h/s in PAPIv2: restrict pipetting actions around a heater-shaker

[sanni-t]

This ticket tracks pipetting restrictions work in PAPIv2

• While the heater-shaker is shaking, its plate assembly will move outside of the slot's perimeter, this could result in pipette tips crashing onto the h/s plate.
• Also, when the labware latch is open, it hangs outside of the slot's perimeter and could hinder pipette tips from reaching some of the wells on the labware next to the h/s. The latch can also get in the way of a pipette's movement planning.
• Because of the module's overall dimensions, multi-channel pipettes can crash into the module's edges while accessing wells close to the module on east & west.
• A protocol analysis should catch any steps that violate these conditions.

implementation details

Based on HW & testing's observations, we will have to implement these checks:

• Do not move any pipettes to any labware on EWNS of the h/s when the module is shaking
• Do not move any pipettes to any labware on EW slots & on H/S labware when the labware latch is open.
• No multi-channel access to any labware on EW of h/s.
• With multichannels, NS of h/s can only access tipracks.

[sanni-t]

Protocol engine side of work tracked in #10542