lerobot_robot_axol

LeRobot plugin for the Almond Axol dual-arm robot.

Installing this package makes the Axol devices available to the stock LeRobot CLI tools (lerobot-record, lerobot-teleoperate, lerobot-replay, ...) through LeRobot's plugin auto-discovery — no changes to LeRobot itself.

Kind type Class
Robot axol almond_axol.lerobot.robot.AxolRobot
Teleoperator axol_vr almond_axol.lerobot.teleop.AxolVRTeleop
Camera zed almond_axol.lerobot.camera.ZedCamera

The device classes live in the almond-axol SDK; this package is a thin shim that registers them with LeRobot at CLI startup.

Requirements

  • The robot machine (typically the ZED Box / NVIDIA Jetson wired to the Axol) with CAN set up — see the installation guide.
  • Python 3.13, Linux.
  • LeRobot >= 0.6.1.
  • For the zed camera: the ZED SDK and pyzed (axol zed.install).

Install

pip install lerobot_robot_axol

This pulls in almond-axol[lerobot] automatically. To install from source instead:

pip install "lerobot_robot_axol @ git+https://github.com/almond-bot/axol#subdirectory=plugins/lerobot_robot_axol"

If you already installed the axol CLI via the one-line installer, add the plugin to that environment instead:

uv tool install --with lerobot_robot_axol almond-axol

Usage

lerobot-teleoperate \
    --robot.type=axol \
    --teleop.type=axol_vr

lerobot-record \
    --robot.type=axol \
    --robot.cameras "{overhead: {type: zed, serial: 41234567, stereo: true}}" \
    --teleop.type=axol_vr \
    --dataset.repo_id=${HF_USER}/my-dataset \
    --dataset.num_episodes=5

Teleoperation uses a VR headset: open axol.almond.bot in the headset browser and connect to the robot machine — see the teleop guide.

For the highest-rate data collection (out-of-process ZED capture, Jetson NVENC dataset encoding, headset video streaming), prefer the SDK's own axol collect-data, which is built on the same LeRobot classes.

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License

MIT

Requires

Python >=3.12

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