ADD scripts for UR version 3.7.0.40195

universal-robot-simulator/3.7.0.40195/Dockerfile

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+FROM jacknlliu/ubuntu-init:14.04
+
+LABEL maintainer="Jack Liu <jacknlliu@gmail.com>"
+
+# setup environment
+ENV DEBIAN_FRONTEND noninteractive
+
+# setup locale
+RUN locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+
+# install system packages
+RUN apt-get update -y \
+    && apt-get install -y -q --no-install-recommends apt-transport-https aptitude
+
+# install essential tools
+RUN aptitude install -y -q -R  bash-completion wget vim git tmux terminator xauth openssh-server runit sudo software-properties-common python-software-properties debconf-utils policykit-1  xterm \
+    \
+    lib32stdc++6 lib32gcc1 libjava3d-java libcurl3:i386\
+# setup ssh
+    && mkdir -p /var/run/sshd && echo "X11UseLocalhost no" >> /etc/ssh/sshd_config  \
+    \
+# install URSim  prerequisite
+    && dpkg --add-architecture i386 && aptitude update -y \
+    && aptitude install -y -q -R openjdk-8-jre  openjdk-8-jdk libxmlrpc-c++8:i386 \
+    && echo "JAVA_HOME=\"/usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java\"" >> /etc/environment
+
+#RUN apt-get update && apt-get -y upgrade && apt-get -y install software-properties-common && add-apt-repository ppa:webupd8team/java -y && apt-get update
+#RUN (echo oracle-java8-installer shared/accepted-oracle-license-v1-1 select true | /usr/bin/debconf-set-selections) && apt-get install -y oracle-java8-installer oracle-java8-set-default
+#ENV JAVA_HOME /usr/lib/jvm/java-8-oracle
+
+
+#ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java
+#ENV PATH $JAVA_HOME/bin:$PATH
+
+# set default java environment variable
+ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64
+RUN add-apt-repository ppa:openjdk-r/ppa -y && \
+    apt-get update && \
+    apt-get install -y --no-install-recommends openjdk-8-jdk && \
+    rm -rf /var/lib/apt/lists/*
+
+# install intel graphics driver
+RUN aptitude install -y -q -R libgl1-mesa-glx libgl1-mesa-dri \
+    \
+# install amd graphics open source driver
+    && aptitude install -y -q -R mesa-vdpau-drivers xserver-xorg-video-ati mesa-utils module-init-tools
+
+# we should fix AMD graphics driver with image driver extension not found in ubuntu 14.04.2, refrence: https://wiki.ubuntu.com/Kernel/LTSEnablementStack#Ubuntu_14.04_LTS_-_Trusty_Tahr
+# && aptitude install -y -q -R linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
+
+# set user ros and sudo
+RUN adduser --gecos "URSim User" --home /home/ursim --disabled-password ursim \
+    && usermod -a -G dialout ursim \
+    && echo "ursim ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget \
+    && mkdir -p /opt/ursim
+
+# install ursim
+COPY scripts/install_ursim.sh /opt/ursim/
+RUN chmod -R a+rx /opt/ursim && sync && /opt/ursim/install_ursim.sh "/opt/ursim/"  "ursim"  && rm -f /opt/ursim/install_ursim.sh && chmod -R a+rwx /opt/ursim
+
+COPY scripts/my_init /sbin/my_init
+COPY scripts/setuser /sbin/setuser
+RUN chmod +x /sbin/my_init && chmod +x /sbin/setuser
+
+# aptitude clean
+RUN apt-get autoclean \
+    && apt-get clean all \
+    && apt-get autoremove -y \
+    && rm -rf /var/lib/apt/lists/* \
+    && rm -rf /tmp/* /var/tmp/*
+
+ENV PATH /opt/ursim/ursimpkg:$PATH
+ENV URSIM_ROOT /opt/ursim/ursimpkg
+
+# redefine env for my_init
+RUN mkdir -p /etc/container_environment \
+    && echo "JAVA_HOME=\"/usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java\"" >> /etc/container_environment/JAVA_HOME \
+    && echo "PATH=\"/opt/ursim/ursimpkg:$PATH\"" >> /etc/container_environment/PATH \
+    && echo "URSIM_ROOT=\"/opt/ursim/ursimpkg\"" >>  /etc/container_environment/URSIM_ROOT
+
+USER root
+WORKDIR /opt/ursim/ursimpkg
+# /sbin/my_init should be launched by root user
+##ENTRYPOINT ["/sbin/my_init", "--quiet", "--", "setuser", "ursim"]
+CMD ["bash"]

universal-robot-simulator/3.7.0.40195/README.md

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+# Universal Robot Simulator
+
+**NOTE:** This image just for research. All rights of the offline simulator applications belong to [Universal Robots A/S](https://www.universal-robots.com).
+
+
+## Usage
+```
+docker run -it --security-opt label=disable \
+       --device /dev/dri --env="DISPLAY" \
+       --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+       -p 30001-30004:30001-30004  \
+       --name="ursim"  mhofma/ursim:3.4.1-59 start-ursim.sh UR5
+```
+
+## Build
+docker build . -t mhofma/ursim:3.4.1-59
+docker run -it --rm  --security-opt label=disable -e DISPLAY=192.168.20.125:0.0 --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --privileged -p 29999-30004:29999-30004 -p 502:502 --name="ursim"  mhofma/ursim:3.4.1-59 start-ursim.sh UR10
+

universal-robot-simulator/3.7.0.40195/scripts/install_ursim.sh

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+#! /bin/bash
+set -e \
+    && export UR_DOWNLOAD_SITE="https://s3-eu-west-1.amazonaws.com/ur-support-site/44059/URSim_Linux-3.7.0.40195.tar.gz" \
+    && export URSIMVERSION="3.7.0.40195"  \
+    && export INSTALL_DIR=$1  \
+    && export URSIM_USER=$2  \
+    && echo "INSTALL_DIR: $INSTALL_DIR \n URSIM_USER: $URSIM_USER" \
+    \
+    && echo "install ursim" > /dev/null \
+    && cd $INSTALL_DIR && wget -q -O ursim.tar.gz ${UR_DOWNLOAD_SITE} && tar -xvzf ursim.tar.gz && mv ursim-${URSIMVERSION} ursimpkg && cd ursimpkg \
+    \
+    && echo "delete 56 lines for not installing java7" > /dev/null \
+    && sed -i '56c \\t echo \"just ignore install java7\" ' ./install.sh \
+    && echo "delete 49-50 lines for no xterm exit" > /dev/null \
+    && sed -i '49,50c \\t echo \"just ignore xterm warning\" ' ./install.sh \
+    && sed -i 's/pkexec bash -c/bash -c/g' ./install.sh \
+    && sed -i 's/apt-get -y install/apt-get -y install -q --no-install-recommends/g' ./install.sh \
+    && sed -i '85,$d' ./install.sh  \
+    && sed -i 's/libcurl3/libcurl3:i386/g' ./install.sh  \
+    && sed -i 's/fonts-ipafont//g' ./install.sh  \
+    && sed -i 's/fonts-baekmuk//g' ./install.sh  \
+    && sed -i 's/fonts-nanum//g' ./install.sh  \
+    && sed -i 's/fonts-arphic-uming//g' ./install.sh  \
+    && sed -i 's/fonts-arphic-ukai//g' ./install.sh  \
+    && echo "echo \" installation done! \""  >> ./install.sh \
+    && ./install.sh \
+    && cd .. && rm -f ./ursim.tar.gz \
+    && chown -R $URSIM_USER:$URSIM_USER ursimpkg \
+    && chmod a+rx  ursimpkg/URControl