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Hamilton decks: safe_deck_height on the STAR deck, and what hangs from a carried tool is not checked - #1405
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…m a carried tool is not checked The STAR deck warned above a hard-coded 245 mm. It is now `safe_deck_height`, as on the Prep deck, and `update_safe_deck_height_from_tips` sets it from the longest tip on the deck. The check skipped a resource only if it was the arm, the 96-head or a tool itself, so a plate in the grippers' jaws warned for itself and every well each time it was assigned. It walks up the parents first, as the Prep deck's does. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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The STAR deck's height warning uses configurable
HamiltonDeck.safe_deck_height(245.0 mm), matching the Prep deck's configurable limit. Height checks skip resources carried by the arm, the 96-head, or a head tool, so a plate held in the CoRe grippers and its wells do not trigger deck-height warnings.Both
HamiltonDeckandPrepDeckkeep_update_safe_deck_height_from_tips(stop_disc_z_max, margin=5.0)private. This helper derives the limit from the longest tip on the deck usinglib.spatial.clearance.get_safe_deck_height_from_tips, then rechecks deck resources. It is not called automatically; the defaults cover the longest tip each device can use.Validation: 30 tests and 17 subtests passed across the Hamilton and Prep deck suites, including tip-derived heights, carried-tool exclusions, and warnings for tall deck resources. Ruff lint and formatting checks passed for all four changed files.