Hardware Preparation
Prepare the Leader for simulation recording first, then configure the physical Follower and cameras before real-world validation.
Before simulation recording
- Check the host and robot requirements, and complete installation and simulation setup.
- Select the robot model and identify the Leader using Arm Platforms & Serial Port Detection.
- For SO-101, follow the Leader procedure in Arm Calibration.
- Enter the simulation environment and complete offset calculation using Simulation & SDG Generation. Move the physical Leader and confirm that the virtual Follower follows the intended pose.
Initial SO-101 identification The shared serial-port guide describes the two-arm setup wizard. Follow its connection and identification prompts during initial setup. The simulation recording readiness check itself requires the Leader, while its Follower and cameras are virtual.
Two different alignment operations
| Operation | What it aligns | When to perform it |
|---|---|---|
| Arm calibration | Physical arm readings and the arm's actual motion range | During initial SO-101 hardware preparation |
| Simulation offset calculation | The physical Leader and virtual Follower | Before simulation demonstrations |
Follow the procedure for the selected arm model. The shared calibration guide covers SO-101; the OpenMANIPULATOR-X setup procedure is described in the arm setup guide.
Hardware readiness check
| Operation | Hardware checked by the platform |
|---|---|
| Simulation recording | Leader |
| Physical recording for supplementary data | Leader, Follower, and cameras |
| Physical inference | Follower and cameras |
Use the shared workflow reference for the readiness notification and the functions available on each page.
Before real-world validation
Configure the physical Follower, complete its required calibration, and configure the physical cameras. Use viewpoints that correspond to the simulation data, then follow Real-World Validation.
Next: Choose the policy, then complete simulation recording and SDG.