Plug In Charger

RoboDojo simulation reference

SE3 Labs real setup

Task ID
SE3 language instruction	“Insert the white USB power adapter fully into outlet of the disconnected power strip.”
Official language instruction	Plug the charger into the power strip.
RoboDojo category	Precision
Materials	white USB wall adapter and a multi-outlet power strip with flexible power cord.
Difference	the real strip can translate/rotate, the cord can interfere with the workspace, and several sockets are valid unless one is designated.
Safety note	keep the power strip unplugged and de-energized for every rollout.
RoboDojo task page	Plug In Charger

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.

Progress	Condition
0	No milestone below is reached.
15	The adapter is grasped and lifted clear of the table.
35	The adapter's prongs touch the face of outlet .
60	The prongs are partly inside outlet .
100	The adapter is seated flush and upright in outlet , no prong is exposed beyond the strip's normal fit, and the strip 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+
Insertion attempts	Times the prongs touch the strip face before the final insertion.	0 · 1 · 2 · 3+
Strip displaced	Did the strip leave its allowed footprint at any time?	yes · no

Randomization

Each episode samples every variable below and records its values.

Variable	Domain
	1–6, counted from the switch end of the strip.
Start layout	Strip position near the back, yaw within ±60°; adapter position and yaw anywhere, prongs up, 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-20")
# 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-20", 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.