diag.teleop-jitter

Analyzes a teleop recording and shows where in the pipeline jitter enters. First record a session by passing --teleop.record with a file prefix. Recording has almost no cost, and nothing is recorded without the flag.

axol teleop --teleop.record /tmp/jit
# engage, reproduce the jitter, then disengage to write the files
axol diag.teleop-jitter /tmp/jit

The recording is four time-aligned files: _ik, _cmd, _meas and _rt. Together they cover every stage, from the raw VR pose through the filters, the IK output and the smoothed target, to the motor command and the measured joints. The recording holds the most recent engaged stretch. It starts when you engage, and engaging again starts a new one. The analyzer uses the longest engaged stretch in the files.

Reading the output

The analyzer splits every signal into three frequency bands:

Band	Meaning
Below 3 Hz	Intentional motion
3–15 Hz	The JITTER column: the band the arm’s structure responds to
Above 15 Hz	Noise the mechanics filter out

It prints a table for each stage, and splits the motor torque into its parts. Walk each joint down its stages and find the first stage where the JITTER column jumps well above the stage before it:

Jump at	Points to
`raw -> filt`	VR tracking noise or the pose filter
`filt -> ik_q`	The IK solver, for example joints drifting without moving the hand
`tgt -> ema -> out`	The smoothing stages
`out -> meas`	The arm ringing: a control or damping problem

Flag	Description
`prefix`	The `--teleop.record` prefix used for the recording
`--joints NAME ...`	Show only these joints
`--full`	Analyze the whole recording, not only the longest engaged stretch

axol diag.teleop-jitter /tmp/jit --joints elbow wrist_2   # restrict the tables
axol diag.teleop-jitter /tmp/jit --full                   # ignore engage gating

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diag.teleop-jitter

Reading the output

​Reading the output

Reading the output