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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.

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Requirements

  • Linux
  • Python 3.13+
  • (Optional) NVIDIA Jetson — if ZED cameras are used.

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Install

Install the package using uv. pyroki and lerobot are sourced from Git and resolved automatically: 
uv sync
Then activate the virtual environment so the axol CLI is on your path: 
source .venv/bin/activate
You need to activate the environment in every new shell session. Alternatively, prefix every command with uv run (e.g. uv run axol can.setup) to skip activation.

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Optional extras

Install optional dependency groups as needed:
ExtraContentsWhen to use
lerobotLeRobot (from GitHub)collect-data, run-policy
simviserteleop --sim
cudaJAX with CUDA 13 supportGPU-accelerated JAX (IK solver used by teleop); note that CPU is usually faster for the JAX IK solver
devOpenCV (headless)Development / debugging
uv sync --extra lerobot --extra sim                # teleoperation + data collection
uv sync --extra lerobot --extra cuda               # policy execution on GPU
uv sync --extra lerobot --extra sim --extra cuda   # everything

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ZED Python bindings

The ZED Python bindings (pyzed) are not on PyPI and must be installed separately after the ZED SDK is installed: 
axol zed.install
See zed.install for details.

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First-run hardware setup

Before using any motor or robot commands, initialize the CAN hardware: 
axol can.setup
sudo is invoked automatically where required. See can.setup for what it configures.