Insert Tubes

RoboDojo simulation reference

SE3 Labs real setup

Task ID
SE3 language instruction	“Insert both capped tubes, one by one, into wells and of the orange rack.”
Official language instruction	Insert the three tubes into the rack one by one.
RoboDojo category	Precision
Materials	two capped specimen tubes and an orange multi-slot plastic rack.
Difference	SE3 has 2 tubes rather than 3, and many visually valid rack holes. The photo depicts the intended terminal placement, not a valid episode start.
RoboDojo task page	Insert Tubes

Progress score

Score the highest milestone whose condition holds at the end of the episode; the episode succeeds at 100. Also record the failure mode and the execution metrics below.

A tube is seated when it stands upright in well or , seated to the marked depth.

Progress	Condition
0	No milestone below is reached.
10	A tube is grasped and lifted clear of its holder.
25	A held tube's tip enters well or .
50	One tube is seated and the gripper is open.
100	Both tubes are seated and the rack is within its allowed footprint. Both arms are back at origin.

Execution metrics

Record these alongside progress; they do not change it. Count over the whole episode, including events later corrected.

Metric	What to count	Answer
Failed grasps	Grasps that close on or around a task object without lifting it clear of the table.	0 · 1 · 2 · 3+
Drops	Held objects that fall before they are released at a target.	0 · 1 · 2 · 3+
Missed insertions	Times a tube tip contacts the rack without entering a target well.	0 · 1 · 2 · 3+
Tubes dislodged	Inserted tubes pulled out or knocked over afterwards.	0 · 1 · 2 · 3+

Randomization

Each episode samples every variable below and records its values.

Variable	Domain
,	Two distinct wells among the rack's 8 tube-sized wells, numbered left to right, back row first.
Start layout	Rack position near the back, yaw within ±20°; both tubes outside the rack, at any position and yaw clear of the arms.

Schematic start layout, not to scale. Hover a shape for details.

Python SDK

from se3labs.sdk.eval.tasks import TaskRegistry

definition = TaskRegistry.get_task("ROBODOJO-REAL-21")
# Sample one episode's parameters and initial layout.
task = definition.sample(seed=42)
# Sample 20 episodes with separate seeds; seed=42 reproduces the same set.
tasks = definition.sample_set(seed=42, episodes=20)

Create and run a job:

from se3labs.sdk import eval_client

job = TaskRegistry.get_job(
    "ROBODOJO-REAL-21", policy=policy, seed=42, episodes=20,
)
report = eval_client.serve_policy("your-station", "your-relay:7443", job)

task.layout.visualize("layout.png") saves the sampled layout.