motion.build / motion.list

Reference motions are uniform-rate, both-arm joint trajectories committed to the repository (almond_axol/tuning/motions/), so the exact same motion can be replayed on any robot — today or on future units — and the tracking metrics compared 1:1 with tune.motion. motion.build postprocesses a flight-recorder capture into one, from either recorder:

Teleop (axol teleop --teleop.record PREFIX): the final guarded command stream (_cmd stage), clipped to the engaged span.
Gravity comp (axol gravity-comp --record PREFIX): the measured arm-joint positions of the hand-guided session (_gc stage). There is no engage state, so the still lead-in/lead-out is trimmed instead — start and end the demonstration with the arms briefly at rest.

Either way, the stream is resampled onto a uniform grid, zero-phase low-pass smoothed (keeping the operator’s intent, dropping hand tremor and network jitter), and projected waypoint-by-waypoint through the same collision-aware solver the teleop return-to-rest uses — the stored motion is joint-limit- and self-collision-safe by construction.

Flag	Description
`prefix`	Flight-recorder prefix from `axol teleop --teleop.record PREFIX` (reads `<prefix>_cmd.npz`, and `<prefix>_ik.npz` for the engaged-span clip) or `axol gravity-comp --record PREFIX` (reads `<prefix>_gc.npz`). A bare name (no `/`) resolves in the recordings directory `~/.almond/recordings/` — where bare recording names are written. Optional: omitted, the newest recording in that directory is used
`--name NAME`	Motion name; written to the package’s committed motions directory as `<name>.npz`. Optional: defaults to the recording’s name
`--out PATH`	Write to an explicit path instead of the committed directory
`--rate HZ`	Uniform playback rate (default: 240 — the production control rate; `tune.motion` replays at the motion’s stored rate)
`--cutoff HZ`	Zero-phase low-pass cutoff (default: 6.0 — keeps deliberate motion, drops hand tremor and network jitter)
`--time-scale X`	Stretch playback time (2.0 = half speed; default: 1.0)
`--no-project`	Skip the collision-aware waypoint projection
`--notes TEXT`	Free-form provenance note stored in the motion metadata

axol teleop --teleop.record rec1          # record via teleop, or ...
axol gravity-comp --record rec1           # ... by hand-guiding the arms
axol motion.build                                # newest recording, named after it
axol motion.build rec1 --name reach-slow --time-scale 2.0
axol motion.list                                 # what's committed

Commit the generated .npz so every robot can replay the identical motion. Every build also saves a before/after tuning-run artifact (kind=build, ~/.almond/diagnostics/tuning/): the clipped raw command recording and the built motion side by side per joint, with per-joint change RMS/max and peak velocities. The diagnostics dashboard charts it like any other tuning run (zoom / fullscreen), so the effect of the smoothing pass and the collision projection is directly visible before the motion is ever replayed.

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motion.build / motion.list