Setup wizard

0

Select robot

Robot

Arm model

Tells setup your arm's joints and where the gripper's tool point is.

Drop your .urdf, or a .zip with its meshes

Next you'll click your gripper's tool point on a 3D view of the arm.

Choose file

x: direction the fingers closey: upz: out of the gripper

Line up your arm's axes with the YAM's above. Drag an arrow to move along it, or a ring to turn around it. To enter an exact value, click it. Positions are in millimeters and turns in degrees, in the frame of your arm's end link.

Your arm file is saved. In your station file, replace REPLACE_ARM in custom.ik with this path:

station.yaml

To change it, move the marker and click Set tool center point again. To stop dreamcli tcp, press Control-C in the terminal or SSH session it runs in.

Driver Required

The Python class that reads and moves one arm. Setup tests it against the arm model in the next steps.

Start your driver from these

Driver template Example driver (reBot)Your own robot (docs)

Your driver reads and writes one arm: joint angles in radians, as your arm model defines them, and the gripper from 0 (closed) to 1 (open). The next steps test it against the arm model.

or

Calibration

Fill in the station file

Save this file as .
Replace every value that starts with REPLACE_. Leave the others as they are.
Each home value starts at 0.0. You will measure the real values in step .

station.yaml

ValueHow to find it

can_channelRun ip link. Each arm's CAN adapter appears as a link, such as can0.

homeEach arm's joint angles at its home position, in radians. Leave them at 0.0 for now and measure the real values in step .

Camera deviceRun ls -l /dev/v4l/by-path/ and use the path for each camera. For a network camera, use its rtsp:// address.

Intel RealSense cameraReplace device with serial. To find the serial number, run rs-enumerate-devices.

Your own camera classReplace device with source: module:Class.

Set up your arm from its URDF

Run this on the station, in a second terminal or SSH session, and open the address it prints in your browser. You mark your gripper's tool point on a 3D drawing, and it saves the arm file to use in custom.ik.

Terminal

dreamcli tcp

Check the file without moving the arms

The model runs, but nothing is sent to the arms. The log shows each arm's joint readings once per second.

Terminal

Set each arm's home

Leave the dry run running.

Move each arm by hand into its home pose, the position it starts every run from.
Copy each arm's six joint readings from the log into its home in station.yaml.
Press Control-C to stop the dry run.

Run the station

This path runs the station from the terminal only.

Terminal

1

Connect arms

Find adapters

Plug both arms' USB adapters into this computer and turn on the arms.

Find arms

Seen from behind the robot

Advanced arm settings

Left arm

Right arm

Give each arm a permanent connection name

When the computer restarts, it can assign can0 and can1 in a different order, which swaps the left and right arms. This rule names each arm's connection after its adapter's serial number, so each arm keeps the same name.

1

Run this command on the robot's computer:

Terminal

2

Unplug both CAN adapters, then plug them back in.

3

Click Scan again. If you replace an adapter, repeat these steps.

2

Set up cameras

Set up each camera

Take a picture from every camera and give each one its role. Then line each camera up with the reference laid over its picture. Dream-1 is sensitive to where each wrist camera points.

Showing a YAM example, not your training views We couldn't load the data was trained on. The example shows where cameras usually go. For an exact match, compare against your own dataset.

3

Move to home

Move each arm to its home pose.

The drawing shows your arms as your driver reads them. If it doesn't match your real arms, a joint's zero, direction, or units is wrong. Fix that before you continue. Drag a drawing to turn it, right-drag to move it, and scroll to zoom.

4

Set reach area

Move each hand across the whole area it should work in.

Paint one solid area in front of each arm. Stop short of your camera mount so it stays outside the area. Dream-1 keeps the hand's targets inside this area. If an arm still heads past the edge, it stops there for the rest of that move.

Left arm

Right arm

Top view. The arm's base is at the center, with a ring every 10 cm. The area limits the hand at any height. It doesn't protect the elbow.

5

Test joints

Test that the joints move correctly.

The arms move slowly under power: first each joint a little, then each hand. Watch that the real arms move the same way as the drawings.

6

Save station

Your driver, arm model, and embodiment go in the custom section of your station file, where you can edit them. To check the file without moving the arms, run .

Setup wizard

Choose setup method

Select robot

Robot

Arm model

Driver Required

Calibration

Embodiment

Fill in the station file

Set up your arm from its URDF

Check the file without moving the arms

Set each arm's home

Run the station

Connect arms

Find adapters

Find arms

Give each arm a permanent connection name

Set up cameras

Set up each camera

Move to home

Set reach area

Test joints

Save station

Before the arms move

Continue without a passing test?

Skip the reach area?

Choose your driver file

Skip the tool center point?