feat(protocol-designer, step-generation): update mix for inPlace, expand tipstate for pipettes (#18512)

This PR wires up `aspirate/dispenseInPlace` commands to mix. It also
expands tip state temporal properties for pipettes to include not only
if a tip is attached, but what the tiprack URI of the attached tip is,
so that we can check safe pipette movements in `moveToWell` commands
through checking robot state at that command.

In `mix` compound command creator, we now emit:
- `moveToWell`
- `aspirateInPlace`
- `dispenseInPlace`

rather than:
- `aspirate`
- `dispense`

Also, I wire up pipette movement safety checks in `moveToWell`,
requiring nozzle configuration to be passed. This has a large footprint,
since I needed to update each implementation of `moveToWell` in step
generation command creators.

Author: ncdiehl11

app/src/organisms/ODD/QuickTransferFlow/__tests__/utils/quickTransferStepCommands.test.ts

@@ -90,7 +90,10 @@ const mockRobotState: TimelineFrame = {
       },
     },
     pipettes: {
-      mockPipette: false,
+      mockPipette: {
+        hasTip: false,
+        tiprackURI: null,
+      },
     },
   },
   liquidState: {

components/src/organisms/ProtocolTimelineScrubber/PipetteVisuals.tsx

@@ -60,7 +60,7 @@ export function PipetteMountViz(
       ) : null}
       {pipetteEntity != null && pipetteId != null ? (
         <PipetteSideView
-          allNozzlesHaveTips={timelineFrame.tipState.pipettes[pipetteId]}
+          allNozzlesHaveTips={timelineFrame.tipState.pipettes[pipetteId].hasTip}
           allNozzleTipContents={Object.values(
             timelineFrame.liquidState.pipettes[pipetteId]
           )}