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Records teleoperation episodes using VR controller inputs and three ZED cameras. Saves to a LeRobot-format dataset. Loops until Ctrl+C.
Data collection runs across two machines (main host + ZED box). For the end-to-end two-machine workflow, see the Data Collection quickstart.
This command is configured via draccus. The robot and teleop subsystems are exposed as the nested robot_config / teleop_config configs (camera streams, per-joint gains, IK, VR server) — nest into them with dots or pass a whole-config file. See Command configuration.
FlagDescription
--repo_id <user>/<dataset>HuggingFace dataset repo ID (required)
--task TEXTNatural language task description (required)
--fps INTDataset recording frame rate — camera frames captured at this rate (default: 60)
--teleop_hz INTMotor command rate in Hz; decoupled from --fps for smooth control (default: 120)
--root PATHLocal dataset root (default: $HF_LEROBOT_HOME)
--push_to_hub truePush to HuggingFace Hub when done
--zed_iface IFACENetwork interface to configure for the ZED link (e.g. eth0); assigns 192.168.10.2/24, requires sudo
--robot_config.zed_host IPShared IP of the ZED streamer for all three cameras (default 192.168.10.1; cameras use ports 30000/30002/30004). Override a single camera with --robot_config.cameras.<name>.host IP (<name> ∈ overhead/left_arm/right_arm).
--robot_config.axol_config.<side>.gripper.torque_limit FLOATMax torque (Nm) for a gripper in POSITION_FORCE mode (default: 0.5); <side> is left/right
--robot_config.axol_config.left_stiffness SCompliance↔stiffness blend for the left arm in [0, 1]. Scalar or 7-element list (one per arm joint, in Joint enum order). 0 = fully compliant; 1 = pre-tuning industrial gains; 0.5 (default) is the geometric mean. Use right_stiffness for the right arm. See AxolConfig.left_stiffness.
--rerun_ip IPIP of a Rerun viewer on your local machine for live visualization
--rerun_port INTRerun viewer port (default: 9876); only used when --rerun_ip is set
--log_level {DEBUG,INFO,WARNING,ERROR}Default: INFO
--config_path PATHLoad a whole-config JSON/YAML file; CLI overrides layer on top.
axol collect-data --repo_id myorg/pick-place --task "Pick the red cube and place it in the bin"
axol collect-data --repo_id myorg/pick-place --task "Pick the red cube" --fps 30 --zed_iface eth0
axol collect-data --repo_id myorg/pick-place --task "Pick the red cube" \
    --robot_config.axol_config.left_stiffness 1.0 --robot_config.axol_config.right_stiffness 1.0

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VR controller controls

Episodes are driven from the Quest controllers. For the full controller layout and step-by-step flow, see the Data Collection quickstart.
ButtonAction
BToggle between Teleop and Data Collection mode (recording is only armed in Data Collection)
AStart a take (3-second countdown), or stop and save the current take. The headset enters Saving until the write completes
XDuring a recording, stop and discard the take (re-record); otherwise reset to the rest pose
After each episode the robot automatically returns to its rest pose before the next take begins. If an existing dataset is found at --root, collection resumes from where it left off; conversely, if no episodes were saved before exit the empty dataset directory is removed on shutdown so an aborted session does not leave a half-initialized dataset on disk.
Dataset frame capture runs on a dedicated thread decoupled from the teleop control loop. Teleop ticks at --teleop_hz and only ever touches joint state; the capture thread ticks at --fps, blocks on ZedCamera.read_at_or_after(T_n) per camera so every recorded frame is sender-clock-aligned with the joint sample taken at T_n, and writes the dataset row. This keeps camera reads, image conversion, and dataset.add_frame() off the hot control loop, and produces datasets whose camera/joint pairing matches the sender’s exposure timeline rather than the receiver’s decode timeline. Both clocks must agree — make sure zed.sync-clocks is running on both machines.