feat(api): add new InstrumentContext.transfer_liquid() method

[sanni-t]

Closes AUTH-843

Overview

Adds InstrumentContext.transfer_liquid() method that does the following-

• validates parameters of transfer_liquid()
• loads the liquid class properties for the relevant pipette and tiprack into protocol engine
• delegates to engine core to perform the actual transfer

This PR does not cover engine core's transfer method execution.

Test Plan and Hands on Testing

Since this is mostly adding the scaffolding to implement the actual execution of transfer method, this PR is not testable on the robot yet. Unit tests are crucial at this stage and have been added for all changes.

Changelog

• adds InstrumentContext.transfer_liquid()
• adds InstrumentCore.load_liquid_class() and a placeholder InstrumentCore.transfer_liquid()
• adds validator methods and their tests to protocol_api.validation that get used in InstrumentContext.transfer_liquid()
• adds as_schema_v1_model() to the liquid properties in order to fetch the pydantic model representation of the liquid class's properties. This is used by load_liquid_class() in order to create a liquidClassRecord
• adds tests

Review requests

Do the validations make sense? Am I missing anything?
Does the transfer_liquid() interface look good?

Risk assessment

No risk so far since this is a code-only change.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 79.17%. Comparing base (d5b7e61) to head (b551782).
Report is 19 commits behind head on edge.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge   #16819      +/-   ##
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+ Coverage   73.90%   79.17%   +5.26%     
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  Files          43      120      +77     
  Lines        3231     4514    +1283     
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+ Hits         2388     3574    +1186     
- Misses        843      940      +97     

Flag	Coverage Δ
g-code-testing	92.43% <ø> (?)

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see 77 files with indirect coverage changes