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Documentation Index

Fetch the complete documentation index at: https://docs.almond.bot/llms.txt

Use this file to discover all available pages before exploring further.

Install the package with uv sync (see Installation), then import from its submodules (e.g. almond_axol.robot, almond_axol.teleop). The Axol SDK is organized into focused modules: 
almond_axol/
├── robot/        Axol (hardware) and Sim (visualizer) — start here
├── kinematics/   Bimanual IK solver (JAX + pyroki)
├── teleop/       VR headset → IK → robot control loop
├── vr/           WebSocket server that receives VR frames
├── zed/          ZED-X One camera streaming
├── motor/        Low-level async CAN motor interface
└── lerobot/      LeRobot Robot / Teleoperator / Camera wrappers (requires lerobot extra)
    ├── robot/    AxolRobot — LeRobot Robot wrapping the async hardware driver
    ├── teleop/   AxolVRTeleop — LeRobot Teleoperator wrapping VRTeleop
    └── camera/   ZedCamera — LeRobot Camera wrapping a ZED stream receiver
End-to-end data flow for teleoperation: 
VR headset → VRServer (WSS) → VRTeleop → KinematicsSolver → Axol → motors
End-to-end data flow for LeRobot data collection: 
VR headset → AxolVRTeleop.get_action() → AxolRobot.send_action() → motors
                                                 ↑
                                  AxolRobot.get_observation() → dataset
                                  (joints from telemetry, cameras from ZedCamera)

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Async context managers

Axol, Sim, VRTeleop, VRServer, and ZedStreamer all open and close hardware resources in __aenter__ / __aexit__. Always use them with async with.

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Joint arrays

Every method that reads or writes joint state uses np.ndarray of shape (8,) in Joint enum order: SHOULDER_1, SHOULDER_2, SHOULDER_3, ELBOW, WRIST_1, WRIST_2, WRIST_3, GRIPPER. Arm joints are in radians; the gripper is normalized to [0.0 = closed, 1.0 = fully open].

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Telemetry vs. one-shot reads

start_telemetry(hz) launches a background polling loop and populates .positions and .torques as non-blocking cached properties — read them in a tight control loop without await. Direct calls like await get_positions() issue individual CAN reads and are suitable for diagnostics but too slow for real-time control. start_telemetry is not required if you are already running a motion_control loop — every impedance command sent to the arm motors returns a position and torque reading, which is used to populate the same cache automatically.