Teleoperation Config Parameters

Every setting for axol teleop. 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 teleop --axol.left_stiffness 0.8 --teleop.position_multiplier 1.5

General

Flag	Default	Description
`--sim`	`false`	Drive the browser visualiser instead of the robot. Robot gains and CAN channels are ignored.
`--mantis`	`false`	Drive the Mantis rigs’ grippers from their triggers instead of the robot.
`--jelly_only`	`false`	Drive only Jelly; the arms are never touched.
`--left_channel`	`can_alm_axol_l`	CAN interface for the left arm. `null` disables the arm.
`--right_channel`	`can_alm_axol_r`	CAN interface for the right arm. `null` disables the arm.
`--cameras`	`{}`	Cameras to stream to the headset, as slot → serial: `"{overhead: 41234567, left_arm: 41234568}"`. Empty means no video.
`--camera_eyes`	`{}`	Which eye(s) of each stereo camera to stream: `"{overhead: both, left_arm: left}"`. Default is overhead both, wrists left.
`--resolution`	`null`	Capture resolution for all cameras: `SVGA`, `HD1080`, or `HD1200`. `null` keeps the camera default.
`--log_level`	`INFO`	`DEBUG`, `INFO`, `WARNING`, or `ERROR`.
`--config_path`	—	Load a JSON/YAML config file. Flags override it.

Robot

Arm stiffness, gripper limits, and per-joint gains. Ignored with --sim.

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`

Teleop session

How VR controller motion becomes arm motion.

Flag	Default	Description
	`[−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.
	`[0.157, 0, 0, −0.314, 0, 0, 0.157]`	Right arm rest pose.
	`120`	Motor command rate (Hz). Data collection sets this from `teleop_hz`.
	`120`	How often VR poses are sent to the IK solver (Hz). The control loop interpolates between solutions.
	`1.0`	Scales hand movement. `2` moves the arm twice as far as your hand. Ignored in `absolute_mode`.
	`1.0`	Scales hand rotation the same way. Ignored in `absolute_mode`.
	`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.
	`0.5`	Seconds without a VR frame before tracking disengages and the arms hold position. `0` disables.
	`null`	Record every stage of the teleop pipeline to `~/.almond/recordings/<name>_*.npz` for `motion.build` and `diag.offline`. A bare name like `rec1` goes in that folder; a path is used as-is.
	`0.628`	Speed (rad/s) of the return-to-rest move.
	`1.5`	Minimum duration (s) of a return-to-rest move.
	`50.0`	IK weight toward the rest pose when planning a return.
	`100.0`	IK weight against joint limits when planning a return.
	`0.025`	Minimum self-collision clearance (m) when planning a return.
	`100.0`	IK weight on self-collision when planning a return.
	`10`	IK iterations per return waypoint.
	`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.
	`0` (off)	Contact stop while tracking. Same behaviour; a running episode is discarded. The control panel arms it at `16`. Hardware only.
	`0.25`	Damping (Nm·s/rad) of the limp hold after a contact stop.
	`0.628`	Joint speed cap (rad/s) right after engaging, so the first move is gentle.
	`1.0`	Seconds to ramp from `engage_max_vel` up to `teleop_max_vel`.
	`6.283`	Maximum joint speed (rad/s) while tracking.
	`21.99`	Maximum joint acceleration (rad/s²) while tracking.
	`0.3`	Smoothing on the IK output, `(0, 1]`. `1` is no smoothing; lower is smoother but adds lag. See Latency tuning.
	`2.5`	Low-pass cutoff (Hz) on raw controller poses before IK. Lower rejects more hand tremor but adds lag.
	`false`	Mantis mapping: track controller poses 1:1 in a fixed world frame instead of relative to where you engaged. Forced `true` by `--mantis`.
	`null`	In `absolute_mode`, fix the robot base this many metres above the VR floor instead of inferring it. Keeps datasets consistent across operators.
	`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`.
	`null`	Mantis data collection. Same for the right rig.
	`null`	Mantis data collection, Quest. Which saved calibration to use, e.g. `quest:oculus-touch-v3:grip`. Set from Mantis settings in the panel.
	`null`	Mantis data collection, Quest. Expected controller profile. Filled from `tracker_key`.
	`null`	Mantis data collection, Quest. Expected pose datum, `grip` or `target-ray`. Filled from `tracker_key`.
	`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
	`50.0`	Weight on end-effector position error.
	`10.0`	Weight on end-effector orientation error.
	`0` (off)	Weight on the headset’s elbow-position hint. Off by default because the hint is unreliable on hardware.
	`15.0`	Damping toward the current pose. Higher is steadier, lower tracks faster.
	`5.0`	Pull toward the home posture, preventing slow drift.
	`0.05`	Keeps the arm away from singular poses. Forced `0` in Mantis mode.
	`75.0`	Penalty on joint-limit violations.
	`0.025`	Distance (m) at which self-collision avoidance starts. Keep below the arm–torso clearance of normal poses.
	`150.0`	Weight on self-collision avoidance.
	`8`	Solver iterations per IK call.
	`1e-4`	Convergence tolerance. Keep small.
	`1e-2`	Initial Levenberg–Marquardt damping.
	`10.0`	Damping multiplier after a rejected solver step.
	`0.0346`	Largest joint change (rad) per IK call. Raise for faster tracking, lower for gentler motion.
	`0.82`	Maximum shoulder-to-target distance (m). Targets beyond it are pulled in.
	`0.78`	Distance (m) at which the reach limit starts to act.
	`0.015`	Below this manipulability, extra damping kicks in (near full extension).
	`60.0`	Extra damping at zero manipulability. `0` disables.
	`0.12`	Distance (rad) from a joint limit inside which the joint is damped while moving toward it.
	`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
	`8000`	Port the headset connects to. Quest-over-USB uses the same port.
	`null`	TLS certificate. `null` uses the auto-generated one in `~/.almond/vr/certs/`.
	`null`	TLS private key. `null` as above.
	`true`	Smooth out jittery or batched pose arrivals. `false` uses the latest raw frame.
	`0`	Minimum playout delay (s).
	`0.15`	Maximum playout delay (s) spent absorbing network jitter.
	`0.12`	Smoothing window (s). Adds about half of it as latency. `0` disables. See Latency tuning.
	`4.0`	Glitch-rejection threshold. Lower is more aggressive; `≤ 0` disables.
	`null`	Which pose source may drive: `webxr` (Quest), `tracker` (Lighthouse/Ultimate), or `null` for whichever connects first. Set automatically for Mantis.
	`null`	Mantis data collection. Exact pose-source ID accepted. Set automatically.

Jelly

The optional powered cart (x-drive base and telescoping lift), driven from the headset thumbsticks.

Flag	Default	Description
	`false`	This robot is on a Jelly. Thumbsticks drive the base, stick clicks run the lift.
	`can_alm_axol_b`	CAN interface of the wheel motors. `null` means lift only.
	`20.0`	Peak wheel speed (rad/s) at full stick.
	`1.0`	Rotation speed relative to driving speed, `[0, 1]`.
	`0.5`	Acceleration ramp. The default takes 2 s from rest to full speed.
	`15.0`	Stick directions within this many degrees of straight or sideways snap to exact. `0` disables.
	`0.15`	Thumbstick deadzone, as a fraction of full deflection.
	`false`	Use the board IMU to hold a straight heading.
	`2.0`	Heading-hold strength. `0` disables.
	`0.3`	Maximum heading-hold correction.
	`false`	Log heading-hold data at 10 Hz, for diagnosing drift.
	`60.0`	Stiffness (Nm/rad) holding the wheels when parked. `0` leaves them idle.
	`1.5`	Damping (Nm·s/rad) of the parked hold.
	`50.0`	Wheel command rate (Hz).
	`0.2`	Seconds without a stick command before Jelly stops.
	`200.0`	Motor-side loss-of-comms timeout (ms). Stops the wheels even if the host hangs.
	`true`	The lift is present.
	`can_alm_axol_c`	CAN interface of the lift controller.
	`650`	Lift speed (encoder counts/s).

Get Started

Operations

Mantis

Remote Teleop

Web Interfaces

Advanced

Teleoperation Config Parameters

General

Robot

Teleop session

Kinematics

VR server

Jelly

​General

​Robot

​Teleop session

​Kinematics

​VR server

​Jelly

General

Robot

Teleop session

Kinematics

VR server

Jelly