> ## 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.

# diag.rom-enable

> Range-of-motion soak test: sweep every joint for two hours.

Enables the motors, eases to home, then loops a full range-of-motion sweep of every joint for two hours. On a full-robot run it first prompts to clamp each gripper onto an item and holds it for the duration; when the soak finishes (or on Ctrl-C) the robot returns home with the item still gripped and the motors left enabled — run [`diag.rom-disable`](https://docs.almond.bot/cli/diag-rom-disable) afterwards to release it and power down.

Joint positions and torques are captured to a CSV under `~/.almond/diagnostics/captures` at 5 Hz so the run can be charted in the [diagnostics dashboard](https://docs.almond.bot/guides/diagnostics-dashboard)'s run history.

```bash theme={null}
axol diag.rom-enable
axol diag.rom-enable --no-right                          # left arm only
axol diag.rom-enable --joints wrist_1,wrist_2,wrist_3    # subset of joints
axol diag.rom-enable --web-prompts                       # dashboard-driven prompts
axol diag.rom-enable --no-capture                        # skip the telemetry CSV
axol diag.rom-enable --no-right --left-channel can0      # one arm on a non-hub CAN adapter
```

`--left-channel` / `--right-channel` override the SocketCAN interface used for each arm (default: the Axol hub adapter's `can_alm_axol_l` / `can_alm_axol_r`) — for setups where the Axol hub CAN adapter isn't attached. With a single-channel adapter, combine a channel override with `--no-left` / `--no-right` to run one arm.

By default each hands-on gripper step is an interactive `input()` prompt on the terminal. `--web-prompts` instead emits a `[prompt] …` marker and blocks on stdin, so the web dashboard can turn the step into a **Continue** button (it's set automatically when launched from the dashboard).