> For the complete documentation index, see [llms.txt](https://docs.robpod.cloud/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.robpod.cloud/appendix/robot-specific-functions/universal-robots/ursim.md).

# URSim

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

{% tabs %}
{% tab title="Polyscope 5 and 3" %}
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.
{% endtab %}

{% tab title="Polyscope X" %}
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:

{% code overflow="wrap" %}

```ada
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
```

{% endcode %}

{% endtab %}
{% endtabs %}


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