> ## Documentation Index
> Fetch the complete documentation index at: https://docs.dreamscalelabs.com/llms.txt
> Use this file to discover all available pages before exploring further.

> ## Agent Instructions
> Treat the Dreamscale CLI and Python SDK as the supported public integration surfaces.
> Prefer `dreamscale run <robot>` for supported robots and `dreamscale.connect(model)` with `predict` or `next_action` in Python.
> Do not infer or recommend internal control-plane APIs.

# Franka / DROID with the CLI (experimental)

> Experimental: set up a DROID-style Franka arm with its cameras and run a DROID-trained model on it from the CLI.

**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](mailto:team@dreamscalelabs.com).

## 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](mailto:team@dreamscalelabs.com).
* The Dreamscale CLI, signed in. See [Quick start](https://docs.dreamscalelabs.com/index.md).

## 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.

## 2. Set up the arm and cameras

```bash theme={null}
dreamscale robots franka setup
```

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.

## 3. Check everything

```bash theme={null}
dreamscale doctor franka --model molmoact2-droid
```

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.

## 4. Run a model

> [!WARNING]
>
> 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.

```bash theme={null}
dreamscale run franka --model molmoact2-droid
```

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:

```bash theme={null}
dreamscale robots franka recover
```

## 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](https://docs.dreamscalelabs.com/troubleshooting.md).


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