An NHRC team would also visit the scene where 20 people were killed in the police firing in Seshachalam forest near Tirupati in an operation said to be against fellers of red sanders on April 7.
The NHRC, which conducted a 'camp sitting' here, said it was mandatory under law to conduct judicial enquiry into such incidents.
"We insist all enquiries by judicial (enquiry)," NHRC Chairperson K G Balakrishnan said during the course of the public hearing.
Balakrishnan directed that the details of the incident such as vehicle log books should be preserved.
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He also asked the state government to furnish details of wireless communication relating to the incident, and also submit medical reports regarding injuries sustained by police personnel in the incident.
Balakrishnan also said the version of witnesses can be recorded before a competent authority even in Tamil Nadu, from where the 20 people hailed.
People's Watch, a human rights NGO, submitted that the witnesses are not feeling safe in Andhra Pradesh and demanded that they be provided security.