Documentation Index
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Offline wifi / filtering / kinematics analysis of a teleop flight-recorder capture.
axol teleop --teleop.record PREFIX) offline — no hardware needed. Each suite isolates one stage of the teleop pipeline and answers one question, so jitter can be attributed deterministically instead of guessed at:
| Suite | Question | What it reports |
|---|---|---|
wifi | Is the transport jittery? | VR frame inter-arrival median/p95/p99/max, gaps (> 100 ms) and burst frames — recovered from raw-pose change ticks, so hand motion can’t fake them. A quiet IK tick interval alongside gaps points at the network; a noisy one points at the host starving the IK process. |
filtering | What does the pose filter stack pass through? | 3–15 Hz band RMS per stage (raw VR pose → filtered pose → world EE target) per axis, the pass-through ratio, and the lag each stage adds. Mid-band content that reaches the EE target is what the arm is asked to reproduce — if it’s high, tune the filter, not the motors. |
kinematics | Does the IK add motion the hand didn’t make? | EE pose set vs actual (the world target given to the solver vs FK of the solved joints, per axis), per-tick solve time (median/p95/max ms), per-joint churn (°/min — a restless null space churns without EE motion), and per-joint mid-band jitter with its dominant frequency. |
| Flag | Description |
|---|---|
suite | wifi, filtering, or kinematics (required) |
prefix | Flight-recorder prefix used with --teleop.record. A bare name resolves in ~/.almond/recordings/; omit it entirely to analyze the newest recording there |
--save-run | Persist the analysis as a tuning-run artifact (~/.almond/diagnostics/tuning/) for the diagnostics UI |
--label TEXT | Free-form note stored on the run artifact |
axol teleop --teleop.record rec1 # record a session first
axol diag.offline wifi rec1
axol diag.offline filtering rec1 --save-run
axol diag.offline kinematics --save-run # newest recording
kinematics suite backs the dashboard’s IK tuning tab: EE set-vs-actual charts per axis, the solve-time trace, and the per-joint churn scorecard.
See also diag.teleop-jitter for the stage-by-stage band breakdown of one capture, and tune.motion for the hardware-side counterpart.