Skip to main content
Experimental. Universal Robots support has run on one UR7e with a Robotiq 2F-85 on PolyScope X, and nowhere else yet. Other arms, grippers and PolyScope 5 are expected to work but haven’t been tried, and commands and setup may change without notice. Expect rough edges, stay at the e-stop, and tell us how it goes at team@dreamscalelabs.com. There is no shared model for UR arms: you record demos, train π0.5 on them, and run the result.

​
What you need

  • A UR e-Series or UR Series arm: UR3e, UR5e, UR7e, UR10e, UR12e, UR16e, UR8 Long, UR15, UR18, UR20 or UR30, on PolyScope X or PolyScope 5.
  • A Robotiq 2F-85, 2F-140 or Hand-E on the wrist, or no gripper.
  • Two RGB cameras: scene, looking over the arm at the table, and wrist, on the gripper. USB (UVC), ZED and RealSense cameras work.
  • A Linux computer on the arm’s Ethernet network, wired to the cameras.
  • The pendant’s e-stop within reach.

​
1. Prepare the pendant

On PolyScope X:
  1. Under Settings › Security › Services, enable RTDE, the Primary Client Interface and the Real-Time Client Interface.
  2. Install UR’s External Control and Tool Communication Forwarder URCapXs. Remove Robotiq’s URCapX if it is installed: it holds the wrist port. Open the forwarder’s Application screen and press Start.
  3. Make a program named dreamscale with two nodes. First a Script node:
    Use your gripper and camera’s mass in kg and centre of gravity in metres. Then an External Control node with this computer’s IP address.
  4. To start runs from the computer, switch the pendant to Remote control (PolyScope X 10.11 or later). In Local control you press Play on the program when the CLI asks.
On PolyScope 5, use the External Control URCap and Robotiq’s own URCap instead.

​
2. Install and set up the rig

Open the URL it prints, then choose your arm model, enter the control box address, pick the gripper and assign the scene and wrist cameras. Setup only reads the arm and gripper; nothing moves. No browser? Use dreamscale robots ur setup --cli.

​
3. Check everything

It checks RTDE, the arm’s state, the gripper and both cameras without moving anything. Every line shows a ✓.

​
4. Save a home pose

Freedrive the arm on the pendant to where every run should start, gripper clear of the table and the wrist camera on the work area. Then:
dreamscale robots ur home moves back there slowly and opens the gripper.

​
5. Record and train

Record demos on this rig as a LeRobot dataset with:
  • observation.images.scene and observation.images.wrist, in that order;
  • observation.state and action: 7 values each, the six joint positions in radians from base to wrist 3, then the gripper from 0 (open) to 1 (closed).
Then train and deploy it as on Training. train deploy prints the command that runs your deployment.

​
6. Run it

The arm will move. Clear the workspace and keep the e-stop within reach. Software limits do not prevent collisions, and cloud inference does not replace your robot’s safety configuration.
  1. At Instruction, type a task, for example put the cup on the plate.
  2. At Enter to start, press Enter. The first time, this connects: in Remote control the dreamscale program starts by itself; in Local control press Play when asked.
  3. The arm runs the task. Press Ctrl+C to stop; it returns to its home pose if you saved one, and asks for the next instruction.
Joints move at most 1 rad/s, and slower on arms longer than a UR7e. The arm holds its pose after the command exits; stop the program on the pendant when you’re done. Stuck? See Troubleshooting.