hamilton star: support both core gripper types

[rickwierenga]

support both core gripper types:

deck = HamiltonSTARDeck(
  core_grippers = "1000uL-5mL-on-waste" # "1000uL-at-waste"
)

only the 1000uL-5mL ("on waste") variant was supported in PLR. Now we also support the 1000uL "at waste" variant

[rickwierenga]

in the unit test you can see we previously had an inconsistent location for the core grippers: pickup was correct but not drop

• ya: 124.0 -> 125.0 (as pickup already was)
• yb: 106.5 -> 107.0 (as drop already was)

[rickwierenga]

relevant context: @BioCam fixed the x location in #710

[rickwierenga]

also deleting no_teaching_rack and no_trash that we deprecated in #347 last January