A system, method, and computer-program product includes; detecting, by one or more processors, a position and an orientation of transfer component of the liquid-transferring device based on image data from a liquid-transferring operation between a liquid-transferring device and a sample plate; generating, by the one or more processors, a pointing vector extending along a substantially central axis of the transfer component; determining, by the one or more processors, a liquid-reception boundary representing a rim of a reception component of the sample plate; identifying, by the one or more processors, an intersection point of the pointing vector and the liquid-reception boundary; detecting, by the one or more processors, whether the transfer component is within a successful liquid transfer position of the rim of the reception component; and outputting, via a user interface, an engagement status indicating whether the transfer component is within the successful liquid transfer position.