> ## 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.
# Run Policy Config Parameters
> Every setting for axol run-policy — what it does and its default.
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 run-policy`. 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 run-policy --policy_path myorg/pick-act --policy_type act --task "pick up the cup" \
--robot_config.axol_config.left_stiffness 0.8
```
Stiffness, gripper torque, `observe_torques`, `observe_cartesian`, `fps`, and the camera set must be the **same as in [Data Collection](/operations/data-collection-config)**. A policy only works with the dynamics it was trained on.
## Policy
| Flag | Default | Description |
| ---------------------- | -------------- | -------------------------------------------------------------------------------------------------------------- |
| `--policy_path` | required | Policy checkpoint — a HuggingFace Hub repo id or local path (reachable from the inference server when remote). |
| `--policy_type` | required | `act`, `smolvla`, `diffusion`, `tdmpc`, `vqbet`, `pi0`, `pi05`, or `groot`. |
| `--task` | required | Task description sent to the policy and stored with recorded frames. |
| `--device` | `cuda` | `cuda`, `cpu`, or `mps`. |
| `--episode_time_s` | `120` | Maximum episode length (s). |
| `--fps` | `60` | Control rate. Must match the training fps unless `--allow_fps_mismatch true`. |
| `--allow_fps_mismatch` | `false` | Start even if `fps` differs from the training fps. Experiments only. |
| `--server_host` | `null` (local) | Address of a remote [`inference-server`](/cli/inference-server). `null` starts one locally. |
| `--server_port` | `8765` | Inference server port. |
## Action chunking
How the action chunks returned by the policy are stitched into smooth motion.
| Flag | Default | Description |
| --------------------------- | ------------------- | --------------------------------------------------------------------------------------------------------------------------------------- |
| `--actions_per_chunk` | `50` | Actions requested from the policy per call. |
| `--chunk_size_threshold` | `0.9` | Request the next chunk when the action queue drops below this fraction. |
| `--aggregate_fn` | `temporal_ensemble` | How overlapping chunks are combined: `temporal_ensemble`, `weighted_average`, `latest_only`, `average`, or `conservative`. |
| `--temporal_ensemble_coeff` | `0.01` | Weight decay for `temporal_ensemble`. |
| `--ensemble_blend_s` | `0.2` | Fade (s) at the end of each chunk so the motion doesn't step when a chunk expires. `0` disables. |
| `--align_fade_s` | `1.0` | Fade (s) over which each new chunk's offset from the current motion is blended in. Removes inference-latency oscillation. `0` disables. |
| `--exec_max_vel` | `6.283` | Joint speed limit (rad/s) on commands sent to the arms. `0` disables. |
| `--exec_max_accel` | `21.99` | Joint acceleration limit (rad/s²). `0` disables. |
## Recording
Optional — the rollout is recorded to a dataset when `--repo_id` is set.
| Flag | Default | Description |
| --------------- | ------------ | -------------------------------------------------------------------------------------- |
| `--repo_id` | `null` | Dataset id, `/`. Set it to record the rollout. |
| `--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. |
| `--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. |
## 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. |
| `--policy_torque_threshold` | `0` (off) | Contact stop while the policy drives (Nm). A trip aborts the episode. The control panel arms it at `16`. |
| `--reset_gravity_comp_kd` | `0.25` | Damping (Nm·s/rad) of the limp hold. |
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` |