Hardware Preparation

Physical recording requires the Leader, Follower, and cameras to be ready together. Complete this page before recording demonstrations.

Prepare the arms

1. Complete installation and check the supported robot and host in System Requirements.
2. Open Data Tools → Hardware Settings and select the robot model. Follow Arm Platforms & Serial Port Detection to identify the Leader and Follower.
3. For SO-101, complete the calibration procedure for both arms. For OpenMANIPULATOR-X, follow its procedure in the arm setup guide.
4. Confirm the connection state before entering physical recording. The hardware FAQ covers connection and calibration problems.

Use the procedure for the selected robot. SO-101 range calibration and the offset alignment used by simulation are different operations; this physical recording route uses the robot's physical setup procedure.

Prepare the cameras

Follow Camera Setup & Management. A connected camera also needs its enable toggle switched on to be included in recordings.

Viewpoint	Confirm before recording
Wrist	Gripper-object contact and grasp alignment remain visible
Top	The start area, destination, and complete motion remain in view

Fix the camera mounts and use display names that match their positions. A display name helps identify a feed; it does not change the underlying device node. Check the actual image whenever devices are reconnected.

For placement, lighting, and deciding whether a third view is needed, see camera viewpoint design.

Hardware readiness check

Operation	Devices required by the platform
Physical recording	Leader, Follower, and cameras
Training	A host supported by the selected policy and the saved dataset
Physical inference	Follower and cameras

Before the first recording, confirm that the platform's readiness check passes, the required images are visible, and the work area is clear. Verify the demonstration setup before starting a batch.

Next: Choose the policy, then continue to Physical Demonstration Recording.