> ## 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.

# jog

> Move the grippers, the lift and Jelly from the control panel's Jog screen.

Jog Axol from the [control panel](https://docs.almond.bot/guides/control-panel#jog). The arms hold their pose until you plan and execute a move, or hold a jog button. The lift and Jelly move only while you hold their controls. When the run stops, the arms move to the rest pose before the motors turn off.

Start and stop Jog from the control panel. The panel connects the Jog screen to the run, so a run started from a terminal has no screen to drive it. The flags below set the run's speeds and arms.

With `--sim`, nothing touches the hardware. The lift and Jelly are simulated with the same speeds and ramps as the real ones.

This command is configured through draccus (see [Command configuration](https://docs.almond.bot/cli/configuration.md)). Arm gains and stiffness are on the nested `axol` config, the same settings gravity compensation uses. The lift and Jelly use the shared `jelly` settings, the same as teleop.

| Flag | Description |
| - | - |
| `--sim BOOL` | Jog a simulated Axol instead of the robot. Default `false` |
| `--arm_speed FLOAT` | Average speed (rad/s) of the joint that moves furthest in a planned move. Default 0.6 |
| `--min_duration FLOAT` | Shortest planned move, in seconds. Default 1.0 |
| `--gripper_speed FLOAT` | Gripper jog speed (m/s) at full speed. Default 0.06 |
| `--gripper_turn_speed FLOAT` | Gripper jog turn rate (rad/s) at full speed. Default 0.5 |
| `--joint_speed FLOAT` | Fastest any arm joint turns while you jog a gripper (rad/s). Default 1.0 |
| `--left_channel <ch\|null>` / `--right_channel <ch\|null>` | CAN channel per arm; `null` disables that arm. |
| `--rate_hz FLOAT` | Control loop rate in Hz (default: 125) |
| `--log_level {DEBUG,INFO,WARNING,ERROR}` | Default: `INFO` |
| `--config_path PATH` | Load a whole-config JSON/YAML file. Flags override it. |
| `--settings_path PATH` / `--no_settings` | Read another [shared settings file](https://docs.almond.bot/cli/configuration.md#the-shared-settings-file), or ignore it. By default `~/.almond/settings.json` applies, beneath `--config_path` and the flags. |


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