> ## 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.

# Command configuration

> How the teleop, gravity-comp, collect-data, replay-dataset, run-policy, and inference-server commands are configured with draccus.

Six commands — [`teleop`](/cli/teleop), [`gravity-comp`](/cli/gravity-comp), [`collect-data`](/cli/collect-data), [`replay-dataset`](/cli/replay-dataset), [`run-policy`](/cli/run-policy), and [`inference-server`](/cli/inference-server) — expose their **entire configuration** through [draccus](https://github.com/dlwh/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.*`, `gst.*`, `jetson.setup`, `provision`, `tune.*`, and `serve`) still use plain `argparse` flags and are unaffected by anything on this page.

## Two ways to set any field

<CardGroup cols={2}>
  <Card title="Dotted CLI overrides" icon="terminal">
    Override any nested field with `--dotted.path VALUE`, e.g. `--axol.left.elbow.kp 60`.
  </Card>

  <Card title="Whole-config file" icon="file-code">
    Load a complete JSON/YAML config with `--config_path run.json`, then layer CLI overrides on top.
  </Card>
</CardGroup>

### Dotted overrides

Each command is backed by a config dataclass (for example `TeleopCmdConfig` wraps the full [`AxolConfig`](/api/robot)). Nest into it with dots:

```bash theme={null}
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.cameras "{overhead: {serial: 41234567}, left_arm: {serial: 41234568}, right_arm: {serial: 41234569}}"
```

Any field you don't override keeps its default — overriding `--axol.left.elbow.kp` leaves every other per-joint gain at its tuned default.

### Config files

```bash theme={null}
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.

## Field-name conventions

| Convention                                                                               | Form               | Example                                                                                                                            |
| ---------------------------------------------------------------------------------------- | ------------------ | ---------------------------------------------------------------------------------------------------------------------------------- |
| 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]`                                                                                               |
| Dict fields take **one inline YAML/JSON value** (dotted paths can't reach inside a dict) | `--field "{k: v}"` | `--cameras "{overhead: 41234567}"` (teleop); `--robot_config.cameras "{overhead: {serial: 41234567}}"` (collect-data / run-policy) |
| Booleans take an explicit value                                                          | `--flag true`      | `--push_to_hub true`                                                                                                               |

<Note>
  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`.
</Note>

## 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.