Your idea with the UVB tubes under each floor is a good one.
The ramps... you can glue either sand or gravel for better footing. You can also add rails for footing.
As for falling... they are designed to deal with it. The shell is very soft and they can very easily right themselves. I had one fall from 2.5 meters without injury.
Final suggestion... Henrys design is the most common with most Pancake tortoise keepers. This setup is relatively inexpensive and something that is really close to what they really seem to like and doesn't look bad. They really do like to climb even if they don't have to.
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