After the lid has been removed, the robot uses force-contact feedback to detect two points along the X axis and two along the Y axis. These points are converted into lines and a point of intersection is calculated for the corner of the bath. If the two lines are not within a certain tolerance of perpendicularity (ie. if there was outside interference during this process), the calculation is rejected and the function restarts until a precise measurement is validated. Once the alignment data satisfies the set tolerance, the experiment environment is calculated using distances from the corner point of intersection and the angle of the lines off the robot's origin.