heater-shaker: collision prevention and handling during pipetting

[sanni-t]

Overview

With #10543 providing an override in papiv2 for allowing restricted pipetting, we should improve a user's experience of using this override by warning the user when a collision is suspected when pipetting around the heater-shaker.

NOTE: This work is not required for 6.1

Implementation details

• provide a simple 2-D collision detection for column-wise well access (when using the override)
• if due to some non-deterministic nature of a protocol, the api fails to detect a collision during analysis and ends up trying to execute a pipetting step from a restricted labware, protocol execution should ideally pause so a user can manually remediate the issue. Or if that’s a bit too involved, we can simply let the backend raise an error and cancel the protocol.