tune.motion

Replays a reference motion through the production Rust-core motion_control path — impedance gains, gravity/friction/inertia feedforward, and host-side damping all come from the same AxolConfig production uses — and scores tracking accuracy and smoothness per joint. Because the motion is identical from run to run and robot to robot, this is the deterministic A/B loop that ad-hoc teleop testing can’t give you: override one gain with --gain, replay, and compare the numbers (and graphs, in the diagnostics dashboard). Every run persists a tuning-run artifact (full per-joint time series + metrics) under ~/.almond/diagnostics/tuning/ for charting and side-by-side comparison. The arm moves to the motion’s start and back to rest on collision-aware planned trajectories; a contact watchdog aborts playback if a sustained torque residual says the arm is pushing on something that isn’t in the plan.

Flag	Description
`--motion NAME`	Committed motion name (`axol motion.list`) or a path to a motion `.npz` (required)
`--gain [SIDE.]JOINT.FIELD=VALUE`	Override one gain for this run, e.g. `left.elbow.kd=4.5` or `shoulder_3.kd_host=8` (no side = both arms). Fields: `kp`, `kd`, `kd_host`, `kd_host_hz`, `kd_host_q`, `j_eff`. Repeatable
`--stiffness S`	Stiffness-slider position in `[0, 1]` for both arms (default: 1.0, the production default — the tuned gains, where gain overrides land exactly; lower only adds compliance)
`--ik`	Drive the run through the IK solver: each waypoint’s end-effector poses (FK of the reference, with elbow hints) are re-solved to joints exactly like teleop’s pose→joints loop, and the arms execute the solver’s output — still scored against the clean reference, so IK reconstruction error and tracking error show up together. Per-solve times and the solved-vs-reference deviation are stored on the run (`ik_solve_ms_`, `ik_dev_`)
`--noise MODE`	Corrupt the motion before streaming it, at the noise source’s real pipeline entry point: `network` (jitter/outliers/stalls), `ik` (solver churn/jumps), `combined`, or `none` (default). Deterministic per `--seed`
`--filter`	Replay the (possibly corrupted) stream through the production teleop filter stack (pose low-pass → EMA → trapezoid) before streaming — the hardware version of `tune.filter`: the arm physically shows what the stack removes and what it costs in lag. Off streams it raw
`--seed N`	RNG seed for `--noise` — identical seed, identical corrupted stream (default: 0)
`--label TEXT`	Free-form note stored on the run artifact
`--torque-threshold NM`	Contact watchdog threshold (default: 8.0; 0 disables)
`--no-save-run`	Don’t persist the run artifact (dry run)
`--no-gripper`	Run on the gripperless SKU

axol tune.motion --motion reach-and-place                             # baseline run
axol tune.motion --motion reach-and-place --gain left.elbow.kd=4.5    # A/B a gain
axol tune.motion --motion reach-and-place --gain shoulder_3.kd_host=8 --label "s3 damp"
axol tune.motion --motion reach-and-place --noise network             # raw noise, no filters
axol tune.motion --motion reach-and-place --noise network --filter    # same noise, stack on
axol tune.motion --motion reach-and-place --ik                        # IK solver in the loop

With --noise, --filter, and/or --ik the run is still scored against the clean reference, and the artifact stores the stream actually sent alongside it — the dashboard charts overlay commanded (clean), sent, and actual per joint, so the filters’ cleanup (and their lag) — or the IK solver’s reconstruction of the Cartesian path — is directly visible on hardware. --ik re-solves the whole chain (warm-started, like teleop) before playback starts, so a slow solve can’t stretch the command pacing; solve-time stats land on the run artifact instead.

Reading the scorecard

Column	Meaning
`RMS °`	Tracking error vs the reference
`lagfree °`	Error after removing the measured command→measurement delay — separates sluggishness from inaccuracy
`lag ms`	That delay (cross-correlation of commanded vs measured velocity)
`jitter °`	3–15 Hz band RMS of the error — the vibration the operator feels
`amp`	Measured / commanded mid-band motion: > 1 means the arm adds energy (rings), < 1 means it filters
`trq HF`	Cycle-to-cycle torque chatter (Nm RMS)
`buzz °` / `@Hz`	Sustained ≥ 20 Hz motion — what you hear. Median over 0.5 s windows of the high-band RMS, so a limit cycle that buzzes through the run stands out while one-off reversal transients wash out; `@Hz` is where the loud windows agree. Healthy joints sit near 0.005°; an audible limit cycle (e.g. wrist_2 near its firmware kd clamp, ~110 Hz) reads 2–5× that

Joints the motion never exercises (under 1° of commanded travel) show - in the tracking columns — a parked joint tracks meaninglessly well — but keep their row and are still scored for buzz and torque chatter, which is exactly where a hold-pose limit cycle shows up.

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tune.motion

Reading the scorecard

​Reading the scorecard

Reading the scorecard