> ## 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.
# Data Collection Config Parameters
> Every setting for axol collect-data — what it does and its default.
export const prefix_6 = "teleop_config.jelly."
export const prefix_5 = "teleop_config.vr_server_config."
export const prefix_4 = "teleop_config.kinematics_config."
export const prefix_3 = "teleop_config.vr_teleop_config."
export const prefix_2 = "robot_config.cameras."
export const prefix_1 = "robot_config."
export const F = ({children}) => {children};
export const prefix_0 = "robot_config.axol_config."
Every setting for `axol collect-data`. Add any flag below to the command, or set it once in the control panel — see [Command configuration](/cli/configuration) for config files and syntax details.
```bash theme={null}
axol collect-data --repo_id myorg/pick --task "pick up the cup" \
--robot_config.axol_config.left_stiffness 0.8 \
--teleop_config.vr_teleop_config.position_multiplier 1.5
```
Stiffness, gripper torque, `observe_torques`, `observe_cartesian`, `fps`, and the camera set must be the **same here and in [Run Policy](/operations/run-policy-config)**. A policy only works with the dynamics it was trained on.
## Recording
| Flag | Default | Description |
| ---------------------- | ------------ | ------------------------------------------------------------------------------------------------------------------------------- |
| `--repo_id` | required | Dataset id, `/`. |
| `--task` | required | Task description stored with every frame. |
| `--fps` | `60` | Recording rate. Camera frames are captured at this rate. |
| `--teleop_hz` | `120` | Motor command rate (Hz) while teleoperating, independent of `fps`. |
| `--dataset_resolution` | `SVGA` | Resolution the recorded video is downscaled to: `SVGA`, `HD1080`, or `HD1200`. The headset stream keeps the capture resolution. |
| `--vcodec` | per platform | Dataset video codec: `h264` on Jetson, `auto` elsewhere. |
| `--root` | `null` | Local dataset directory. Default is the LeRobot cache, `~/.cache/huggingface/lerobot`. |
| `--push_to_hub` | `false` | Upload the dataset to the HuggingFace Hub when done. |
| `--qa_gate` | `true` | Refuse to save Mantis episodes the quality check marks corrupt. `false` saves anyway. |
| `--rerun_ip` | `null` (off) | Stream live visualisation to a [Rerun](https://rerun.io) viewer at this address. |
| `--rerun_port` | `9876` | Rerun viewer port. |
| `--log_level` | `INFO` | `DEBUG`, `INFO`, `WARNING`, or `ERROR`. |
| `--config_path` | — | Load a JSON/YAML config file. Flags override it. |
## Mantis
Only used with `--mantis`.
| Flag | Default | Description |
| ----------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------- |
| `--mantis` | `false` | Record with the Mantis handheld rigs instead of the robot: tracked TCP poses plus wrist cameras. |
| `--mantis_source` | `lighthouse` | Pose source: `quest`, `lighthouse`, or `ultimate`. Defaults to the host's **Mantis settings → Tracking** choice. |
| `--mantis_allow_uncalibrated` | `false` | Record without a tracker → TCP calibration. Bring-up only; don't train on the result. |
| `--mantis_smooth_hz` | `10.0` | Low-pass cutoff (Hz) applied to the recorded pose track on save. `0` disables. |
Robot
CAN buses, cameras, and what goes into observations.
| Flag | Default | Description |
| ------------------------------------- | ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| --{prefix_1}left\_channel | `can_alm_axol_l` | CAN interface for the left arm. |
| --{prefix_1}right\_channel | `can_alm_axol_r` | CAN interface for the right arm. |
| --{prefix_1}cameras | 3 unassigned slots | Camera slots `overhead`, `left_arm`, `right_arm` — fields below. Pass inline: `--robot_config.cameras "{overhead: {serial: 41234567}}"`. Slots left at serial `0` are dropped. |
| --{prefix_1}video\_backend | `auto` (`sdk` on run-policy) | Camera backend: `gst` (GPU pipeline, low latency), `sdk` (ZED SDK), or `auto` (prefers `gst`). |
| --{prefix_1}observe\_torques | `false` | Include joint torques in observations. Must match between collection and inference. |
| --{prefix_1}observe\_cartesian | `false` | Use end-effector poses instead of joint angles for observations and actions. Must match between collection and inference. |
| --{prefix_1}id | `null` | LeRobot bookkeeping, unused by Axol. |
| --{prefix_1}calibration\_dir | `null` | LeRobot bookkeeping, unused by Axol. |
Cameras
One ZED camera per slot: `overhead`, `left_arm`, `right_arm`. Flags are shown for `overhead`; swap in the other slot names. Stereo ZED X cameras are detected from their serial. The [control panel's Cameras tab](/guides/control-panel#cameras) edits all of this visually.
| Flag | Default | Description |
| ---------------------------------------- | ---------------- | --------------------------------------------------------------------------------------------------------------- |
| --{prefix_2}overhead.serial | `0` (unassigned) | Serial number of the ZED camera. `0` leaves the slot unused. |
| --{prefix_2}overhead.fps | `60` | Capture rate. Raised automatically if the recording `fps` is higher. |
| --{prefix_2}overhead.width | `960` | Capture width. With `height`, must be a ZED resolution: `SVGA` 960×600, `HD1080` 1920×1080, `HD1200` 1920×1200. |
| --{prefix_2}overhead.height | `600` | Capture height. |
| --{prefix_2}overhead.color\_mode | `RGB` | `RGB` or `BGR`. |
| --{prefix_2}overhead.warmup\_s | `1` | Seconds of frames discarded on connect. |
| --{prefix_2}overhead.stereo | `false` (auto) | Force stereo on or off instead of detecting it from the serial. |
| --{prefix_2}overhead.eyes | `both` | Which eye(s) to **record**: `both` (`overhead_left` + `overhead_right`), `left`, or `right`. |
| --{prefix_2}overhead.stream\_eyes | `null` | Which eye(s) to **stream** to the headset. `null` follows `eyes`. Not used by run-policy. |
| --{prefix_2}overhead.record | `true` | Write this camera to the dataset. |
| --{prefix_2}overhead.stream | `true` | Show this camera in the headset. Not used by run-policy. |
Arm gains
Arm stiffness, gripper limits, and per-joint gains.
| Flag | Default | Description |
| --------------------------------------------- | --------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| --{prefix_0}left\_stiffness | `1.0` | How stiff the left arm is, from `0` (soft, hand-guidable) to `1` (the tuned gains). Lower values only add compliance — the arm tracks a little less tightly but yields more to obstacles. One number applies to every joint; a 7-element list sets each joint in the order `shoulder_1, shoulder_2, shoulder_3, elbow, wrist_1, wrist_2, wrist_3`. |
| --{prefix_0}right\_stiffness | `1.0` | Same, for the right arm. |
| --{prefix_0}has\_gripper | `true` | Set `false` on the gripperless model. The gripper motors are never enabled and datasets record 7 channels per arm instead of 8. |
| --{prefix_0}max\_step\_rad | `0.5` | Largest joint move (rad) allowed between two consecutive commands. Bigger moves are dropped with a warning. `inf` disables. |
| --{prefix_0}left.gripper.torque\_limit | `0.5` | Grip force — peak gripper torque (Nm). |
| --{prefix_0}left.gripper.max\_speed | `10.0` | Maximum gripper speed (rad/s). |
| --{prefix_0}left.elbow\.kp | per joint | Position stiffness of one joint, in `[0, 500]`. This is the stiffness-`1` value. |
| --{prefix_0}left.elbow\.kd | per joint | Velocity damping in the motor firmware, in `[0, 5]`. |
| --{prefix_0}left.elbow\.kd\_host | per joint | Extra damping (Nm·s/rad) applied by the host, for the slow shoulder resonance the firmware can't damp. Scaled down automatically in poses where the joint carries less inertia. `0` on joints whose firmware damping is enough. |
| --{prefix_0}left.elbow\.kd\_host\_hz | `null` | Centre frequency (Hz) of the band the host damping acts in. `null` tracks the arm's pose automatically. |
| --{prefix_0}left.elbow\.kd\_host\_q | `null` | Width of that band (bandwidth = centre ÷ q). `null` uses `0.8`. |
| --{prefix_0}left.elbow\.j\_eff | per joint | Effective inertia (kg·m²) used for acceleration feed-forward. |
| --{prefix_0}left.elbow\.mass | per joint | Mass (kg) of the link, used for gravity compensation. Tune if an arm sags or pushes back in [gravity comp](/operations/gravity-comp). |
| --{prefix_0}left.elbow\.com | per joint | Centre of mass `[x, y, z]` (m) of the link. |
| --{prefix_0}left.elbow\.friction.fc | per motor | Coulomb friction (Nm). Measured per motor with [`tune.friction`](/cli/tune-friction). |
| --{prefix_0}left.elbow\.friction.k | per motor | Friction curve sharpness. |
| --{prefix_0}left.elbow\.friction.fv | per motor | Viscous friction (Nm·s/rad). |
| --{prefix_0}left.elbow\.friction.fo | per motor | Constant torque offset (Nm). |
Per-arm and per-joint flags are shown for `left` / `elbow`. Swap in `right`, or any joint: `shoulder_1`, `shoulder_2`, `shoulder_3`, `elbow`, `wrist_1`, `wrist_2`, `wrist_3`.
A robot calibrated with [`tune.pid --save`](/cli/tune-pid), [`tune.friction --save`](/cli/tune-friction), or [`tune.gravity --save`](/cli/tune-gravity) uses its own measured values (from `~/.almond/calibration.json`) instead of the defaults below. Flags you pass still override both.
Both arms share these. `kp`/`kd` are the stiffness-`1` values (the default); the **soft** columns are what stiffness `0` blends toward. `shoulder_1` also sets `kd_host_q` to `3.0`; every other joint leaves it `null`.
| Joint | `kp` | `kd` | `kd_host` | `j_eff` | `mass` (kg) | soft `kp` | soft `kd` |
| ------------ | ---- | ---- | --------- | ------- | ----------- | --------- | --------- |
| `shoulder_1` | 250 | 3.5 | 40 | 1.27 | 1.80 | 40 | 1.4 |
| `shoulder_2` | 250 | 3.5 | 35 | 1.1 | 1.00 | 50 | 1.57 |
| `shoulder_3` | 180 | 5.0 | 0 | 0.25 | 3.75 | 45 | 1.0 |
| `elbow` | 130 | 5.0 | 0 | 0.6 | 0.25 | 40 | 2.22 |
| `wrist_1` | 180 | 1.7 | 0 | 0 | 0.25 | 30 | 0.69 |
| `wrist_2` | 130 | 3.5 | 0 | 0 | 0.65 | 25 | 1.5 |
| `wrist_3` | 130 | 2.0 | 0 | 0 | 0.75 | 25 | 0.9 |
Fallback values of `fc`, `k`, `fv`, `fo` for each motor, measured on the reference robot with [`tune.friction`](/cli/tune-friction).
| Joint | Left arm | Right arm |
| ------------ | -------------------------------- | --------------------------------- |
| `shoulder_1` | `0.9091, 799.59, 0, 0.37` | `1.2972, 742.11, 0, −0.1557` |
| `shoulder_2` | `1.1378, 756.76, 0, −0.3969` | `1.3950, 768.06, 0, 0.2082` |
| `shoulder_3` | `0.3599, 835.51, 0, −0.0133` | `0.4377, 107.94, 0.0853, −0.0147` |
| `elbow` | `0.6023, 855.95, 0, −0.072` | `0.6066, 784.78, 0, 0.049` |
| `wrist_1` | `0.3765, 88.91, 0.0298, −0.0115` | `0.5245, 98.58, 0.3062, −0.0097` |
| `wrist_2` | `0.1521, 780.31, 0, −0.0152` | `0.1092, 899.67, 0, 0.0021` |
| `wrist_3` | `0.0714, 927.26, 0, 0.0042` | `0.1172, 204.46, 0, 0.0042` |
Teleop session
How VR controller motion becomes arm motion.
| Flag | Default | Description |
| ----------------------------------------------- | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| --{prefix_3}rest\_pose\_left | `[−0.157, 0, 0, 0.314, 0, 0, −0.157]` | Left arm rest pose (rad, 7 joints). The arms start here and return here on reset. Edit it visually in the control panel's **Rest pose** tab. |
| --{prefix_3}rest\_pose\_right | `[0.157, 0, 0, −0.314, 0, 0, 0.157]` | Right arm rest pose. |
| --{prefix_3}frequency | `120` | Motor command rate (Hz). Data collection sets this from `teleop_hz`. |
| --{prefix_3}ik\_frequency | `120` | How often VR poses are sent to the IK solver (Hz). The control loop interpolates between solutions. |
| --{prefix_3}position\_multiplier | `1.0` | Scales hand movement. `2` moves the arm twice as far as your hand. Ignored in `absolute_mode`. |
| --{prefix_3}rotation\_multiplier | `1.0` | Scales hand rotation the same way. Ignored in `absolute_mode`. |
| --{prefix_3}hold\_to\_engage | `false` | `false`: click both grips to engage, then click a grip to freeze or unfreeze that arm. `true`: each arm tracks only while its grip is held. |
| --{prefix_3}disengage\_timeout | `0.5` | Seconds without a VR frame before tracking disengages and the arms hold position. `0` disables. |
| --{prefix_3}record | `null` | Record every stage of the teleop pipeline to `~/.almond/recordings/_*.npz` for [`motion.build`](/cli/motion-build) and [`diag.offline`](/cli/diag-offline). A bare name like `rec1` goes in that folder; a path is used as-is. |
| --{prefix_3}reset\_speed | `0.628` | Speed (rad/s) of the return-to-rest move. |
| --{prefix_3}reset\_min\_duration | `1.5` | Minimum duration (s) of a return-to-rest move. |
| --{prefix_3}reset\_rest\_weight | `50.0` | IK weight toward the rest pose when planning a return. |
| --{prefix_3}reset\_limit\_weight | `100.0` | IK weight against joint limits when planning a return. |
| --{prefix_3}reset\_collision\_margin | `0.025` | Minimum self-collision clearance (m) when planning a return. |
| --{prefix_3}reset\_collision\_weight | `100.0` | IK weight on self-collision when planning a return. |
| --{prefix_3}reset\_max\_iterations | `10` | IK iterations per return waypoint. |
| --{prefix_3}reset\_torque\_threshold | `4.0` | **Contact stop during return-to-rest** (Nm of unexpected torque). If the arm hits something, the move stops and the arms go limp; press reset to retry. `0` disables. Hardware only. |
| --{prefix_3}teleop\_torque\_threshold | `0` (off) | **Contact stop while tracking.** Same behaviour; a running episode is discarded. The control panel arms it at `16`. Hardware only. |
| --{prefix_3}reset\_gravity\_comp\_kd | `0.25` | Damping (Nm·s/rad) of the limp hold after a contact stop. |
| --{prefix_3}engage\_max\_vel | `0.628` | Joint speed cap (rad/s) right after engaging, so the first move is gentle. |
| --{prefix_3}engage\_duration | `1.0` | Seconds to ramp from `engage_max_vel` up to `teleop_max_vel`. |
| --{prefix_3}teleop\_max\_vel | `6.283` | Maximum joint speed (rad/s) while tracking. |
| --{prefix_3}teleop\_max\_accel | `21.99` | Maximum joint acceleration (rad/s²) while tracking. |
| --{prefix_3}ik\_alpha | `0.3` | Smoothing on the IK output, `(0, 1]`. `1` is no smoothing; lower is smoother but adds lag. See [Latency tuning](/operations/teleop#latency-tuning). |
| --{prefix_3}pose\_cutoff | `2.5` | Low-pass cutoff (Hz) on raw controller poses before IK. Lower rejects more hand tremor but adds lag. |
| --{prefix_3}absolute\_mode | `false` | Mantis mapping: track controller poses 1:1 in a fixed world frame instead of relative to where you engaged. Forced `true` by `--mantis`. |
| --{prefix_3}base\_height | `null` | In `absolute_mode`, fix the robot base this many metres above the VR floor instead of inferring it. Keeps datasets consistent across operators. |
| --{prefix_3}tcp\_transform\_left | `null` | *Mantis data collection.* Tracker → gripper transform `[x, y, z, qx, qy, qz, qw]` for the left rig. Normally read from the saved calibration; set to override. See [`tracker`](/cli/tracker#transform-file). |
| --{prefix_3}tcp\_transform\_right | `null` | *Mantis data collection.* Same for the right rig. |
| --{prefix_3}tracker\_key | `null` | *Mantis data collection, Quest.* Which saved calibration to use, e.g. `quest:oculus-touch-v3:grip`. Set from **Mantis settings** in the panel. |
| --{prefix_3}quest\_controller\_profile | `null` | *Mantis data collection, Quest.* Expected controller profile. Filled from `tracker_key`. |
| --{prefix_3}quest\_pose\_space | `null` | *Mantis data collection, Quest.* Expected pose datum, `grip` or `target-ray`. Filled from `tracker_key`. |
| --{prefix_3}urdf\_viewer\_world\_aligned | `null` | *Mantis data collection.* Whether the pose source shares the viewer headset's floor. `null` means `true` for Quest, `false` for Lighthouse/Ultimate. |
**Mantis mode** (`--mantis`) forces `absolute_mode: true`, `hold_to_engage: false`, `ik_alpha: 1.0`, `pose_cutoff: 5.0`, and removes the speed and acceleration limits. Your values for these keys are ignored in Mantis mode.
Kinematics
The IK solver that turns hand targets into joint angles. A higher weight means the solver cares more about that term.
| Flag | Default | Description |
| -------------------------------------------- | --------- | ---------------------------------------------------------------------------------------------------------- |
| --{prefix_4}pos\_weight | `50.0` | Weight on end-effector position error. |
| --{prefix_4}ori\_weight | `10.0` | Weight on end-effector orientation error. |
| --{prefix_4}elbow\_weight | `0` (off) | Weight on the headset's elbow-position hint. Off by default because the hint is unreliable on hardware. |
| --{prefix_4}rest\_weight | `15.0` | Damping toward the current pose. Higher is steadier, lower tracks faster. |
| --{prefix_4}posture\_weight | `5.0` | Pull toward the home posture, preventing slow drift. |
| --{prefix_4}manipulability\_weight | `0.05` | Keeps the arm away from singular poses. Forced `0` in Mantis mode. |
| --{prefix_4}limit\_weight | `75.0` | Penalty on joint-limit violations. |
| --{prefix_4}self\_collision\_margin | `0.025` | Distance (m) at which self-collision avoidance starts. Keep below the arm–torso clearance of normal poses. |
| --{prefix_4}self\_collision\_weight | `150.0` | Weight on self-collision avoidance. |
| --{prefix_4}max\_iterations | `8` | Solver iterations per IK call. |
| --{prefix_4}cost\_tolerance | `1e-4` | Convergence tolerance. Keep small. |
| --{prefix_4}lambda\_initial | `1e-2` | Initial Levenberg–Marquardt damping. |
| --{prefix_4}lambda\_factor | `10.0` | Damping multiplier after a rejected solver step. |
| --{prefix_4}max\_joint\_delta | `0.0346` | Largest joint change (rad) per IK call. Raise for faster tracking, lower for gentler motion. |
| --{prefix_4}max\_reach | `0.82` | Maximum shoulder-to-target distance (m). Targets beyond it are pulled in. |
| --{prefix_4}reach\_soft\_start | `0.78` | Distance (m) at which the reach limit starts to act. |
| --{prefix_4}manip\_damping\_threshold | `0.015` | Below this manipulability, extra damping kicks in (near full extension). |
| --{prefix_4}manip\_damping\_boost | `60.0` | Extra damping at zero manipulability. `0` disables. |
| --{prefix_4}limit\_damping\_margin | `0.12` | Distance (rad) from a joint limit inside which the joint is damped while moving toward it. |
| --{prefix_4}elbow\_fade\_band | `0.15` | Height (m) above the shoulder over which the elbow hint fades out. |
**Mantis mode** replaces any of these still at their default with `pos_weight 200`, `ori_weight 120`, `manipulability_weight 0`, `self_collision_margin 0.02`, `max_joint_delta 0.05`, `max_iterations 12`. A value you set explicitly still wins.
VR server
The connection the headset streams poses over.
| Flag | Default | Description |
| --------------------------------------------- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| --{prefix_5}port | `8000` | Port the headset connects to. [Quest-over-USB](/guides/quest-over-usb) uses the same port. |
| --{prefix_5}certfile | `null` | TLS certificate. `null` uses the auto-generated one in `~/.almond/vr/certs/`. |
| --{prefix_5}keyfile | `null` | TLS private key. `null` as above. |
| --{prefix_5}interp\_enabled | `true` | Smooth out jittery or batched pose arrivals. `false` uses the latest raw frame. |
| --{prefix_5}interp\_min\_delay\_s | `0` | Minimum playout delay (s). |
| --{prefix_5}interp\_max\_delay\_s | `0.15` | Maximum playout delay (s) spent absorbing network jitter. |
| --{prefix_5}interp\_smooth\_window\_s | `0.12` | Smoothing window (s). Adds about half of it as latency. `0` disables. See [Latency tuning](/operations/teleop#latency-tuning). |
| --{prefix_5}interp\_outlier\_k | `4.0` | Glitch-rejection threshold. Lower is more aggressive; `≤ 0` disables. |
| --{prefix_5}pose\_source\_kind | `null` | Which pose source may drive: `webxr` (Quest), `tracker` (Lighthouse/Ultimate), or `null` for whichever connects first. Set automatically for Mantis. |
| --{prefix_5}expected\_pose\_source\_id | `null` | *Mantis data collection.* Exact pose-source ID accepted. Set automatically. |
Jelly
The optional powered cart, driven from the headset thumbsticks between takes. Jelly motion is never recorded.
| Flag | Default | Description |
| ----------------------------------- | ---------------- | ---------------------------------------------------------------------------------------------- |
| --{prefix_6}enabled | `false` | This robot is on a Jelly. Thumbsticks drive the base, stick clicks run the lift. |
| --{prefix_6}channel | `can_alm_axol_b` | CAN interface of the wheel motors. `null` means lift only. |
| --{prefix_6}max\_speed | `20.0` | Peak wheel speed (rad/s) at full stick. |
| --{prefix_6}turn\_scale | `1.0` | Rotation speed relative to driving speed, `[0, 1]`. |
| --{prefix_6}slew | `0.5` | Acceleration ramp. The default takes 2 s from rest to full speed. |
| --{prefix_6}axis\_snap\_deg | `15.0` | Stick directions within this many degrees of straight or sideways snap to exact. `0` disables. |
| --{prefix_6}deadzone | `0.15` | Thumbstick deadzone, as a fraction of full deflection. |
| --{prefix_6}imu | `false` | Use the board IMU to hold a straight heading. |
| --{prefix_6}yaw\_hold\_gain | `2.0` | Heading-hold strength. `0` disables. |
| --{prefix_6}yaw\_hold\_max | `0.3` | Maximum heading-hold correction. |
| --{prefix_6}yaw\_log | `false` | Log heading-hold data at 10 Hz, for diagnosing drift. |
| --{prefix_6}hold\_kp | `60.0` | Stiffness (Nm/rad) holding the wheels when parked. `0` leaves them idle. |
| --{prefix_6}hold\_kd | `1.5` | Damping (Nm·s/rad) of the parked hold. |
| --{prefix_6}frequency | `50.0` | Wheel command rate (Hz). |
| --{prefix_6}command\_timeout | `0.2` | Seconds without a stick command before Jelly stops. |
| --{prefix_6}can\_timeout\_ms | `200.0` | Motor-side loss-of-comms timeout (ms). Stops the wheels even if the host hangs. |
| --{prefix_6}lift | `true` | The lift is present. |
| --{prefix_6}lift\_channel | `can_alm_axol_c` | CAN interface of the lift controller. |
| --{prefix_6}lift\_speed | `650` | Lift speed (encoder counts/s). |
Teleoperator
| Flag | Default | Description |
| --------------------------------- | ------- | ---------------------------------------------------------------- |
| `--teleop_config.has_gripper` | `true` | Set automatically from `--robot_config.axol_config.has_gripper`. |
| `--teleop_config.id` | `null` | LeRobot bookkeeping, unused by Axol. |
| `--teleop_config.calibration_dir` | `null` | LeRobot bookkeeping, unused by Axol. |