diff --git a/doc/images/initial_setup_images/services_polyscope5.png b/doc/images/initial_setup_images/services_polyscope5.png
index a32720ff2..04bf1264a 100644
Binary files a/doc/images/initial_setup_images/services_polyscope5.png and b/doc/images/initial_setup_images/services_polyscope5.png differ
diff --git a/doc/polyscope_compatibility.rst b/doc/polyscope_compatibility.rst
index ea33767e3..23366f1ca 100644
--- a/doc/polyscope_compatibility.rst
+++ b/doc/polyscope_compatibility.rst
@@ -46,9 +46,6 @@ table below or checkout the latest tag before the breaking changes were introduc
        replacing the Dashboard Server in version 10.11.0. It covers robot state control and loading
        and playing programs.
        From version 10.12, it also supports uploading programs to the robot and downloading programs from the robot, as well as listing existing programs on the robot.
-     - Using external control on |polyscope| X requires another URCapX for making external control
-       work. This is currently in the process of being created.
-       See `Universal Robots External Control URCapX <https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX>`_
 
 .. |polyscope| replace:: PolyScope