docker

To run the demo contianers

cd docker/ursim
docker build -t ursim:latest .
cd ../ur-driver
docker build -t ur-driver:latest .
cd ../ur-moveit
docker build -t ur-moveit:latest .
cd ../ur-example
docker build -t ur-example:latest .
cd ../
docker-compose up

Then the robot sim at http://localhost:6080/vnc.html needs to be turned on. In the installation tab, change the external control URCap IP to 192.168.56.102. Then create a program for external control and start it. You may have to restart the ur-driver container.