UR Polyscope Setup Guide.md

Guide: How to Setup UR PolyScope in WSL2

Ubuntu version: 20.04 LTS

Polyscope version: ursim-5.13.0.113898

For setting up WSL2, follow this tutorial

Steps

1. Download the zip folder from Uiversal Robot Official Site.
2. Unzip it in Downloads Folder
3. Open the WSL2 user in VSCode
4. Open the install.sh file Copy & Paste the following bits into the file

   #!/bin/bash
   userServiceDirectory() {
       echo "$URSIM_ROOT/service"
   }
   
   userDaemonManagerDirectory() {
       echo "/etc/runit/runsvdir-ursim-$VERSION"
   }
   
   installDaemonManager() {
       local userServiceDirectory=`userServiceDirectory`
       local userDaemonManagerDirectory=`userDaemonManagerDirectory`
       local userDaemonManagerRunScript="$userDaemonManagerDirectory/run"
   
       echo "installing limb32z1"	
       sudo apt-get -y install lib32z1
   
       echo "Installing daemon manager package"
       # if it fails comment out, and check answer https://askubuntu.com/a/665742
       sudo apt-get -y install runit
   
       echo "Creating user daemon service directory"
       sudo mkdir -p $userDaemonManagerDirectory
       echo '#!/bin/sh' | sudo tee $userDaemonManagerRunScript >/dev/null
       echo 'exec 2>&1' | sudo tee -a $userDaemonManagerRunScript >/dev/null
       echo "exec chpst -u`whoami` runsvdir $userServiceDirectory" | sudo tee -a $userDaemonManagerRunScript >/dev/null
       sudo chmod +x $userDaemonManagerRunScript
   
       echo "Starting user daemon service"
       sudo ln -sf $userDaemonManagerDirectory /etc/service/
       mkdir -p $userServiceDirectory
   }
   
   
   needToInstallJava() {
       echo "Checking java version"
       if command -v java; then
       # source https://stackoverflow.com/questions/7334754/correct-way-to-check-java-version-from-bash-script
           version=$(java -version 2>&1 | awk -F '"' '/version/ {print $2}')
           echo version "$version"
           if [[ "$version" > "1.6" ]]; then
           echo "java version accepted"
               return 0
       fi
       fi
       return 1
   }
   
   # if we are not running inside a terminal, make sure that we do
   tty -s
   if [[ $? -ne 0 ]]
   then
       xterm -e "$0"
       exit 0
   fi
   
   needToInstallJava
   if [[ $? -ne 0 ]]; then
       # install default jre for distribution, make sure that it's at least 1.6
       sudo apt-get -y install default-jre
       if [[ $? -ne 0 ]]; then
           echo "Failed installing java, exiting"
           exit 2
       fi
       needToInstallJava
       if [[ $? -ne 0 ]]; then
           echo "Installed java version is too old, exiting"
           exit 3
       fi
   fi
   
   set -e
   
   commonDependencies='libcurl4 libjava3d-* ttf-dejavu* fonts-ipafont fonts-baekmuk fonts-nanum fonts-arphic-uming fonts-arphic-ukai'
   if [[ $(getconf LONG_BIT) == "32" ]]
   then
           Dependencies_32='libxmlrpc-c++8v5'
       pkexec bash -c "apt-get -y install $commonDependencies $Dependencies_32"
   else
           #Note: since URController is essentially a 32-bit program
           #we have to add some 32 bit libraries, some of them picked up from the linux distribution
           #some of them are have been recompiled and are inside our ursim-dependencies directory in deb format
       packages=`ls $PWD/ursim-dependencies/*amd64.deb`
       # pkexec bash -c "apt-get -y install lib32gcc1 lib32stdc++6 libc6-i386 $commonDependencies && (echo '$packages' | xargs dpkg -i --force-overwrite)" 
       bash -c "sudo apt-get -y install lib32gcc1 lib32stdc++6 libc6-i386 $commonDependencies && (echo '$packages' | xargs sudo dpkg -i --force-overwrite)"
   fi
   
   source version.sh
   URSIM_ROOT=$(dirname $(readlink -f $0))
   
   echo "Install Daemon Manager"
   installDaemonManager
   
   for TYPE in UR3 UR5 UR10 UR16
   do
       FILE=$HOME/Desktop/ursim-$VERSION.$TYPE.desktop
       echo "[Desktop Entry]" > $FILE
       echo "Version=$VERSION" >> $FILE
       echo "Type=Application" >> $FILE
       echo "Terminal=false" >> $FILE
       echo "Name=ursim-$VERSION $TYPE" >> $FILE
       echo "Exec=${URSIM_ROOT}/start-ursim.sh $TYPE" >> $FILE
       echo "Icon=${URSIM_ROOT}/ursim-icon.png" >> $FILE
       chmod +x $FILE
   done
   
   pushd $URSIM_ROOT/lib &>/dev/null
   chmod +x ../URControl
   
   popd &>/dev/null
   

5. Run the following commands inside the Downloads/ursim...: sudo apt install openjdk-8-jre sudo apt update
6. Go to the cd Downloads/ursim... folder and run the following command ./install.sh
7. To run the application run bash ./start-ursim.sh