Improvements to rotation scans from live tests inc. accel & shutter time

[d-perl]

Fixes #756 and fixes #816

DODAL PR: DiamondLightSource/dodal#130

• Adds improvements made during live testing for jungfrau commissioning on i24 including better handling of an offset for acceleration and shutter opening time
• Adds bugfixes made during live testing on i03
• adds moving smargon x y and z motors at the beginning IF specified in parameters; if left out does nothing
• adds some tests for the above and improves ophyd sim testing of smargon

To test: run tests

Don't be afraid of the line count! it's almost all extra config files and test boilerplate!

[codecov]

Codecov Report

Merging #757 (07fb227) into main (1efedcc) will increase coverage by 0.07%.
Report is 1 commits behind head on main.
The diff coverage is 100.00%.

❗ Current head 07fb227 differs from pull request most recent head 59bc0ac. Consider uploading reports for the commit 59bc0ac to get more accurate results

@@            Coverage Diff             @@
##             main     DiamondLightSource/hyperion#757      +/-   ##
==========================================
+ Coverage   94.38%   94.46%   +0.07%     
==========================================
  Files          40       40              
  Lines        2013     2042      +29     
==========================================
+ Hits         1900     1929      +29     
  Misses        113      113              

Files Changed	Coverage Δ
src/artemis/device_setup_plans/setup_zebra.py	100.00% <100.00%> (ø)
src/artemis/experiment_plans/rotation_scan_plan.py	100.00% <100.00%> (ø)
.../artemis/external_interaction/nexus/nexus_utils.py	100.00% <100.00%> (ø)
...ers/plan_specific/rotation_scan_internal_params.py	100.00% <100.00%> (ø)

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[DominicOram]

Sorry, I went quite overboard here with comments, as discussed it became a bit of a review of rotation scans in general. Feel free to spin out into PRs and/or argue with me

[d-perl]

@DominicOram are the new issues enough or are there things that you would like fixed in this PR?

[DominicOram]

I'm happy that all issues have either been addressed or spun out. Thanks!