Universal Robots (UR) simulator Docker container image
Docker container image for Universal Robots (UR) simulator. Based on the approach shown in web-x11-container repository.
How to use
1. Open project directory in Bash
2. Build and start container
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Through Docker Compose
########### Docker Compose v1 docker-compose up # Rebuild and reset all internal container state docker-compose up --build --force-recreate --renew-anon-volumes ########### Docker Compose v2 docker compose up # Rebuild and reset all internal container state docker compose up --build --force-recreate --renew-anon-volumes
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...or directly through Docker CLI
docker build --tag simulator . docker run \ --interactive \ --tty \ --publish 8080:8080 \ --publish 502:502 \ --publish 29999:29999 \ --publish 30001-30004:30001-30004 \ --env ROBOT_MODEL=UR10 \ --env RESOLUTION=1280x800 \ simulator
3. Connect to the graphical environment
NOTE: Start up will take some time.
Open http://localhost:8080 in a web browser.
Motivation
There are several images with Universal Robots simulators. This image borrows simulator installation instructions from ahobsonsayers/DockURSim, but also has a few improvements on top that:
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Web UI layer is swapped to noVNC, which has stable web client and is simple to setup.
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Newer simulator versions (starting from 5.8.*) no longer require privileged flag and container can run in Rootless Docker.
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docker-composesetup is added for simpler container startup. -
Simulator is switched into
Remote Controlby default and is ready to be used out of the box without UI. -
Simulator logs before switching
Remote Controlon are trimmed from container logs. -
Proper process management is used thanks to supervisord. It allows filtering logs by processes, starting, stopping, auto-restarting simulator without restarting the container.