teleop - Docs

Launches a VR teleoperation session. When started, the hostname (.local) and local IP address are printed — enter either of these in the VR app at axol.almond.bot to connect. Runs on the real robot by default; pass --sim for the browser visualizer. The full robot config is exposed via draccus, so every gain, stiffness, and gripper limit is reachable from the CLI or a config file — see Command configuration.

For a guided, step-by-step walkthrough including the VR controller layout, see the Teleoperation quickstart.

Before opening the VR app, accept the self-signed HTTPS certificate in the VR browser by navigating to https://<hostname>.local:8000 or https://<local-ip>:8000 and proceeding past the security warning.

Network tip: If VR tracking feels jittery or packets arrive in bursts, configure the following on your router/access point:

DTIM interval → 1
Beacon interval → 100 ms
WMM APSD (U-APSD) → disabled

These settings prevent the AP from buffering packets between beacon intervals, which causes intermittent delivery delays that are especially noticeable for latency-sensitive VR traffic.

Flag	Description
`--sim`	Use the software visualizer instead of the real robot. Bare `--sim` works (or `--sim true`). Omit to run on real hardware (the default).
`--left_channel <ch\|null>`	CAN channel for the left arm; `null` disables it. Default: `CAN_LEFT`.
`--right_channel <ch\|null>`	CAN channel for the right arm; `null` disables it. Default: `CAN_RIGHT`.
`--axol.left_stiffness S`	Compliance↔stiffness blend for the left arm in `[0, 1]`. Scalar (`0.8`) or a 7-element list (`[0.8,0.8,0.5,0.5,0.2,0.2,0.0]`, one per arm joint in `Joint` enum order). `0` = fully compliant; `1` = pre-tuning industrial gains; `0.5` (default) is the geometric mean. See `AxolConfig.left_stiffness`.
`--axol.right_stiffness S`	Same, for the right arm.
`--axol.left.gripper.torque_limit FLOAT`	Max torque (Nm) for the left gripper in POSITION_FORCE mode (default: 0.5). Use `right` for the right gripper.
`--axol.<side>.<joint>.<gain> VALUE`	Override any per-joint gain, e.g. `--axol.left.elbow.kp 60`. `<side>` is `left`/`right`; `<joint>` is `shoulder_1…wrist_3`; `<gain>` is `kp`/`kd`/etc.
`--log_level {DEBUG,INFO,WARNING,ERROR}`	Default: `INFO`
`--config_path PATH`	Load a whole-config JSON/YAML file; CLI overrides layer on top. See Command configuration.

axol teleop                                       # real robot
axol teleop --sim                                 # browser visualizer
axol teleop --axol.left_stiffness 0.8
axol teleop --axol.left.elbow.kp 60 --axol.right.gripper.torque_limit 0.7
axol teleop --left_channel null                   # disable the left arm
axol teleop --config_path my_teleop.json          # whole-config file

This command takes its config via draccus, not fixed argparse flags. Field names use underscores, nested fields are dot-separated, None is null, and lists use [a,b,c] — see Command configuration for the full model.

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