DockURSim

A URSim (Universal Robots Simulator) Docker Container with a Browser Accessible Interface

Runs URSim in a docker container with the Polyscope Interface accessible via a browser.

This is a suitable alternative to using the URSim virtual machine image on windows.

Current URSim Version: 5.4.2.76197

Example Usage

First create volume to store robot configuration.

docker volume create dockursim

Start URSim with an UR5 robot and all interface ports exposed.

docker run -d \
    --name="dockursim" \
    -e ROBOT_MODEL=UR5 \
    -p 8080:8080 \
    -p 29999:29999 \
    -p 30001-30004:30001-30004 \
    -v /path/to/mount/program/folder:/ursim/programs \
    -v dockursim:/ursim \
    --privileged \
    --cpus=1 \
    arranhs/dockursim:latest

The Universal Robot Interface can now be accessed at http://localhost:8080.

Ctrl-Alt-Shft will open a menu that allows changing input options, as well as controlling the clipboard.

NOTE! This container requires running with --privileged set due to pthread spawn issues that couldnt be solved in any other way. This has security implications so DO NOT expose this container to the internet without doing your due diligence first. Use this container at your own risk.

NOTE Number 2! I highly recommend running this container with the --cpus=1 option as the container seems to use all available machine resources otherwise and this will likely cause your simulator container (and possibly your computer) to become unresponsive or slow.

Parameters

Container is configured using parameters passed at runtime.

Parameter	Function
-e ROBOT_TYPE=UR5	Specify robot model to use in URSim. Valid options are UR3, UR5 and UR10. Defaults to UR5.
-e TZ=Europe/London	Specify a timezone to use e.g. Europe/London
-e PUID=1000	Set UserID
-e PGID=1000	Set GroupID
-v /ursim	The URSim application directory
-v /programs	The UR programs directory. This is accessible within the robot interface
-p 8080	Allows HTTP access to the robot interface. (Required for Browser Viewing)
-p 3389	Allows RDP access to the robot interface. (Optional. For VNC Viewers)
-p 502	Universal Robots Modbus Port. (Optional)
-p 29999	Universal Robots Dashboard Server Interface Port. (Optional)
-p 30001	Universal Robots Primary Interface Port. (Optional)
-p 30002	Universal Robots Secondary Interface Port. (Optional)
-p 30003	Universal Robots Real-time Interface Port. (Optional)
-p 30004	Universal Robots RTDE Interface Port. (Optional)

The volume and port parameters are separated by a colon and indicate <external>:<internal> respectively. For example, -p 8080:80 would expose port 80 from inside the container to be accessible from the host's IP on port 8080 outside the container.

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This container was built in my free time to aid with research work. Please feel free to open any issues.

All rights of the offline simulator application belong to Universal Robots A/S.