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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.

Four commands — teleop, gravity-comp, collect-data, and run-policy — expose their entire configuration through draccus instead of a fixed set of argparse flags. Every field of the underlying config dataclass is reachable from the command line, and the whole config can also be loaded from a file. The remaining commands (can.*, motor.*, zed.*, tune.*) still use plain argparse flags and are unaffected by anything on this page.

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Two ways to set any field

Dotted CLI overrides

Override any nested field with --dotted.path VALUE, e.g. --axol.left.elbow.kp 60.

Whole-config file

Load a complete JSON/YAML config with --config_path run.json, then layer CLI overrides on top.

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Dotted overrides

Each command is backed by a config dataclass (for example TeleopCmdConfig wraps the full AxolConfig). Nest into it with dots: 
axol teleop --axol.left_stiffness 0.8
axol teleop --axol.left.elbow.kp 60 --axol.right.gripper.torque_limit 0.7
axol collect-data --repo_id myorg/pick --task "pick" \
    --robot_config.axol_config.left_stiffness 0.8 \
    --robot_config.zed_host 10.0.0.5
Any field you don’t override keeps its default — overriding --axol.left.elbow.kp leaves every other per-joint gain at its tuned default.

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Config files

axol teleop --config_path my_teleop.json
axol run-policy --config_path rollout.yaml --device cpu   # file, then override
Precedence is defaults → --config_path file → CLI flags (later wins), so flags always override file values, which override the built-in defaults.

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Field-name conventions

ConventionFormExample
Field names use underscores, not dashes--field_name--log_level DEBUG, --teleop_hz 120
Nested fields are dot-separated--a.b.c--axol.left.gripper.torque_limit 0.7
None is written null--field null--left_channel null (disable the left arm)
Lists use bracket syntax[a,b,c]--free_joints [SHOULDER_1,WRIST_3]
Booleans take an explicit value--flag true--push_to_hub true
Booleans are value-taking under draccus (--push_to_hub true, not a bare --push_to_hub). The one exception is teleop’s --sim, which is normalized so a bare --sim works as well as --sim true.

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Validation

Choice fields (e.g. --log_level, --policy_type, --aggregate_fn) are validated against their allowed values, and missing required fields or type mismatches are reported as a clean usage error rather than a traceback. axol <command> --help lists only the common fields (top-level options plus stiffness and gripper limits) to keep the output readable — the deeply-nested per-joint gains are hidden but remain fully overridable with their dotted paths (e.g. --axol.left.elbow.kp). This page is the complete reference for the override syntax.