User Guide

Workflow

1. Purchase hardware - procure robot arms, cameras, and accessories. See the Bill of Materials for the recommended setup.
2. Hardware setup - assemble robot arms, cameras, and optional foot switch.
3. Install software - install Raiden and hardware SDKs.
4. Calibrate cameras - hand-eye calibration for wrist cameras and static extrinsics for the scene camera.
5. Record demonstrations - capture teleoperation episodes with synchronized cameras and robot joint data.
6. Convert to dataset - extract frames, synchronize multi-camera streams, and interpolate joint poses into a structured dataset.
7. Shardify - export converted episodes to WebDataset sharded .tar files for policy training.
8. Replay - replay recorded follower arm motion on the physical hardware to verify a recording.
9. Visualize - inspect converted recordings interactively in Rerun.

Commands

Command	Description
rd list_devices	List all connected cameras, arms, and SpaceMouse devices
rd calibrate	Calibrate cameras (hand-eye + scene extrinsics)
rd teleop	Teleoperate arms without recording
rd record	Record teleoperation demonstrations
rd convert	Convert raw recordings to a structured dataset
rd shardify	Export converted episodes to WebDataset shards
rd replay	Replay recorded follower arm motion
rd visualize	Visualize a converted recording with Rerun

Run rd <command> --help for options.