EXEC-603

Test Plan

Still need to write a ton of unit tests.

Changelog

• Added new exception: NoLiquidHeightDataError. This will only be for internal use and a user should never receive it.
• get_well_last_measured_height starts in protocol_api/labware, calls down to protocol_api/core/labware, then finally down to protocol_engine/state/labware
• set_well_last_measured_height is only called in liquid_probe_in_place in protocol_engine/execution/pipetting.py
• Adds a new attribute to labware definitoin called WellState. WellState has attribute lastMeasuredLiquidHeight. I decided to make the WellState attribute for future cases where we might want more detailed well state tracking.

Review requests

Not sure if the way I'm setting it is correct. I couldn't find a convenient and seemingly correct way to edit labware state so I'm just doing it in liquid_probe_in_place

Risk assessment

Pretty low.

[github-actions]

A PR has been opened to address analyses snapshot changes. Please review the changes here: https://github.com/Opentrons/opentrons/pull/