feat(api): replace format with quirks for rectangular well behavior

[btmorr]

overview

Replace uses of deprecated 'format' member of labware with 'quirks'. Also modifies trash box definitions to prevent robot from crashing if trash is used as the target for a dispense or aspirate command. Related to #3894

changelog

• modify trash box definitions to have depth of 0, preventing crashes
• change well load behavior to use 'quirks' instead of 'format'--no behavioral change

review requests

Pick up tips with a multi-channel pipette, and use move_to, aspirate, dispense and any other public commands to make sure the robot is able to:

• aspirate / dispense from reserviors
• aspirate / dispense from well plates
• drop tip without args (should drop into trash without crashing)
• drop tip / dispense / blow out explicitly into trash (note that you have to do p.blow_out(robot.fixed_trash[0]) -- leaving off the [0] will cause a known crash that is not covered by this PR)

[IanLondon]

Tested with the following protocol, single and multi:

from opentrons import instruments, labware, robot

tiprack = labware.load('opentrons_96_filtertiprack_200ul', '1')
plate = labware.load('corning_96_wellplate_360ul_flat', '2')
reservoir = labware.load('usascientific_12_reservoir_22ml', '3')

# Toggle btw to test!
p10 = instruments.P10_Multi('left', tip_racks=[tiprack])
# p10 = instruments.P10_Single('left', tip_racks=[tiprack])


volume = 5

p10.pick_up_tip()
p10.transfer(volume, plate.wells('A1'), robot.fixed_trash[0])
# Does weird slide here up (+) in Y, from dispense to drop tip location
# But I think that's existing behavior
p10.drop_tip()

p10.pick_up_tip()

p10.transfer(volume, robot.fixed_trash[0], reservoir.wells('A1'))

p10.blow_out(robot.fixed_trash[0])

p10.transfer(volume, reservoir.wells('A2'), plate.wells('A2'))

p10.drop_tip()

[sfoster1]

Code looks good

[codecov]

Codecov Report

Merging #4027 into edge will decrease coverage by <.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             edge    #4027      +/-   ##
==========================================
- Coverage   57.29%   57.29%   -0.01%     
==========================================
  Files         850      850              
  Lines       23916    23919       +3     
==========================================
+ Hits        13703    13704       +1     
- Misses      10213    10215       +2

Impacted Files	Coverage Δ
opentrons/server/rpc.py	88.02% <0%> (-1.05%)	⬇️
opentrons/legacy_api/robot/robot.py	88.69% <0%> (ø)	⬆️
opentrons/legacy_api/containers/__init__.py	77.58% <0%> (+0.59%)	⬆️

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