API: limit arc move heights based on pipette max achievable height

[sfoster1]

P300 multi Gen2s are very tall on the top, with a homing position of 151. When you use a tall labware setup, like a Nest deep well plate on top of a magnetic module or an aluminum tube rack with screwcap tubes on top of a temperature module, the end of the tips of a P300 Multi Gen2 are less than 10mm - the default labware margin - from the top of the labware.

That means that arc moves that use deck.highest_z will try and drive the pipette up above its maximum achievable height, and you'll get a hard limit error.

Instead, we should

• Have hardware controller expose the maximum height achievable by each pipette in deck coordinates (by taking the home position, subtracting the retract, passing it through deck calibration, and adding the critical point offset)
• Have geometry.plan_moves take a maximum height input that will be based on that
• If the planned move is above the max height, take it out of the extra margin
• If the planned move is above the max height even after removing the margin, raise an exception

[sfoster1]

Based on this:

Total height of labware sitting on top of mag module: 128.25 mm
Bracket height: 4.052 mm
Safety margin: 10 mm
Safe height without tip = 142.27 (sum of above)
Safe height with tip = 142.27 + 39.997 (tip length) = 182.299 (absolute value from deck)
Highest point to be reached by the pipette: 181.5 (absolute homed position) - 2 mm (backoff distance) = 179.5 mm (smoothie value)
With our current margin, a P300 Gen2 Multi could exceed the max limit by ~2.80 mm.