Installing the Simulator

In a terminal in your IDE navigate to the ursim-polyscope directory with cd ursim-polyscopex
Run . ./install.sh

This will install the simulator, and produce a binary executable named run-simulator

Running the simulator

You can start the simulator while in the ursim-polyscopex directory by running

./run-simulator

The simulator will then start up, and you can check it out opening your browser and visiting

http://localhost

Runtime parameters

It is possible to specify a specific robot type when running the simulator, using the --robotType parameter

./run-simulator --robotType UR10

In certain situations an IT department might decide to block usage of port 80. In this case you would be blocked from accessing the default PolyScope X application port. An example of the error message could be similar to the following:

Error response from daemon: Ports are not available: exposing port TCP 0.0.0.0:80 -> 0.0.0.0:0: 
listen tcp 0.0.0.0:80: bind: An attempt was made to access a socket in a 
way forbidden by its access permissions.

In this case you can use the --port parameter to specify a different one

./run-simulator --port 45000

This will make PolyScope X available at http://localhost:45000.

To see the full list of supported robot types, use the help parameter --help

./run-simulator --help

Installing the SDK

In a terminal in your IDE navigate to the ursim-polyscope directory with cd sdk-polyscopex
Run . ./install.sh

This will install the SDK, and you will be ready to start developing URCaps.