Hardware Overview

Overview of the Axol dual-arm robot, its mounting options, the Camera Kit, and the Compute Kit.

Axol is configured at order time from these choices:

• Axol: the dual-arm robot. Every configuration starts here.
• Mounting: one of the following.
  • Standalone: bolt Axol to your own table or fixture.
  • Owl Mount: rigid table/fixture column.
  • Ox Cart: height-adjustable mobile cart with a manual lift and leveling casters.
  • Jelly Mobile: powered mobile base with a battery and telescoping lift.
• Camera Kit: 2× ZED X One S Fisheye wrist cameras and 1× ZED X Mini stereo head camera, with mounts and GMSL2 cabling.
• Compute Kit: the onboard Jetson that runs Axol, one of the following.
  • ZED Box Orin: Jetson Orin NX 16GB in the industrial ZED Box.
  • Jetson AGX Orin: 64GB, for running the full Camera Kit.
  • Jetson Thor: 128GB Blackwell, for VLA policies and the full Camera Kit on one box.

Axol Overview

Axol ships fully assembled and ready to mount. It attaches with four M8×12 bolts that thread in from the bottom. See the mounting holes diagram below.

The back of the robot exposes the connectors used for power and camera control:

• 2× GMSL2 ports for the wrist cameras.
• 1× XT90 connector for power (24V DC, 60A peak).
• 1× Locking USB-C connector for control.

Two grippers are supported: the stock two-finger parallel gripper and the hinged-plate parcel gripper used by box mode. Tell the software which one is fitted with the control panel’s Robot → Gripper setting or --axol.gripper parallel|parcel (AxolConfig.gripper); the gripper’s stroke is calibrated against its end stops on every cold enable.

Reference diagrams

• Mounting holes (PDF)
• Joint layout drawing (PDF)
• Gripper drawing (PDF)
• Gripper CAD model (STEP)

Owl Mount Overview

The Owl Mount is a rigid 400mm 8080 aluminum T-slot extrusion column that bolts Axol to a table, workbench, or fixture. Its base brackets include clearance holes for 2020, 4040, and 4545 extrusion patterns, so it drops onto most T-slot tables without drilling, and the column’s T-slots stay free for cable management and accessories. An Axol mounting plate and all table/fixture hardware are included.

Reference diagrams

• Mount drawing (PDF)
• Owl Mount product page

Ox Cart Overview

The Ox Cart is a rugged, height-adjustable mobile cart with four leveling casters and a manual crank lift, so you can roll the robot between workstations, lock it in place, and set it to a comfortable working height, from sitting to standing. Its 60x60cm footprint fits through standard doors, the powder-coated steel frame stays stable under demanding workloads, and T-slot mounting keeps it easy to customize. The cart ships with its crank handle and casters.

Footprint	60 × 60 cm
Height range	Sit-to-stand, manual crank
Wheels	4× leveling casters
Weight	54.5 kg
Mounting	T-slot extrusion

Reference

• Ox Cart product page

Jelly Mobile Overview

Jelly Mobile is a powered mobile base with a holonomic (x-drive omni-wheel) drive, an integrated telescoping lift, and a 2.4 kWh battery for all-day, untethered operation. It is built for Axol but carries any robot on its universal mounting plate. Its 600 × 600 mm footprint fits through standard doors.

In teleop the headset thumbsticks drive Jelly’s base and lift, and the SDK detects Jelly automatically from the CAN devices attached. See Jelly in the VR interface guide and can.setup.

Drive	Powered holonomic drive, 0.7 m/s
Lift travel	610 mm (2 ft) at 40 mm/s
Height range	760–1,370 mm (2.5–4.5 ft)
Footprint	600 × 600 mm
Battery	2.4 kWh, 4–10 hours runtime
In the box	1× Jelly Mobile base with battery, 1× charger

Reference

• Outline drawing (PDF)
• Jelly Mobile product page

Camera Kit Overview

The Camera Kit adds the wrist and head cameras for data collection and policy inference:

• 2× ZED X One S Fisheye wrist cameras (global shutter, 204° FOV) with wrist mounts.
• 1× ZED X Mini stereo head camera (global shutter) with a head mount.
• FAKRA GMSL2 cabling: three 1.5 m cables plus two 0.3 m right-angle cables.

The cameras connect to the Compute Kit’s GMSL2 inputs.

Reference

• Camera Kit product page
• Wrist Mount (STEP)
• Head Mount (STEP)

Compute Kit Overview

The Compute Kit is the onboard NVIDIA Jetson that runs Axol, captures the cameras, and runs policies. Three tiers are offered:

	ZED Box Orin	Jetson AGX Orin	Jetson Thor
Module	Jetson Orin NX 16GB	Jetson AGX Orin 64GB	Jetson T5000 (Blackwell) 128GB
AI performance	100 TOPS	275 TOPS	2070 FP4 TFLOPS
Storage	256 GB SSD	500 GB SSD	See product page
Camera inputs	4× GMSL2	4× GMSL2	8× GMSL2
Axol control	USB-to-CAN	USB-to-CAN	Direct CAN
Best for	Runs the full Camera Kit at reduced frame rate	Runs the full Camera Kit at full frame rate	Runs the full Camera Kit at full frame rate + policy inference

Reference

• Compute product page

Next steps

Hardware Setup

Step-by-step setup for each configuration: standalone, Owl Mount, Ox Cart, or Jelly.

Installation

Install Axol on the robot machine and open the web control panel.

Mantis Hardware

Set up the handheld Mantis rigs for collecting demonstrations without moving the robot.