Replay Dataset Config Parameters

Every setting for axol replay-dataset. Add any flag below to the command, or set it once in the control panel — see Command configuration for config files and syntax details.

axol replay-dataset --repo_id myorg/pick --episode 3 --interpolate true

Playback

Flag	Default	Description
`--repo_id`	required	Dataset id (`<user>/<dataset>`) or a path to a dataset directory.
`--episode`	required	Episode index to replay.
`--fps`	`0`	Playback rate. `0` uses the dataset’s recorded rate.
`--root`	`null`	Local dataset directory. Default is the LeRobot cache, `~/.cache/huggingface/lerobot`.
`--interpolate`	`false`	Smooth playback by interpolating between recorded actions at ~120 Hz.
`--loop`	`false`	Replay the episode until stopped, returning to rest between takes.
`--log_level`	`INFO`	`DEBUG`, `INFO`, `WARNING`, or `ERROR`.
`--config_path`	—	Load a JSON/YAML config file. Flags override it.

Contact safety

A contact stop trips when a joint’s torque is higher than the gravity model expects — the arm hit something. The arms then go limp instead of pushing through.

Flag	Default	Description
`--reset_torque_threshold`	`4.0`	Contact stop during return-to-rest (Nm). `0` disables.
`--teleop_torque_threshold`	`0` (off)	Contact stop during playback (Nm). A trip stops playback. The control panel arms it at `16`.
`--reset_gravity_comp_kd`	`0.25`	Damping (Nm·s/rad) of the limp hold.

Robot

Replay uses the arms only; camera and observation settings have no effect.

Flag	Default	Description
	`can_alm_axol_l`	CAN interface for the left arm.
	`can_alm_axol_r`	CAN interface for the right arm.
	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.
	`auto` (`sdk` on run-policy)	Camera backend: `gst` (GPU pipeline, low latency), `sdk` (ZED SDK), or `auto` (prefers `gst`).
	`false`	Include joint torques in observations. Must match between collection and inference.
	`false`	Use end-effector poses instead of joint angles for observations and actions. Must match between collection and inference.
	`null`	LeRobot bookkeeping, unused by Axol.
	`null`	LeRobot bookkeeping, unused by Axol.

Arm gains

Arm stiffness, gripper limits, and per-joint gains.

Flag	Default	Description
	`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`.
	`1.0`	Same, for the right arm.
	`true`	Set `false` on the gripperless model. The gripper motors are never enabled and datasets record 7 channels per arm instead of 8.
	`0.5`	Largest joint move (rad) allowed between two consecutive commands. Bigger moves are dropped with a warning. `inf` disables.
	`0.5`	Grip force — peak gripper torque (Nm).
	`10.0`	Maximum gripper speed (rad/s).
	per joint	Position stiffness of one joint, in `[0, 500]`. This is the stiffness-`1` value.
	per joint	Velocity damping in the motor firmware, in `[0, 5]`.
	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.
	`null`	Centre frequency (Hz) of the band the host damping acts in. `null` tracks the arm’s pose automatically.
	`null`	Width of that band (bandwidth = centre ÷ q). `null` uses `0.8`.
	per joint	Effective inertia (kg·m²) used for acceleration feed-forward.
	per joint	Mass (kg) of the link, used for gravity compensation. Tune if an arm sags or pushes back in gravity comp.
	per joint	Centre of mass `[x, y, z]` (m) of the link.
	per motor	Coulomb friction (Nm). Measured per motor with `tune.friction`.
	per motor	Friction curve sharpness.
	per motor	Viscous friction (Nm·s/rad).
	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, tune.friction --save, or tune.gravity --save uses its own measured values (from ~/.almond/calibration.json) instead of the defaults below. Flags you pass still override both.

Per-joint defaults

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

Per-motor friction defaults

Fallback values of fc, k, fv, fo for each motor, measured on the reference robot with 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`

Get Started

Operations

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Advanced

Replay Dataset Config Parameters

Playback

Contact safety

Robot

Arm gains

​Playback

​Contact safety

​Robot

​Arm gains

Playback

Contact safety

Robot

Arm gains