/
PolyScope X Simulator with Pally

PolyScope X Simulator with Pally

 

Files

UR Program with fully configured Pally:

Pally URcapx: https://drive.google.com/file/d/1dhBAs7nQF4noEqaESTkl8SfMYHe7WNqL/view?usp=sharing

Instructions

If you’re using Mac replace the Windows paths with:
/Users/<USERNAME>/<Your directory>

If you’re using Mac Silicon processors (M1, M2, M3 etc) replace the HOST_ARCH=amd64 with HOST_ARCH=arm64

If port 80 is taken, replace “80:80” with for instance “8000:80”, then you need to open PolyScope by going to http://localhost:8000

  1. Install Docker desktop

    1. For Windows: https://docs.docker.com/desktop/setup/install/windows-install/

    2. For Mac: https://docs.docker.com/desktop/setup/install/mac-install/

  2. After installing Docker, open up a terminal (command prompt / Powershell on Windows) and paste:
    docker pull universalrobots/ursim_polyscopex:10.10.0

  3. Download the attached files, and copy them to a directory dedicated for UR simulator.

    1. In addition, if you want more than the 72 hour trial license or importing patterns from MyRobot.cloud, create a subfolder called data

  4. Copy this snippet and save it as docker-compose.yml in your new UR simulator directory.

    services: ursim: image: universalrobots/ursim_polyscopex:10.10.0 container_name: ursim privileged: true ports: - "80:80" environment: - HOST_ARCH=amd64 - RIBIT_TYPE=UR20 extra_hosts: - "host.docker.internal:host-gateway" networks: - ursim-net volumes: - C:\Users\<USERNAME>\Desktop\<Your directory>:/ur/bin/backend/applications - C:\Users\<USERNAME>\Desktop\<Your directory>\data:/media/usb stdin_open: true tty: true restart: unless-stopped # container will be kept, restarts unless you stop it networks: ursim-net: driver: bridge

  5. Open up a terminal (command prompt / Powershell on Windows)

    1. Navigate to your UR Simulator directory

    2. Run docker compose up -d

  6. Go to Docker Desktop and see that your ursim is running. From now on you can start and stop URSim from here.

  7. Open up a browser and go to http://localhost to see PolyScope X.

  8. Press on the folder at the top bar

    1. Upload the Pally URcap

      image-20250925-063929.png

    2. Repeat, but upload the attached .urpx file under Programs. After upload, press Open

      image-20250925-064002.png

  9. Go to Application → Pally. Pally should now be fully configured and ready.

  10. Go to License, and either create a 72 hour trial license or upload your license.

  11. Go to Program, press + and add Run Pally

    image-20250925-073956.png

  12. Press Play