# Mounting the iPhone to the Robot
Optional: If the Stretch's wrist seems misaligned (not level), follow [this](https://forum.hello-robot.com/t/calibrating-zeros-for-the-dex-wrist-roll-pitch-yaw-joints/768) tutorial to correct it.
1. Joint calibrate the robot with `stretch_robot_home.py` if you have not already.
2. Place and tighten phone holder onto the Stretch’s Dex Wrist using an allen key.
3. Fully slide in iPhone (with the camera on the bottom right) until you feel that the robot can't slide in anymore (the camera notch will prevent it from sliding in any further).
4. Tighten the knob to make the iPhone tight
5. Adjust the tilt of the iPhone holder to be around **75 degrees** (you may find the [Precise Level](https://apps.apple.com/us/app/precise-level-spirit-level/id1093293519) helpful in doing so.
6. Connect a Lightning to USB-A data streaming cable from the iPhone to the Stretch’s USB port\
(We like a coiled, 90-degree angled cable the most, you can find them online if you search.)
7. Open the Record3D app on the iPhone ([record3d.app](https://record3d.app))
8. Go into "Settings" and select “USB” for "Live RGBD Video Streaming" mode
9. Go back to "Record" and start recording.
Final setup:
---
# Agent Instructions: Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter:
```
GET https://docs.dobb-e.com/hardware/attach-camera-to-robot.md?ask=
```
The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.