fix(api): home all gripper axis when a stall is detected

[TamarZanzouri]

Overview

fix for https://opentrons.atlassian.net/browse/RQA-3390.
when a move_labware fails on a stall/collision its position is unknowen.
we currently home just the gripper z, this pr homes extensionZ and updatePositionEstimators collision is detected.

Test Plan and Hands on Testing

steps are in the ticket. I used this protocol to reproduce:

from opentrons import protocol_api, types

metadata = {
    "apiLevel": "2.15",
}

requirements = {
    "robotType": "OT-3"
}

def run(ctx: protocol_api.ProtocolContext) -> None:
    armadilo = ctx.load_labware("armadillo_96_wellplate_200ul_pcr_full_skirt", "D1")
    ctx.move_labware(labware=armadilo, new_location="D2", use_gripper=True)

Changelog

home gripper z and updatePositionEstimators.

Review requests

are we good with chaining it? do we want to split it to 2 separate methods?

Risk assessment

low.

[sfoster1]

Looks good but maybe a name for the error code?

[sfoster1]

can we get a name for this?

[mjhuff]

Nice job! Just one comment to think about.

[mjhuff]

IMO Because we conditionally call this command only during gripper recovery anyway, I'd be down just to always HOME_GRIPPER. That may be easier and reduce the bug surface a bit.

[TamarZanzouri]

fine by me!