fix(engine): fix calculation for labware height on modules

[sanni-t]

Overview

I had forgotten to account for stacking overlap during calculation of the grip point when moving labware from/ to modules. This PR fixes that and adds a test to check for it.

Test Plan

Check that the gripping point of the same labware is same no matter if it's being moved to/ from:

• a slot
• a module with stacking overlap
• a module without stacking overlap
• a module with adapter
• a module without adapter.

Changelog

• updated the grip point calculation to fetch the labware origin coordinates from the existing geometry getter (instead of duplicating the logic, which I was wrongly doing before)
• updated tests

Review requests

• make sure I'm not missing anything else
• @thassyopinto has tested on a mag block and confirmed that it fixed the issue being seen before. Testing on thermocycler was pending (did it complete yet?)

Risk assessment

None if done correctly.

[codecov]

Codecov Report

Merging #13364 (2aeedfe) into chore_release-7.0.0 (62063ca) will decrease coverage by 7.71%.
Report is 14 commits behind head on chore_release-7.0.0.
The diff coverage is n/a.

@@                   Coverage Diff                   @@
##           chore_release-7.0.0   #13364      +/-   ##
=======================================================
- Coverage                71.67%   63.96%   -7.71%     
=======================================================
  Files                     2427     1970     -457     
  Lines                    67641    43929   -23712     
  Branches                  7807     7771      -36     
=======================================================
- Hits                     48479    28100   -20379     
+ Misses                   17335    14002    -3333     
  Partials                  1827     1827              

Flag	Coverage Δ
api	?
g-code-testing	96.44% <ø> (ø)
notify-server	89.13% <ø> (ø)
ot3-gravimetric-test	?
robot-server	?

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see 461 files with indirect coverage changes

[SyntaxColoring]

LGTM to merge, given the test approval. Thanks!

I am confused by the code, though. One docstring request that might help.