fix(api): use encoder position instead of homing gantry when holding plate reader lid.

[vegano1]

Overview

The plate reader lid hits the Flex side window when the gantry homes while the gripper holds the lid, don't do that :)
Instead, let's update the gantry position from the encoders, so we don't have to go home at all.

RQA-3550

Test Plan and Hands on Testing

• Make sure we don't sideswipe the plate reader lid on the Flex after estop
• Make sure we can still handle the plate reader lid estop case

Changelog

• don't home the x and y axes so we don't sideswipe the flex window with the plate reader lid
• use engage_axes and update_axis_position_estimations instead of homing the axes

Review requests

makes sense?

Risk assessment

low, unreleased

[SyntaxColoring]

Nice! Thanks for finding a surgical solution to this.