Skip to main content

Bundled examples

Use the station and relay corresponding to this SDK release. Substitute your operator's station ID and relay address in the commands below.

Hold still​

se3labs eval run \
  --station yam-1 --address relay.example.com:7443 --secure \
  --request se3labs.sdk.examples.hold_still:HOLD_STILL_REQUEST

Starts at zero joint angles with open grippers, then repeats each arm's observed position. The request contains one five-second episode.

YAM straight-line motion​

The optional example needs MuJoCo and SciPy. After following the release installation, install these extra dependencies:

python -m pip install "mujoco>=3.3.5,<4" "scipy>=1.13,<2"

Then run:

se3labs eval run \
  --station yam-1 --address relay.example.com:7443 --secure \
  --request se3labs.sdk.examples.straight_line:STRAIGHT_LINE_REQUEST

The left arm moves from −20 cm to +20 cm and back along base-frame Y, five times over 50 seconds, with a 52-second episode budget. Tool orientation stays fixed, the other arm stays at zero, and grippers remain open. The station moves to the first trajectory pose before rollout. Confirm the sweep is clear before starting.

The package bundles a minimal YAM kinematic model, so no i2rt installation or model download is needed. It checks the trajectory during initialization and sends it as one chunk, then returns None to let it execute.