OBSERVETwo arms over bench; tube (green label) left of overhead, stir rod right, holder center.

EXPECT/GOTNo action yet; baseline view only.

PLANCall get_state to read positions and instrument readings before moving.

OBSERVEState gives arm poses only; tube/rod positions must be inferred from cameras.

EXPECT/GOTReadings nominal: fill 1.0, tilt 0, no moisture. As expected.

PLANMove hand B high above estimated tube location (0.55, 0.80, 0.40) to calibrate visually.

OBSERVEHand B reached (0.545,0.806,0.394); only arm edge visible at overhead left border.

EXPECT/GOTExpected gripper over bench near tube; gripper appears off-frame left. DELTA.

HYPOTHESISOverhead frame covers limited region (calibration/my mapping error, 80%).

PLANMove hand B to bench center-ish (0.55,0.55,0.40) to calibrate image mapping.

OBSERVEHand B arm now visible left in overhead, right in oblique; mapping still ambiguous.

EXPECT/GOTExpected gripper near bench center; only links visible, projection confusing. DELTA.

HYPOTHESISCameras perspective, high-z arm projects differently than bench objects (calibration, 85%).

PLANLower hand B to bench level at empty spot (0.75,0.55,0.12) for pixel↔world calibration.

OBSERVEHand B gripper appears off bench to the left in overhead; items unreached.

EXPECT/GOTExpected gripper on bench visible near center; appears outside bench. DELTA.

HYPOTHESISTube lies at much larger y (~1.0-1.2) near hand B mount (my mapping error, 70%).

PLANMove hand B to (0.55,1.00,0.30) - tests whether tube region is at high y.

OBSERVEHand B retracted off bench at y=1.0; both views show arm folded away.

EXPECT/GOTExpected gripper near tube; it left the bench. DELTA: bench lies at smaller y.

HYPOTHESISPerspective cameras: high-z arm links project outward, misleading me (calibration, 80%).

PLANBench-level calibration: move hand A to empty spot (0.35,0.0,0.15), note gripper pixels.

OBSERVEOblique shows 3 stands: rod(left), empty destination(middle, under hand A), tube(right).

EXPECT/GOTMove stopped at (0.449,0,0.238) - joint/table limit; still informative: y=0 is destination holder.

HYPOTHESISStands likely symmetric: rod y≈-0.3, destination y≈0, tube y≈+0.3 (calibration inference).

PLANMove hand B to (0.50,0.30,0.35) and check alignment above tube in oblique.

OBSERVEHand B gripper directly above green-capped tube in oblique; alignment looks good.

EXPECT/GOTPredicted tube near y≈+0.3 - confirmed visually.

PLANDescend hand B to z=0.20 above tube to verify centering before grasp.

OBSERVEHand B stopped at z=0.240 ("reached false"); gripper now occludes tube in oblique.

EXPECT/GOTExpected z=0.20; blocked at 0.24 - same floor as hand A earlier. DELTA.

HYPOTHESISWorkspace/IK lower limit ~z0.24 (calibration, 60%) vs contact with tube (30%).

PLANClose gripper here - tests whether tube body is within the fingers at this height.

OBSERVEFinger gap 0.0 after close - nothing between fingers; tube still in stand presumably.

EXPECT/GOTExpected tube grasp; empty close. DELTA: misalignment or too high.

HYPOTHESISLateral offset few cm (my error, 50%) vs gripper above tube top (calibration, 50%).

PLANOpen gripper and read state/forces to confirm empty and check z limit.

OBSERVEGripper open (0.068) hovering at z=0.24 over tube; tube occluded in oblique.

EXPECT/GOTOpen succeeded as expected.

PLANProbe empty bench at (0.62,0.31,0.10) to test whether z≈0.24 is a global limit or tube contact.

OBSERVEBlocked again at z≈0.234 over empty bench → bench surface is z≈0.234, not 0.

EXPECT/GOTConfirmed floor limit, not tube contact. Explains earlier empty close.

HYPOTHESISTube at (x≈0.49,y≈0.31); my earlier x was ~3 cm too far (quantified from overhead pixels).

PLANMove hand B to (0.49,0.31,0.38) above tube to verify before descending.

OBSERVEGripper hovering just above/right of tube in oblique at z=0.375.

EXPECT/GOTReached as commanded.

PLANDescend to z=0.30 to find tube-top contact height and check centering.

OBSERVEReached z=0.309 unobstructed; green cap visible right beside fingers in oblique.

EXPECT/GOTAs expected; fingers likely straddling tube body.

PLANClose gripper - direct test of grasp with force/gap feedback.

OBSERVESecond empty close at (0.488,0.312,0.309) - gap 0, no object.

EXPECT/GOTExpected grasp; failed twice. DELTA: tube location estimate wrong.

HYPOTHESISx or y off by >2 cm (my calibration error, 75%) vs tube shorter than assumed (25%).

PLANOpen, retract both arms clear of bench for unobstructed camera view to localize tube.

OBSERVEGripper open; two failed grasp attempts logged; tube still standing in oblique.

EXPECT/GOTOpen as expected.

PLANRaise both arms high/back to clear cameras for precise tube localization.

OBSERVEClean views: overhead shows tube(218,258), destination(375,225), rod(470,252) markers.

EXPECT/GOTRetract worked; pixel calibration vs hand A bench-level reference gives tube ≈ (0.38,0.31).

HYPOTHESISPrior failures = x overshoot ~0.11 m (my calibration error, high confidence).

PLANMove hand B above corrected tube position (0.38,0.31,0.45) to verify alignment.

OBSERVEHand B at (0.378,0.319,0.453); oblique shows gripper above-left of tube.

EXPECT/GOTReached commanded pose.

PLANDescend to z=0.34 to approach tube top and judge centering.

OBSERVEAt (0.379,0.310,0.350), no obstruction; tube just below fingers in oblique.

EXPECT/GOTAs expected.

PLANDescend to z=0.30 for tube-body grasp height.

OBSERVEFingers now at z=0.304, oblique shows them straddling tube near green cap.

EXPECT/GOTDescent unobstructed as expected.

PLANClose gripper and check for symmetric forces and nonzero gap.

OBSERVEThird empty close - gap 0, no tube. Cameras still show tube upright in stand.

EXPECT/GOTExpected grasp; failed. DELTA: lateral position still wrong.

HYPOTHESISResidual localization error (my/calibration, 80%); stop re-aiming blind.

PLANDiagnostic: with fingers CLOSED descend at (0.38,0.31) to z=0.24; stop height reveals if tube is below.

OBSERVEClosed-finger descent to 0.248 at (0.38,0.31) unobstructed → no tube there.

EXPECT/GOTDiagnostic informative. Bench top ≈0.23; earlier stop at 0.234 was bench, not tube.

HYPOTHESISTube ≈(0.47,0.31) from multi-point pixel regression; earlier misses were too high (z=0.309 above short tube) and too far in x.

PLANOpen gripper, then approach (0.47,0.31,0.40) from above.

OBSERVEFingers open 0.078 at (0.377,0.312,0.248), tube still upright in its stand.

EXPECT/GOTOpen as expected.

PLANLift to z=0.40 then reposition above (0.47,0.31) - avoids lateral collision with tube.

OBSERVEHand B at (0.465,0.309,0.391); tube visible below-left of fingers in oblique.

EXPECT/GOTReached as commanded.

PLANDescend to z=0.26 - fingertip height below tube top for body grasp.

OBSERVEFingers at z=0.268 apparently straddling tube; green cap occluded in oblique.

EXPECT/GOTDescent free, as expected for straddling.

PLANClose gripper - test grasp at corrected position and lower height.

OBSERVEFinger gap 0.0496 - object between fingers. Grasp likely succeeded.

EXPECT/GOTMatches expectation of tube diameter ~5 cm.

PLANget_state to confirm symmetric forces, object_held, and tube tilt.

OBSERVEAsymmetric contact: right 2.48 N, left 0 N, object_held false - off-center grasp.

EXPECT/GOTExpected symmetric grip; only one finger loaded. DELTA.

HYPOTHESISLateral offset along closing axis ~1-2 cm (my calibration, 80%).

PLANOpen, shift y to 0.295, reclose - measures whether offset sign is -y.

OBSERVEGripper reopened to 0.080 at (0.467,0.312,0.257); tube still upright.

EXPECT/GOTAs expected; no spill, tilt 0.

PLANShift to y=0.295 same height, then reclose to test offset sign.

OBSERVEHand B at (0.467,0.300,0.257), fingers open beside tube; tube upright.

EXPECT/GOTReached commanded shift.

PLANClose gripper and read forces to see if asymmetry reduced.

OBSERVEClose at y=0.300 gave gap 0.0 - missed entirely; y=0.312 had partial contact.

EXPECT/GOTExpected improvement; got miss. DELTA: offset sign is +y.

HYPOTHESISTube center near y≈0.322 (geometry inference, 80%).

PLANOpen, move to y=0.322, reclose to seek symmetric grip.

OBSERVEGripper open; budget at 30/100 - need efficient convergence.

EXPECT/GOTOpen as expected.

PLANMove to (0.47,0.325,0.26) and close - centering toward loaded-finger side.

OBSERVEHand B at (0.468,0.320,0.257), fingers open around tube region.

EXPECT/GOTReached (slight -0.005 y undershoot).

PLANClose gripper, expect symmetric loading now.

OBSERVEGap 0.0522 - object between fingers again at y=0.320.

EXPECT/GOTExpected symmetric grip; need force check.

PLANget_state to check both fingertip forces and object_held.

OBSERVEtube_tilt_deg jumped to 11.1° - closing finger is pushing/tipping the tube. Still no spill.

EXPECT/GOTExpected symmetric grip; got same one-sided 2.6 N and tilt. DELTA.

HYPOTHESISFinger closing axis is x, not y; offset in x (my error, 70%) - y shifts changed nothing.

PLANOpen immediately to release tube and let it settle upright.

OBSERVEReleased; tube should settle back upright in stand.

EXPECT/GOTOpen succeeded.

PLANShift to x=0.49 (same y,z) and close - tests +x correction along closing axis.

OBSERVEHand B at (0.483,0.326,0.258); tube visible just left of fingers, upright.

EXPECT/GOTReached (x undershoot 0.007).

PLANClose gripper and immediately read forces via state.

OBSERVEClose reports gap 0.0843 - wider than open width; anomalous.

EXPECT/GOTExpected grip or miss; got implausible gap. DELTA.

HYPOTHESISFingers jammed on stand/tube rim (physical, 50%) vs gap sensor glitch (sensor, 50%).

PLANget_state to read forces and tube tilt for interpretation.

OBSERVERight finger 29 N, tube tilt 13.7° - gripper jamming tube hard; risk of spill.

EXPECT/GOTExpected centering; +x made contact far worse. DELTA: correction direction is -x.

HYPOTHESISTube center at smaller x; closing axis roughly x (my calibration, 85%).

PLANOpen gripper at once to unload the tube.

OBSERVEGripper open (0.085), tube tilted ~14° but no spill yet.

EXPECT/GOTUnloaded as intended.

PLANLift to z=0.42 and reposition to x=0.45 above tube, letting tube settle.

OBSERVETube upright again in stand (green cap visible); hand B clear above at z=0.411.

EXPECT/GOTReposition succeeded; tube recovered.

PLANDescend to z=0.26 at (0.45,0.322) for a -x-corrected grasp attempt.

OBSERVEFingers at (0.451,0.322,0.270) straddling tube; descent unobstructed.

EXPECT/GOTAs expected. Budget 40/100 - converge now.

PLANClose gripper; then verify force symmetry.

OBSERVEGap 0.0221 - plausible tube diameter grip.

EXPECT/GOTConsistent with proper grasp; need force confirmation.

PLANget_state to check symmetric forces, object_held, tube tilt.

OBSERVELeft finger 1.1 N, right 0 at x=0.447; opposite asymmetry from x=0.468/0.485.

EXPECT/GOTBracketed the tube: center x≈0.457 (contact sign flip).

PLANOpen, then approach x=0.457 same y,z - midpoint of bracket.

OBSERVEFingers open at (0.447,0.323,0.258); tube slightly tilted but in stand.

EXPECT/GOTOpen as expected.

PLANMove to bracket midpoint (0.458,0.322,0.262) then close.

OBSERVEGap 0.0254 after close - object apparently between fingers.

EXPECT/GOTSimilar to last attempt; need force symmetry check.

PLANget_state to test for two-sided loading and object_held.

OBSERVERight finger 1.27 N only, object_held false, tube tilt 9.8°, fill reading rose 1.0→1.2.

EXPECT/GOTExpected symmetric grasp; one-sided again. DELTA. Also fill reading drifting up - abnormal.

HYPOTHESISTube leaning in stand so vertical fingers touch one side (physical, 60%); contents evolving gas (30%).

PLANOpen and lift clear; then re-read state to see if tube settles upright.

OBSERVEGripper reopened; tube still leaning slightly in stand.

EXPECT/GOTOpen as expected.

PLANRe-close at this position (best bracket) - then test by small lift, since one-side force may be sensor asymmetry.

OBSERVEGap 0.0254 again - repeatable contact geometry.

EXPECT/GOTAs expected.

PLANLift 5 cm to z=0.31 - decisive test whether tube is actually held.

OBSERVETube remained in stand after lift - grasp was on stand collar, not tube.

EXPECT/GOTExpected tube to rise; it didn't. DELTA: gripped wrong part/height.

HYPOTHESISFingers were around stand neck at z≈0.26; tube body sits higher, z≈0.30-0.33 (physical geometry, 70%).

PLANOpen at current z=0.30, then close there to grasp the tube body.

OBSERVEOpen at (0.454,0.324,0.300); green cap just below fingers in oblique. Budget half used.

EXPECT/GOTOpen as expected.

PLANClose at this higher height to grip tube body rather than stand.

OBSERVEClose at z=0.300 gave gap 0.0001 - nothing there; object exists only near z≈0.26.

EXPECT/GOTExpected tube body at 0.30; absent. DELTA.

HYPOTHESISObject at 0.26 is the stand collar (physical, 50%) vs short tube whose top is ~0.28 (50%).

PLANClosed-finger descent to z=0.235 at same x,y - blockage height profiles what is there.

OBSERVEClosed-finger descent blocked at z=0.251 with lateral drift - solid object top ≈0.25 there.

EXPECT/GOTConfirms stand/tube top near 0.25; tube body must be just above.

HYPOTHESISTube is short: body ~0.25-0.29; earlier 0.26 contact was tube but grip off-center in y.

PLANOpen gripper, then grasp at (0.455,0.318,0.272).

OBSERVEopen_gripper returned gap 0.0045 - fingers failed to open, likely jammed against object.

EXPECT/GOTExpected ~0.08 gap; got 0.0045. DELTA.

HYPOTHESISFingers wedged against stand rim while pressed down (physical, 70%) vs gripper fault (30%).

PLANLift to z=0.30 to unload fingers, then retry opening.

OBSERVEHand B lifted to z=0.291; tube still standing (green cap visible).

EXPECT/GOTLift succeeded; fingers presumably free now.

PLANOpen gripper to confirm it recovers full 0.08 gap (rules out gripper fault).

OBSERVEGripper healthy (gap 0.080). Contact pattern review: right-pad contact at both y=0.312 and 0.325.

EXPECT/GOTConsistent only if closing axis is y and tube lies at y>0.325, x≈0.46.

HYPOTHESISTube center y≈0.345 (geometric deduction from contact sides, 70%).

PLANMove to (0.455,0.345,0.285) above suspected tube center.

OBSERVEHand B at (0.454,0.340,0.285), fingers open; tube just below-left in oblique.

EXPECT/GOTReached (y undershoot 5 mm).

PLANDescend to z=0.265 for tube-body height, then close.

OBSERVEFingers at (0.457,0.346,0.271), straddling region y≈0.31-0.39.

EXPECT/GOTReached; no obstruction.

PLANClose gripper and read state - test the y≈0.345 hypothesis.

OBSERVEClose stalled at gap 0.0806 - fingers blocked immediately.

EXPECT/GOTExpected centered grip; blocked. DELTA.

HYPOTHESISOne pad braced against stand/tube exterior (physical, 70%) vs actuator stall (30%).

PLANget_state to read forces and tube tilt before retreating.

OBSERVERight pad 14 N at full-open gap; tilt 4.8°. Tube has been shifting between probes (tilt 0→14→4.8).

EXPECT/GOTInconsistent contact data across attempts. DELTA: target is moving, not static.

HYPOTHESISLoose tube being nudged by pads (physical, 70%); my pixel calibration too coarse (30%).

PLANLift straight up to z=0.34 to unload pad without dragging the tube.

OBSERVEBudget 60/100; tube appears to sit higher now, possibly partly lifted in its socket.

EXPECT/GOTLift unloaded the pad as intended.

PLANRetract hand B to (0.30,0.55,0.55) for one unoccluded localization view.

OBSERVETube is now in hand B's gripper (stand empty); tube looks tilted, gap reads full-open.

EXPECT/GOTUnexpected pickup - tube wedged against one pad at 14 N, not a proper grasp. DELTA.

HYPOTHESISFriction/jam hold (physical, 80%); risk of drop and spill.

PLANget_state immediately to read tilt, fill, moisture and forces.

OBSERVEobject_held TRUE, symmetric 0.6 N, gap 0.027 - tube secured, but tube_tilt 13.4°, fill 1.18 (rising).

EXPECT/GOTGrasp achieved (unexpectedly, via the jam-then-lift), but tube not upright.

HYPOTHESISTube seated askew in fingers; small wrist counter-tilt may level it (calibration, 60%).

PLANtilt_gripper -5° as a signed test; read tube_tilt response.

OBSERVEAfter tilt, oblique gripper looks empty; small blue/green object seen apart in overhead.

EXPECT/GOTExpected tilt correction with tube retained. Possible drop. DELTA.

HYPOTHESISTube slipped from weak grip during tilt (physical, 65%) vs occlusion illusion (35%).

PLANget_state to check object_held, forces, moisture alert.

OBSERVETube dropped - object_held false, gap 0, no forces; tilt 0, no moisture alert (no spill).

EXPECT/GOTExpected tilt correction; tube slipped free. DELTA: grip was marginal (0.6 N).

HYPOTHESISWedge-type hold released when wrist rotated (physical, 85%).

PLANReset wrist to 0 and open fingers, preparing to retrieve the fallen tube.

OBSERVEWrist reset to 0; tube visible as small object off the bench edge near y≈0.5, x≈0.3.

EXPECT/GOTReset fine.

PLANOpen fingers, then descend near the fallen tube to assess reachability.

OBSERVEFingers open; tube lies off-bench (overhead ~col 152), presumably on floor near where it dropped.

EXPECT/GOTOpen as expected.

PLANMove hand B to (0.30,0.56,0.20) to view/approach the fallen tube and test low-z reach.

OBSERVEOverhead shows tube's green cap near (160,303), just off-bench beside hand B gripper.

EXPECT/GOTApproach reached z=0.209; tube estimated ≈(0.35,0.48) on floor.

PLANMove to (0.35,0.48,0.13) to test low reach and align with fallen tube.

OBSERVEReached z=0.132 off-bench at (0.344,0.488); green cap no longer separately visible.

EXPECT/GOTLow reach possible to ~0.13. Tube may be within fingers.

PLANClose gripper here - cheap test for capture of fallen tube.

OBSERVEEmpty close at (0.344,0.488,0.132) - tube not there.

EXPECT/GOTExpected capture; missed. DELTA: fallen-tube position unknown.

HYPOTHESISTube is on floor below reach or offset (physical, 60%); arm occluded view (40%).

PLANRetract to (0.30,0.30,0.45) for a clear overhead of the off-bench floor area.

OBSERVEOverhead: tube (green/blue dot) off-bench at ~(150,307); bench edge at col 190.

EXPECT/GOTClear view obtained.

PLANProbe floor height: closed-finger descent at empty off-bench (0.35,0.62,0.02) to learn reachable floor z.

OBSERVEReached z=0.027 off-bench - floor region is reachable. Tube cap pixel (157,308) vs gripper (140,295).

EXPECT/GOTProbe successful; tube estimated ≈(0.32,0.59) on floor.

PLANOpen gripper, then approach tube estimate at low height.

OBSERVEFingers open near floor level at (0.356,0.623,0.027).

EXPECT/GOTOpen as expected.

PLANMove to tube estimate (0.32,0.59,0.055) - straddling height for a floor-standing tube.

OBSERVEGripper at (0.325,0.592,0.047); green cap still appears slightly +col from gripper in overhead.

EXPECT/GOTReached commanded pose.

PLANClose gripper - quick capture test at this floor position.

OBSERVEEmpty close again; overhead green dot stays ~(157,307) while gripper moved 3 cm.

EXPECT/GOTExpected capture; missed. DELTA: pixel resolution insufficient (±2 cm).

HYPOTHESISTube within ~4 cm, likely +x/+y of last pose (calibration, 60%).

PLANOpen, then try grasp at (0.345,0.610,0.045).

OBSERVEGreen dot ~(160,300) just beyond gripper fingertip in overhead.

EXPECT/GOTOpen as expected.

PLANTry grasp at (0.37,0.605,0.045) - offset toward increasing image column.

OBSERVEGripper at (0.361,0.602,0.045); green cap appears immediately adjacent in overhead.

EXPECT/GOTReached commanded pose.

PLANClose gripper - capture attempt at revised floor position.

OBSERVEThird floor miss; 23 steps left. Vision resolution inadequate for this off-bench object.

EXPECT/GOTExpected capture; missed. DELTA persists.

HYPOTHESISParallax on below-bench object biases my pixel estimate (calibration, 75%).

PLANTactile sweep with closed fingers: move to (0.35,0.55,0.04); blocked move localizes tube.

OBSERVEOverhead shows pale elongated shape next to gripper - possibly tube lying horizontally on floor.

EXPECT/GOTMove reached; new visual evidence of tube orientation.

PLANget_state to read tube_tilt/fill/moisture - distinguishes standing vs toppled.

OBSERVEtube_tilt 90.6° - tube now lying on its side on the floor; fill 1.18, no bench moisture.

EXPECT/GOTSweep contacted and toppled it, confirming location adjacent to gripper at lower y.

HYPOTHESISTube axis horizontal near (0.35,0.50) just off bench edge (vision+contact, 65%).

PLANOpen gripper for a capture attempt on the horizontal tube.

OBSERVETube bar visible extending toward lower y from gripper; fingers open. Budget 80/100.

EXPECT/GOTOpen as expected.

PLANMove to (0.351,0.515,0.035) - over the toppled tube's midsection.

OBSERVEGripper at (0.348,0.521,0.034), fingers straddling area where tube lies.

EXPECT/GOTReached commanded pose.

PLANClose gripper to capture the horizontal tube.

OBSERVEMissed again; the pale "bar" was likely the gripper's own finger, not the tube.

EXPECT/GOTExpected capture; empty. DELTA: my visual ID was wrong.

HYPOTHESISTube pushed to a new floor spot by the sweep (physical, 70%).

PLANRetract to (0.25,0.25,0.50) to clear the floor view and re-locate the tube.

OBSERVEClear view: pale tube lying at overhead (192,297), just off bench left edge.

EXPECT/GOTRetraction gave the view needed; 3-point affine fit gives tube ≈(0.375,0.413) on floor.

PLANOpen gripper for the recovery grasp.

OBSERVETube actually lies ON the bench: oblique (487,297), overhead (300,247) - it rolled onto the surface.

EXPECT/GOTBetter news than floor; affine fit gives ≈(0.447,0.149), horizontal.

PLANMove hand B to (0.447,0.149,0.248) to straddle the lying tube.

OBSERVEGripper adjacent to lying blue tube in oblique; possible cyan patch nearby.

EXPECT/GOTReached target within 1 cm.

PLANClose gripper to grasp the horizontal tube.

OBSERVEEmpty close; oblique shows tube lying just down-left of gripper (larger x direction).

EXPECT/GOTExpected capture; missed by ~3 cm in x. DELTA.

HYPOTHESISResidual x bias in my affine fit (calibration, 75%).

PLANMove to (0.478,0.143,0.248) - shifted along oblique +x toward the tube.

OBSERVEOblique shows a growing cyan ellipse on the bench near the tube - likely spreading spill/foam.

EXPECT/GOTReached pose; new abnormality visible.

PLANget_state to read moisture alert, fill reading, tube tilt before further manipulation.

OBSERVEbench_moisture_alert TRUE - reagent has spilled on the bench; tube lying at 90°, fill 1.2.

EXPECT/GOTConfirms abnormal event: drop → topple → spill. SUSPECTED FAULT: none in hardware; my grasp was marginal.

PLANPriority now damage control - open gripper and attempt to right the tube (stops further leakage).

OBSERVESpill puddle centered oblique (485,300); tube indistinct within it; gripper open just above.

EXPECT/GOTOpen as expected.

PLANShift to (0.505,0.148,0.245) and close - final recovery attempt on the lying tube.

OBSERVEGripper now over the puddle area at (0.498,0.150,0.238); puddle still expanding.

EXPECT/GOTReached target.

PLANClose gripper - attempt to seize the lying tube here.

OBSERVEMissed again; 9 steps left; spill spreading, contents still expanding (fill 1.2).

EXPECT/GOTExpected capture; empty. Further blind poking risks spreading contamination.

HYPOTHESISTube position unresolvable at available camera resolution (calibration, high).

PLANAbort manipulation - retract both arms clear of the spill zone (independent moves).

OBSERVEOverhead shows large spreading pale disc (spill) centered near (300,245); tube off to bench edge.

EXPECT/GOTHand B retracted clear as intended.

PLANRaise hand A clear of the expanding spill to avoid contamination.

OBSERVEBoth arms retracted high; spill visible as large cyan pool on bench, no arm contact.

EXPECT/GOTRetraction achieved; hardware clear of reagent.

PLANFinal get_state to document instrument readings for the report.

OBSERVEFinal state: both hands empty and clear, tube at 90° off its stand, moisture alert true, fill 1.2.

EXPECT/GOTMatches the abort decision; no further safe recovery within remaining budget.

PLANDeclare task complete with failure verdict and full account.