fix(app): Fix gantry not homing when no labware in gripper jaws during Error Recovery

[mjhuff]

Closes RQA-3822

Overview

After the 8.2 release and some subsequent refactors, we were able to tie the gripper command sequencing directly to CTAs instead of utilizing an implicit execution sequence via a useEffect. Part of that command sequencing includes gripper homing, which occurs roughly when the user is prompted to confirm whether labware is currently in the gripper jaws. We (aka me) forgot to add the home command for the "no labware in jaws" case, as the homing should occur regardless of whether or not labware is in the jaws.

This PR just adds the explicit homing command to the "no labware in jaws" option, preventing fatal errors that occur after gripper recovery involving axes with unknown positioning.

Test Plan and Hands on Testing

• Go through the gripper error flow, selecting "no labware in jaws". On edge, there won't be any homing behavior that occurs. On this branch, there should be a home.
• Verified the run does not terminally fail after completing gripper recovery.

Changelog

• Fixed gripper recovery sometimes resulting in the run terminally failing after completing recovery.

Risk assessment

low

[sfoster1]

Ahh, that makes sense

[TamarZanzouri]

Perfect! Thank you!