rfx doctor

rfx doctor checks your development environment and verifies that all dependencies, hardware, and configurations are properly set up.

Basic Usage

rfx doctor

Runs a comprehensive check and prints a detailed report.

What It Checks

rfx doctor validates:

Version Information - rfx SDK, Python, platform
Required Tools - python3, cargo, uv
Rust Extension - rfx._rfx binary module
Core Python Packages - tinygrad, numpy, PyYAML
Optional Packages - PyTorch, LeRobot, OpenCV, Anthropic/OpenAI SDKs, MuJoCo
Transport Layer - Zenoh (via Rust extension)
Robot Configs - Validates all YAML files in rfx/configs/
Simulation Backends - MockRobot, Genesis (GPU), MJX (JAX)
rfxJIT Backends - CPU, CUDA, Metal availability
Hardware Detection - Serial ports, connected robots, Zenoh environment variables

Example Output

[rfx] doctor

  Version
    rfx-sdk          0.2.0
    Python           3.13.1
    Platform         Linux-6.1.0-x86_64

  Required tools
    python3                              ok  /usr/bin/python3
    cargo                                ok  /usr/local/bin/cargo
    uv                                   ok  /usr/local/bin/uv

  Rust extension
    rfx._rfx                             ok  v0.2.0

  Core Python packages
    tinygrad                             ok  0.9.2
    NumPy                                ok  2.0.1
    PyYAML                               ok  6.0.1

  Optional packages
    PyTorch                              ok  2.5.1
    LeRobot                              ok  0.2.0
    OpenCV                               ok  4.10.0
    Anthropic SDK                        ok  0.39.0
    OpenAI SDK                           not available
    MuJoCo                               ok  3.2.4

  Transport
    Zenoh (via Rust extension)           ok

  Robot configs
    so101.yaml                           ok
    go2.yaml                             ok
    g1.yaml                              ok

  Simulation backends
    MockRobot (torch)                    ok
    Genesis (GPU)                        not available  requires genesis
    MJX (JAX)                            ok

  rfxJIT backends
    cpu                                  ok
    cuda                                 ok
    metal                                not available

  Hardware
    /dev/ttyACM0                         ok  so101
    /dev/ttyUSB0                         ok  unknown
    RFX_ZENOH_CONNECT                    not set (using defaults)

[rfx] All good. Ready to go.

Exit Codes

0: All required components present
0: Some optional components missing (warnings only)

rfx doctor returns 0 even if optional components are missing. It only fails (though currently returns 0 regardless) if required components are missing.

Check Categories

Required Components

These must be present for rfx to function:

python3: Python 3.13+ interpreter
cargo: Rust toolchain (for building extensions)
uv: Modern Python package manager
rfx._rfx: Compiled Rust extension module
Core packages: tinygrad, numpy, PyYAML

If any required component is missing, you’ll see:

  python3                              missing
  rfx._rfx                             missing  (run: maturin develop)

Optional Components

These enable additional functionality:

PyTorch: Neural network inference (most policies)
LeRobot: Dataset compatibility and utilities
OpenCV: Image processing and visualization
Anthropic/OpenAI SDKs: VLA and foundation model integration
MuJoCo: Physics simulation backend
Genesis: GPU-accelerated simulation

Missing optional components show:

  OpenAI SDK                           not available
  Genesis (GPU)                        not available  requires genesis

Troubleshooting Common Issues

Rust Extension Missing

  rfx._rfx                             missing  (run: maturin develop)

Fix: Build the Rust extension:

cd rfx
maturin develop --release

Or from source:

bash scripts/setup-from-source.sh

No Serial Devices Found

  Hardware
    No serial devices found

Possible causes:

Robot not connected
USB cable issue
Driver not installed (Windows)
Permission issue (Linux)

Linux fix - Add user to dialout group:

sudo usermod -aG dialout $USER
# Log out and back in

Robot Config Invalid

  so101.yaml                           missing  (invalid motor config)

Fix: Check the YAML syntax and ensure all required fields are present. See the Robot API documentation for configuration details.

rfxJIT Backend Unavailable

  cuda                                 not available

Fix: Install PyTorch with CUDA support:

uv pip install torch --index-url https://download.pytorch.org/whl/cu121

Transport Not Available

  Zenoh (via Rust extension)           not available  Rust extension not built

Fix: The Rust extension must be built with Zenoh support. Rebuild:

maturin develop --release

Hardware Detection Details

rfx doctor scans for connected robots:

from rfx.robot.discovery import discover_ports

ports = discover_ports()
# Returns list of dicts: [{"port": "/dev/ttyACM0", "robot_type": "so101"}, ...]

For network-based robots (Go2, G1), it checks the RFX_ZENOH_CONNECT environment variable:

export RFX_ZENOH_CONNECT="tcp/192.168.1.120:7447"
rfx doctor

Output:

  Hardware
    RFX_ZENOH_CONNECT                ok  tcp/192.168.1.120:7447

Using Doctor in CI/CD

rfx doctor is useful in automated environments:

# .github/workflows/test.yml
- name: Check rfx environment
  run: rfx doctor

Or in Docker:

RUN uv pip install rfx-sdk && rfx doctor

Interpreting the Report

All Good

[rfx] All good. Ready to go.

All required components are present. You can proceed with recording, training, and deployment.

Some Items Missing

[rfx] Some required items missing. See above.

Check the report for missing items and install them. Optional items marked not available are informational only.

Manual Checks

You can manually verify specific components:

Check Python version

python3 --version

Should be 3.13 or higher.

Check Rust extension

import rfx
from rfx import _rfx
print(_rfx.__version__)

Check robot config

from rfx.robot.config import load_config

config = load_config("so101")
print(config)

Check serial ports

from rfx.robot.discovery import discover_ports

ports = discover_ports()
for p in ports:
    print(p)

Get Started

Core Concepts

CLI Reference

Hardware

Simulation

Workflows

Advanced

rfx doctor

Basic Usage

What It Checks

Example Output

Exit Codes

Check Categories

Required Components

Optional Components

Troubleshooting Common Issues

Rust Extension Missing

No Serial Devices Found

Robot Config Invalid

rfxJIT Backend Unavailable

Transport Not Available

Hardware Detection Details

Using Doctor in CI/CD

Interpreting the Report

All Good

Some Items Missing

Manual Checks

Check Python version

Check Rust extension

Check robot config

Check serial ports

See Also

Build docs developers (and LLMs) love

Get Started

Core Concepts

CLI Reference

Hardware

Simulation

Workflows

Advanced

​Basic Usage

​What It Checks

​Example Output

​Exit Codes

​Check Categories

​Required Components

​Optional Components

​Troubleshooting Common Issues

​Rust Extension Missing

​No Serial Devices Found

​Robot Config Invalid

​rfxJIT Backend Unavailable

​Transport Not Available

​Hardware Detection Details

​Using Doctor in CI/CD

​Interpreting the Report

​All Good

​Some Items Missing

​Manual Checks

​Check Python version

​Check Rust extension

​Check robot config

​Check serial ports

​See Also

Build docs developers (and LLMs) love

Basic Usage

What It Checks

Example Output

Exit Codes

Check Categories

Required Components

Optional Components

Troubleshooting Common Issues

Rust Extension Missing

No Serial Devices Found

Robot Config Invalid

rfxJIT Backend Unavailable

Transport Not Available

Hardware Detection Details

Using Doctor in CI/CD

Interpreting the Report

All Good

Some Items Missing

Manual Checks

Check Python version

Check Rust extension

Check robot config

Check serial ports

See Also