URSim

Robpod Studio can be used also to connect to URSim simulation environment instead of the real robot.

Polyscope 5 and erlier

URSim for Polyscope 5 and erlier versions are provided as a virtual machine image.

No particular configuration is needed to connect Robpod Studio to the virtual machine simulator.

Just start the virtual machine, check the virtual machine ip address, and then proceed in the same way as with real robot.

Polyscope 6

URSim for Polyscope 6 is provided as a docker container image.

Some configuration is needed before connecting Robpod Studio to the URSim simulation inside the container.

Port Mapping

Inside the launch script startURSim.bat or startURSim.sh make sure that following ports are mapped: 29999, 30001-30013, 22, 8876.

Inside the script change the docker run comand in this way to setup the port mapping:

docker run --rm -dit --init --privileged -p 5900:5900 -p 6080:6080 -p 29999:29999 -p 30001-30013:30001-30013 -p 22:22 -p 8876:8876 --mount type=volume,source=ursim-dind-var-lib-docker,target=/data/var/lib/docker -v "%LOCAL_WORKSPACE_FOLDER%/staging/programs:/root/programs" -v "%LOCAL_WORKSPACE_FOLDER%/staging/urcaps/osgi:/root/.urcaps/zip" -v "%LOCAL_WORKSPACE_FOLDER%/staging/urcaps:/var/urcaps" --add-host=servicegateway:127.0.0.1 --add-host=urcontrol:127.0.0.1 -e ROBOT_MODEL=%ROBOT_MODEL% --name %URSIM_NAME% %URSIM_DOCKER_IMAGE% >Nul 2>&1

Enable SSH

SSH channel is not enabled by default inside the docker container.

Run this commands inside the URSim docker container Terminal to enable SSH:

ssh-keygen -A
service ssh start

Fix programs folder

Programs folder is not correctly linked inside the container.

Run this commands inside the URSim docker container Terminal to fix the linking:

rm -fr /programs
ln -s /root/programs /programs

Now you can use Robpod Studio to connect to the URSim container using 127.0.0.1 IP address.