URSim

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

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.

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

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

Port Mapping

Ports 30001, 30002, 30011, 8879 must be added your PolyscopeX simulator container.

To run a container with port mapping already configured execute this command:

docker run --hostname=1dfef917de85 --env=DOCKER_TLS_CERTDIR=/certs --env=TARGETARCH=amd64 --env=IMAGE_PSX_BOOTSTRAPPER_VERSION=0.6.8 --env=JAVA_BACKEND_ARGS= --env=CONTROLLER_IMAGE=docker.urrd.dk/tool/controller-artifact:90.1.13 --env=ACTUAL_PSX_SERVICES_VERSION=23.2.9 --env=ACTUAL_PSX_BOOTSTRAPPER_VERSION=0.6.8 --env=ACTUAL_SW_LICENSING_PSX_VERSION=0.8.2 --env=ROBOT_TYPE_CONTROLLER=UR5 --env=HOST_ARCH=x64 --env=DEVMODE=true --env=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin --env=DOCKER_COMPOSE_VERSION=2.40.3 --env=DIND_COMMIT=8d9e3502aba39127e4d12196dae16d306f76993d --env=ROBOT_TYPE=UR5 --env=ROS2_NAMESPACE=UR8888 --env=DOCKER_VERSION=29.1.1 --env=URSERVICE_IMAGE=docker.urrd.dk/urservice:19.10.31 --env=DOCKER_BUILDX_VERSION=0.30.1 --env=IMAGE_PSX_SERVICES_VERSION=23.2.9 --env=IMAGE_SW_LICENSING_PSX_VERSION=0.8.2 --env=ROS2_DOMAIN_ID=1 --volume=ursim-polyscopex-applications:/ur/bin/backend/applications:rw --volume=ursim-polyscopex-safety-volume:/ur/etc/backend/safety:rw --volume=ursim-polyscopex-urcaps:/var/urcaps:rw --volume=ursim-polyscopex-ur-snippets:/etc/nginx/ur-snippets:rw --volume=ursim-polyscopex-docker-volume:/var/lib/docker:rw --volume=/var/lib/docker --network=bridge --privileged --workdir=/root -p 29999:29999 -p 30001:30001 -p 30002:30002 -p 30011:30011 -p 80:80 -p 8879:8879 --restart=no --label=''com.docker.compose.config-hash=3e1ed2181000a0f759903e488fd9a221760e166d09e2953e3ec4e09e668b97f0'' --label=''com.docker.compose.container-number=1'' --label=''com.docker.compose.depends_on='' --label=''com.docker.compose.image=sha256:d681b22c1aaf6cec1dead8b52e5fd0876ac94ac2ab88f567a7cffb3099d556ff'' --label=''com.docker.compose.oneoff=False'' --label=''com.docker.compose.project=ursim-polyscopex'' --label=''com.docker.compose.project.config_files=/ursim-polyscopex-0.18.81/artifacts/runtime/docker-compose.yml'' --label=''com.docker.compose.project.environment_file=/ursim-polyscopex-0.18.81/artifacts/runtime/.env'' --label=''com.docker.compose.project.working_dir=/ursim-polyscopex-0.18.81/artifacts/runtime'' --label=''com.docker.compose.service=runtime'' --label=''com.docker.compose.version=5.1.1'' --label=''com.ur.web.bootstrapper=0.6.8'' --label=''com.ur.web.citadel-version=0.24.4'' --label=''com.ur.web.controller-version=90.1.13'' --label=''com.ur.web.foxglove-bridge-version=1.0.3'' --label=''com.ur.web.frontend-version=21.3.196'' --label=''com.ur.web.nginx-version=1.25.5'' --label=''com.ur.web.platform-version=1.2.511'' --label=''com.ur.web.polyscopex-services-version=23.2.9'' --label=''com.ur.web.sw-licensing-psx-version='' --label=''com.ur.web.urauth-version=1.10.1'' --label=''com.ur.web.urinterfaces-version=9.0.0'' --label=''com.ur.web.urservice-version=19.10.31'' --label=''desktop.docker.io/wsl-distro=Ubuntu'' --label=''org.opencontainers.image.version=21.3.196'' --label=''version=21.3.196'' --label='com.ur.web.bootstrapper=0.6.8' --label='com.ur.web.citadel-version=0.24.4' --label='com.ur.web.controller-version=90.1.13' --label='com.ur.web.foxglove-bridge-version=1.0.3' --label='com.ur.web.frontend-version=21.3.196' --label='com.ur.web.nginx-version=1.25.5' --label='com.ur.web.platform-version=1.2.511' --label='com.ur.web.polyscopex-services-version=23.2.9' --label='com.ur.web.sw-licensing-psx-version=' --label='com.ur.web.urauth-version=1.10.1' --label='com.ur.web.urinterfaces-version=9.0.0' --label='com.ur.web.urservice-version=19.10.31' --label='org.opencontainers.image.version=21.3.196' --label='version=21.3.196' --add-host host.docker.internal:host-gateway --runtime=runc -d universalrobots/ursim_polyscopex:0.18.81

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