Abstract: Robotic medical systems can be capable of establishing procedural setup. A robotic medical system can include a kinematic chain having at least a first robotic arm. The robotic medical system can be configured to execute first movement of the kinematic chain to a first pose in accordance with a first recommended pose corresponding to a first procedure to be performed on a patient. After the kinematic chain reaches the first pose, the robotic medical system can obtain first data corresponding to a boundary condition of the kinematic chain in accordance with an input from a user and/or second data corresponding to a current state of the patient. The robotic medical system can be configured to adjust at least a portion of the kinematic chain from the first pose to a second pose in accordance with the obtained first data and/or second data.