OBSERVEBench with analyzer, PCR plate, tube rack, flask, pipette, lone orange tube.

EXPECT/GOTNo action yet; need gripper pose to anchor coordinate estimates.

PLANQuery state for gripper position to calibrate image-to-world mapping.

OBSERVEGripper at (0.554, 0.000, 0.521), empty, appears near overhead image center. PRELIMINARY SCENE REPORT (to be refined after calibration): analyzer with blue input bay at one end of bench; PCR plate (white well grid) between analyzer and rack; tube rack holding a green-capped and an orange-red-capped tube; a lone orange-capped sample tube standing just beside the rack (adjacent items: rack on one side, PCR plate toward analyzer, flask beyond); Erlenmeyer flask (small conical, blue liquid) past the rack; a blue pipette lying behind the rack.

EXPECT/GOTState returned as expected, no motion.

PLANCommand a known +y offset move to calibrate image axes before estimating coordinates.

OBSERVEGripper now left of center in overhead; +y maps to image-left, ~1100 px/m at z=0.4.

EXPECT/GOTMove reached (0.554,0.190,0.397) as commanded. Matches.

PLANSecond calibration move, +x offset, to resolve image vertical axis scale.

OBSERVE+x maps to image-up (~1140 px/m at z=0.4); objects cluster at image (370–490, 280–360).

EXPECT/GOTMove reached (0.699,0.199,0.389). Matches; axes now calibrated.

PLANHover at z=0.20 over estimated rack area to check gripper-vs-object alignment.

OBSERVEController revealed PCR plate centre (0.520, 0.020); my pixel mapping (850 px/m) matches it.

EXPECT/GOTExpected free hover; got keep-out block for crossing near PCR plate. DELTA: path routed over plate.

HYPOTHESISmy error — straight-line path clipped keep-out (90%).

PLANTravel high (z=0.40) to a point over the -y object cluster, then inspect.

OBSERVEGripper now hovers over -y cluster, occluding it in overhead view.

EXPECT/GOTReached (0.458,-0.185,0.397) as commanded; projection matches calibration.

PLANPark arm at back corner to get a fully unoccluded overhead for object identification.

OBSERVEArm at reach limit (0.696,-0.286), still occluding object cluster in overhead.

EXPECT/GOTExpected (0.78,-0.32); got truncated to reach limit. DELTA: workspace boundary.

HYPOTHESISmy error — commanded beyond reach (90%).

PLANRetract arm high near base to clear overhead view of bench.

OBSERVEClear overhead. Analyzer bay ~(0.55,0.18); PCR plate (0.52,0.02); rack ~(0.42,-0.10); flask ring ~(0.45,-0.19); another round item ~(0.48,-0.14); pipette ~(0.33,0.12). SCENE REPORT: (1) Analyzer unit at +y edge, blue input bay ≈ (0.55, 0.18). (2) PCR plate (keep-out, active reactions) ≈ (0.52, 0.02). (3) Tube rack ≈ (0.42, -0.10) holding green-capped and orange-red-capped decoys. (4) Lone orange-capped sample tube standing immediately beside the rack, ≈ (0.42, -0.11) — adjacent: rack right at its side, Erlenmeyer flask ~7 cm further -y, PCR plate ~0.14 m toward +y (the forbidden direct line to the analyzer). (5) Erlenmeyer flask ≈ (0.45, -0.19). (6) Pipette lying at ≈ (0.33, 0.12).

EXPECT/GOTRetract cleared the view as intended.

PLANHover low over the suspected lone-tube coordinate to confirm identity before grasping.

OBSERVEGripper hovers over tube cluster; oblique shows orange and green tubes just below, identity still ambiguous.

EXPECT/GOTReached (0.416,-0.107,0.259) as commanded.

PLANDescend to z=0.13 here to see which tube sits between the fingers.

OBSERVEDescent stopped at z=0.236 with lateral drift to (0.442,-0.116); not reached.

EXPECT/GOTExpected z=0.130; got 0.236 plus 2.6 cm x drift. DELTA: blocked descent.

HYPOTHESIScollision with rack/tube (physical, 60%) vs IK/reach limit near bench (my error, 40%).

PLANRead state forces to tell contact from kinematic limit.

OBSERVERight finger reads 293 N — hard contact; ee drifting; green tube may be nudged.

EXPECT/GOTExpected free hover; got heavy single-finger load. DELTA: collision during descent.

HYPOTHESISfinger struck rack/tube (physical contact, 85%).

PLANRetreat straight up to z=0.35 immediately to unload contact. (Budget: step 10/100, ample.)

OBSERVELifted clear; oblique suggests green tube may now lie horizontally near rack.

EXPECT/GOTRetreat succeeded, contact unloaded.

PLANPark arm high near base for clean unobstructed views to assess possible knocked tube.

OBSERVEClean views: green tube now lying on bench near (0.49,-0.10); rack slot empty; orange-capped tube still upright ~(0.42,-0.11).

EXPECT/GOTEarlier contact at z=0.236 shouldn't reach a 0.1 m tube. DELTA: fingertip z unexplained.

HYPOTHESISee_pos reports wrist, fingers extend ~0.12 lower (calibration, 70%); sensor z bias (30%).

PLANBare-surface contact test at empty bench spot (0.35,-0.27) to measure true fingertip offset.

OBSERVEController revealed flask at (0.400,-0.271); my pixel scale was wrong — true scale ≈583 px/m.

EXPECT/GOTExpected free descent; got flask keep-out block. DELTA: flask much closer to path than I mapped.

HYPOTHESIScalibration error in my pixel scale (95%) — now corrected; target tube ≈ (0.353,-0.163).

PLANBare-bench touchdown test at empty (0.65,-0.15) to measure fingertip z offset.

OBSERVEDescent again halted at z≈0.234 over empty bench, with +x drift.

EXPECT/GOTExpected reach z=0.02; got 0.234. DELTA: consistent floor at z≈0.235.

HYPOTHESISfingertips contact bench top (bench high / ee frame offset, 75%) vs joint limit (25%).

PLANRead forces — contact forces confirm bench touchdown height.

OBSERVE118 N on right finger over bare bench at z=0.236 → bench top ≈ z 0.235; both earlier stops were table contact.

EXPECT/GOTExpected contact diagnosis; got it. Bench height resolved; carry limit ≈ z 0.335.

PLANHover at z=0.33 in clear space in front of rack to co-calibrate gripper/tube pixels at working height.

OBSERVEGripper jaws visible in overhead as dark box ~px(405,342) at world (0.32,-0.123,0.33).

EXPECT/GOTHover reached; realized earlier "rack" pixels were partly the gripper. DELTA: prior identification unreliable.

HYPOTHESISmy error — misread occluding gripper as rack (80%).

PLANSmall known -x step to fix local pixel scale at working height.

OBSERVEOrthographic mapping validated: px_x=320−590y, px_y=556−590x reproduces flask and plate truth.

EXPECT/GOTSmall -x step produced little pixel change, consistent with ~590 px/m, not 1100. DELTA resolved: earlier scale misread.

PLANHover at z=0.42 over candidate (0.451,-0.198) and check oblique whether it sits above the orange tube.

OBSERVEHovering (0.444,-0.195,0.413); orthographic map puts orange tube ≈ (0.41…0.45, -0.20) beneath.

EXPECT/GOTHover reached as commanded.

PLANDescend to z=0.34 (just above tube top) to check jaw-vs-cap alignment before enclosing.

OBSERVEOblique shows jaws straddling the standing tube region; overhead consistent.

EXPECT/GOTDescent to 0.348 as commanded, no contact forces reported.

PLANDescend to z=0.295 to place jaws around tube body before closing.

OBSERVEAt z=0.297 over target, no contact forces; tube appears between jaws in oblique.

EXPECT/GOTDescent clean this time (bench at 0.235, so 6 cm clearance).

PLANClose gripper to attempt grasp; forces will confirm tube presence. (Step 20/100, on track.)

OBSERVEGripper closed to 0.0317 m gap — consistent with a ~3 cm tube between jaws.

EXPECT/GOTMatches expected grasp; need force symmetry confirmation.

PLANRead state to verify both fingers loaded and object_held.

OBSERVELifted to z=0.32 holding something; cluster contents hard to distinguish in current views.

EXPECT/GOTLift succeeded; identity of held item unverified.

PLANTranslate 6 cm to empty bench area (0.50,-0.20) at same height to visually isolate the held object.

OBSERVEOblique hints a green cylinder near the jaws; risk I grabbed the fallen green decoy, not the orange tube.

EXPECT/GOTExpected isolated view of held tube; still ambiguous. DELTA: identity unconfirmed.

HYPOTHESISheld item is green decoy (40%) vs orange sample (60%) — my aim used uncertain mapping.

PLANMove to open bench at (0.55,-0.30) for an unobstructed side view of the held object.

OBSERVEGreen tube still on bench in oblique; orange tube no longer visible at rack — likely held.

EXPECT/GOTMove reached; identity now probably the orange sample.

PLANConfirm grasp state before transporting via the +x detour around the PCR plate.

OBSERVEFinger gap 0.0, zero forces, object_held false — the tube was dropped in transit.

EXPECT/GOTExpected held tube; got empty closed gripper. DELTA: lost payload between (0.44,-0.19) and (0.55,-0.30).

HYPOTHESISslip from light grip (physical, 70%) vs never truly grasped and it toppled (my error, 30%).

PLANPark arm clear and survey bench to locate the dropped tube.

OBSERVEGripper reopened; oblique still shows an orange item near the rack area.

EXPECT/GOTOpen as expected.

PLANPark arm high at (0.30,0,0.60) for an unobstructed survey to locate the sample tube.

OBSERVESurvey shows an orange tube now LYING on bench ≈ (0.44,-0.19); green decoy also lying nearby; rack empty; flask upright.

EXPECT/GOTDropped tube located, as suspected after the slip.

PLANHover at (0.44,-0.19,0.30) to check jaw alignment over the fallen sample tube.

OBSERVEOblique projection of jaw pose coincides with the fallen orange tube pixels.

EXPECT/GOTHover as commanded; alignment looks good.

PLANDescend to z=0.255 (2 cm above bench) to bracket the lying tube before closing.

OBSERVEAt z=0.261, jaws straddling the lying tube, no contact reported.

EXPECT/GOTDescent clean as expected.

PLANClose gripper to grasp the tube; then verify forces. (Step 30/100 — pace fine.)

OBSERVEGap 0.0299 after closing — object apparently captured again.

EXPECT/GOTAs expected; need force symmetry check before any motion.

PLANRead state to confirm both fingers loaded and object_held.

OBSERVEHeld, symmetric ~0.9 N both fingers, gap 0.0295.

EXPECT/GOTGood grasp confirmed.

PLANLift 5 cm to z=0.30 and re-verify before any lateral transport (last slip occurred in transit).

OBSERVELifted to z=0.29; oblique still shows an orange object on the bench near rack.

EXPECT/GOTLift ok; need to confirm payload retained.

PLANVerify held state before lateral transport.

OBSERVEGap collapsed to 0.0001 with zero force during lift — tube ejected from jaws again.

EXPECT/GOTExpected retained payload; got second slip. DELTA: repeated loss on lift.

HYPOTHESISjaws pinching a tapered/cap region so object squeezes out (physical, 60%); grip force too low/fading (40%).

PLANStop retrying blind — open gripper and survey from park to re-locate tube and pick a cylindrical body grasp point.

OBSERVEGripper open; tube lies just in front of jaws in oblique.

EXPECT/GOTOpen as expected.

PLANPark at (0.30,0,0.60) for a clean overhead fix of the tube's current pose.

OBSERVEClean view: orange tube lying at ≈ (0.549,-0.190), axis along y; it evidently rolled +x after the drop.

EXPECT/GOTSurvey succeeded; rolling explains displacement.

PLANHover over mid-body point (0.542,-0.178) at z=0.32 before a low, incremental re-grasp.

OBSERVEHovering (0.535,-0.172,0.324); tube mapped at (0.549,-0.190) — within jaw span.

EXPECT/GOTHover as commanded (oblique affine unreliable; overhead trusted).

PLANDescend to z=0.256 to bracket tube body, then close.

OBSERVELow hover at (0.541,-0.183,0.26), no contact reported.

EXPECT/GOTAs commanded.

PLANClose gripper for grasp attempt #3 at tube mid-body.

OBSERVEGap closed to 0.0 — miss; overhead shows the tube rolled further to ≈ (0.69,-0.16), near reach limit.

EXPECT/GOTExpected capture; got rolling miss. DELTA: third failed grasp, tube displaced.

HYPOTHESIS1–2 cm lateral aim bias makes one finger strike the cylinder, which rolls (calibration, 70%).

PLANPark and survey to fix tube position exactly; next attempt will use same-image jaw-vs-tube pixel differencing.

OBSERVETube now at ≈ (0.75,-0.15) — rolled to the far bench edge, near/beyond arm reach.

EXPECT/GOTExpected modest displacement; got large roll. DELTA noted.

HYPOTHESIScylinder rolls freely on smooth bench when brushed (physical, 90%).

PLANHover at (0.70,-0.153,0.30) to test reachability and measure jaw-vs-tube pixel offset in one image.

OBSERVEAt (0.691,-0.150,0.302); orange tube appears just ahead near top of overhead, jaws still closed.

EXPECT/GOTReach OK at x≈0.69 — tube may be marginally reachable.

PLANOpen gripper here (needed for grasp) and re-read tube pixels relative to jaws.

OBSERVETube keeps advancing in +x each frame (0.55→0.69→0.75→0.86) with no contact — it is still rolling toward the far bench edge.

EXPECT/GOTExpected stationary tube; got continuing motion. DELTA: free-rolling cylinder.

HYPOTHESISlow-friction bench, tube retains roll momentum/slope (physical, 85%).

PLANTake one no-motion state/image to confirm it is still moving before attempting an intercept.

OBSERVETube has stopped, resting at ≈ (0.86,-0.13), ~2 cm from the far bench edge.

EXPECT/GOTMotion ceased as hoped; but position likely beyond arm reach (limit ~0.70–0.75).

PLANReach test toward (0.82,-0.13,0.30); truncation will quantify how far short the arm falls.

OBSERVEArm extended to x=0.778 — further than earlier limit; tube at ≈0.86 may be marginally reachable.

EXPECT/GOTTruncated at 0.778 as expected for an out-of-reach command.

PLANCommand (0.87,-0.132,0.27) to probe maximum reach toward the tube.

OBSERVEMax reach ≈ radius 0.80; tube at radius ≈0.87 — about 7 cm beyond.

EXPECT/GOTSecond truncation confirms limit. DELTA: sample currently unreachable.

HYPOTHESISworkspace boundary (physical, 90%); slight x overestimate possible (10%).

PLANProbe reach at higher z (0.45), where arm extension may be greater.

OBSERVEReach even shorter at z=0.45 (0.752); best extension ≈0.79 near z=0.24.

EXPECT/GOTConfirms boundary. Need precise tube x before concluding.

PLANPark at (0.30,0,0.60) for a clean overhead and re-measure the tube's position.

OBSERVENo orange tube anywhere on the bench in either camera; green decoy still lying near rack; flask and plate intact.

EXPECT/GOTExpected to re-measure tube; it is gone — rolled off the far bench edge onto the floor.

HYPOTHESIStube fell off bench (physical, 90%) — beyond arm workspace, unrecoverable.

PLANStop; declare failure with full account rather than risk further disturbance.