VLA Pipeline hardware readiness¶
Goal: hand over two clearly identified rigs with secure mounts, usable camera views, and accessible stop controls. Complete Equipment and connections first and follow the safety rules.
Inspect before power-on, then complete the basic software checks before the live-view checks below.
1. Inspect before power-on¶
- Both arm bases and grippers are secured with the approved fasteners; printed fingers are fitted.
- Each arm is paired with its own control box, cables, and stop button, all labeled A or B.
- Wrist-camera cables have slack through the movement range and do not enter joints.
- Scene-camera stands are stable and outside the arms' reach.
- The table is stable and the arms' overlapping work area is reviewed.
- Headsets, controllers, batteries, and USB data cables are ready.
Have the installer follow UFACTORY's power-on procedure.
2. Check the camera views¶
Ask the installer to show each live view without moving an arm:
| View | What to check |
|---|---|
| Rig A wrist — D405 | Gripper and intended contact area are visible |
| Rig B wrist — D405 | The view belongs to the second arm and is labeled |
| Three D415 scene cameras | The intended table areas are visible, lit, and unobstructed |
Record all five camera serials and positions. Show the views together to reveal USB bandwidth or power problems. Match each connected headset's serial to its assigned rig using the USB connection check.
3. Confirm stops and clearance¶
An experienced operator demonstrates which stop controls which arm, then the recovery and shutdown procedure, for each rig separately before a two-arm session. The operator approves the resting and home poses for the actual mounting and cable routing.
4. Record the handover¶
Keep rig A/B identities, addresses, camera and headset serials, approved poses, stop locations, operator name, and date in the setup notes. Photograph the cable labels and camera arrangement.
Ready for handover: all equipment is accounted for, views are checked, and the operator has signed off the stops and clearance. Record any unresolved items before the first session.
If a check fails: Hardware troubleshooting