support non-full tip racks with 96 head pickup #548
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as pointed out by @Ferryistaken in #547, we do not support picking up tips when the 96 head when tip tracking is enabled and the tip rack is not full.
in this PR we fix this issue
note that this is just about picking up from the entire rack, where maybe some tips are just not present. in a future PR, we will add support for "partial" pickups, i.e. shifting the head wrt the tip rack.