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This page is experimental, and so is Franka support. It has run on one FR3 in our lab. Setup, checks, homing and stopping work there, but no model has yet completed a task on it reliably. Expect rough edges and changes between releases. Tell us what you see at team@dreamscalelabs.com.

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What you need

  • A Franka FR3 with a Franka Hand, its joints unlocked and FCI activated in Desk. A Panda should work but is untested.
  • A Linux x86_64 computer with a real-time (PREEMPT_RT) kernel, wired to the arm’s control box. It needs no GPU.
  • Cameras in the DROID layout: an exterior 1 camera beside the table and a wrist camera on the hand. A second exterior camera is optional. USB cameras, ZED cameras (read as USB cameras) and Intel RealSense cameras work.
  • Access to a DROID model. They are in beta: ask team@dreamscalelabs.com.
  • The Dreamscale CLI, signed in. See Quick start.

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1. Place the cameras

Put exterior 1 to the side of the table, seeing the arm and the whole workspace, as in DROID. Mount the wrist camera on the hand so it sees the fingers.

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2. Set up the arm and cameras

It installs Franka support, checks it can reach the arm, and previews each camera so you can pick exterior 1, the wrist camera and, if you have one, exterior 2.

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3. Check everything

It checks the real-time kernel, the arm’s connection and state, the gripper, each camera and your access to that model. It never moves the arm. Every line shows a ✓; a camera on a slow USB link may show a warning instead.

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4. Run a model

The arm will move. Clear the workspace, keep people and cables out of reach, and keep the E-stop in your hand. Cloud inference does not replace your robot’s safety limits.
  1. At Enter to start, press Enter to connect the arm. It moves slowly to DROID’s home pose.
  2. At Instruction, type a task, for example pick up the marker.
  3. The arm shows a preview of the first actions. Nothing moves yet.
  4. Press Enter to run. Press Ctrl+C to stop.
  5. The arm returns home and asks for the next instruction. Press Ctrl+C again to exit.
The arm holds its pose after the command exits, while the robot stays on. Lock its joints in Desk when you’re done. If the arm stops on a reflex, check why it stopped, then clear the error:

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Models

Every run needs one with --model. All are in beta:
  • molmoact2-droid: MolmoAct2. Reads exterior 1 and the wrist, plus exterior 2 if you set one.
  • cosmos3-edge-policy-droid and cosmos3-nano-policy-droid: Cosmos 3. Read all three cameras.
  • flux-3-action-droid: FLUX 3 Action. Reads all three cameras.
dreamscale models list shows which ones your organization can run right now. Stuck? See Troubleshooting.