Hello everyone.
I’m a student working on an underwater robotic arm project.
I saw that my university had a UR3 available, and I was wondering if it was possible to replace the current motors with waterproof ones. Do you think it’s possible to use Polyscope with these new ones, or would it be better to develop another driver?
(As for the waterproofing of the rest of the arm, that won’t be a problem, I was just wondering about the compatibility of the drivers and the use of Polyscope with other motors).
Thanks for your answers!
All joints include their own electronics with encoders and bus communication within the joint. There are no supported alternative drives at this moment. 
I doubt there will be waterproof ones any time soon.