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

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

...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:

Web UI layer is swapped to noVNC, which has stable web client and is simple to setup.
Newer simulator versions (starting from 5.8.*) no longer require privileged flag and container can run in Rootless Docker.
docker-compose setup is added for simpler container startup.
Simulator is switched into Remote Control by default and is ready to be used out of the box without UI.
Simulator logs before switching Remote Control on 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.