npm error 404 '@universal-robots/urcap-utils@2.0.2' is not in this registry

[robot-ranger]

npm install fails to install the latest samples in the latest psX:

root@36bfb6cabe8b:/workspaces/PolyScopeX_URCap_SDK/samples/simple-rest# npm install
npm error code E404
npm error 404 Not Found - GET https://registry.npmjs.org/@universal-robots%2furcap-utils - Not found
npm error 404
npm error 404  '@universal-robots/urcap-utils@2.0.2' is not in this registry.
npm error 404
npm error 404 Note that you can also install from a
npm error 404 tarball, folder, http url, or git url.
npm error A complete log of this run can be found in: /root/.npm/_logs/2026-03-30T16_23_46_304Z-debug-0.log

FWIW npmjs.org/@universal-robots 404s in my browser

1. clone repo
2. open devcontainer in vscode
3. ./run-simulator works fine - i can load sim in the browser
4. cd samples/simple-rest && npm install
5. get error above

running this on Ubuntu 24.04 x86

[EbbeFuglsang]

Hi @robot-ranger,

Are you running it from the devcontainer? In the startup process for the container, the registry for @universal-robots should be set.
You can verify with npm config get @universal-robots:registry then you should see an output like this:

dev@codespaces-816fe7:/workspaces/PolyScopeX_URCap_SDK/samples/simple-rest$ npm config get @universal-robots:registry
https://pkgs.dev.azure.com/polyscopex/api/_packaging/polyscopex/npm/registry/

[robot-ranger]

i am ya. several months ago i had this working and at the time, i had all kinds of permissions problems so i had been running the devcontainer as root. this time, removing my edits "remoteUser":"root" started the container as dev and now i can npm install and npm run build successfully.

...but i cant seem to install any urcapx. my memory is fuzzy but this is familiar and i wonder if this is how/why i ended up running the devcontainer as root:
cd samples/simple-rest && npm install
npm run build

dev@f29900536b19:/workspaces/PolyScopeX_URCap_SDK/samples/simple-rest$ npm run install-urcap

> simple-rest@0.0.0 install-urcap
> install-urcap 'target/simple-rest*.urcapx' '../../manifest-spec-19.9.9.json'

Failed installing urcap:
        Message: Unable to install URCap
        Details: Forbidden - Operation Not Allowed

[EbbeFuglsang]

From SDK for PolyScope 10.12 the URCaps are deployed via the Robot API. And the Robot API have the requirement that the robot needs to be in "external control" before you can remote deploy a URCap.

If you are working with the URSim. The 10.13 URSim is having a Development Mode(default)
Added functionality
So you can either switch to the 10.13 SDK+URSim, or put the URSim in to remote control.

[robot-ranger]

I am using the sdk+ursim! I haven't used --no-dev, so I presume the sim is running in default development mode, right?

I cloned this repo (the ask). Is this not what you mean when you say sdk+ursim?

[robot-ranger]

im also confused about the version numbers? the docs pages talk about PolyscopeX 10.12, 10.13, etc.

but the docker images for polyscopex are labeled 0.17...... How do i know which version is running?

the sim shows this:

here is the docker-compose in my devcontainer for ursim, referencing universalrobots/ursim_polyscopex:0.17.137:

cat /ursim-polyscopex-0.17.137/artifacts/runtime/docker-compose.yml 
services:
  runtime:
    image: universalrobots/ursim_polyscopex:0.17.137
    environment:
      - ROBOT_TYPE=${ROBOT_TYPE}
      - ROBOT_TYPE_CONTROLLER=${ROBOT_TYPE}
      - HOST_ARCH=${HOST_ARCH}
      - ROS2_NAMESPACE=${ROS2_NAMESPACE}
    privileged: true
    extra_hosts:
      - "host.docker.internal:host-gateway"
    ports:
      - ${PORT}:80
      - "29999:29999"
    volumes:
      # Use persistent volumes for installed-urcaps
      - installed-urcaps:/var/urcaps
      - ur-snippets:/etc/nginx/ur-snippets
      - dockervol:/var/lib/docker
      # Use persistent volume for applications
      - applications:/ur/bin/backend/applications
      - safety:/ur/etc/backend/safety
    network_mode: bridge

volumes:
  installed-urcaps:
    external: true
    name: ${URCAPS_VOLUME}
  ur-snippets:
    external: true
    name: ${NGINX_SNIPPETS_VOLUME}
  applications:
    external: true
    name: ${APPLICATION_VOLUME}
  dockervol:
    external: true
    name: ${DOCKER_VOLUME}
  safety:
    external: true
    name: ${SAFETY_VOLUME}

[robot-ranger]

https://hub.docker.com/r/universalrobots/ursim_polyscopex/tags

what the heck is going on with the version numbering?!
why are there multiple tags across the 10.xx and 0.17.yyy numbering schemes with the same hashes ? 😭

[EbbeFuglsang]

I see a lot of question marks piling up 😊 Sorry for the confusion.

First of all, it looks like we have not published the preview-0 SDK there yet.
It should be available on Centercode.

That said, if you are starting URSim using the instructions from here:
https://hub.docker.com/r/universalrobots/ursim_polyscopex
and you use --env DEVMODE=true together with the image tag
universalrobots/ursim_polyscopex:10.13.0-preview-0, then you should be good to go.

On Docker Hub, we decided to tag images with both the internal module semantic
version and the marketing version

[robot-ranger]

Sorry for the 20 questions - i appreciate your assistance!

im reading the instructions from here : https://docs.universal-robots.com/PolyScopeX_SDK_Documentation/build/SDK-v0.20/Setup.html#running-the-simulator

(...after starting the devcontainer per the prior instructions on that same docs.universal-robots.com/PolyScopeX_SDK_Documentation)

I do see the ursim image in this repo is included in the devcontainer setup Nonetheless, following the container hashes on docker hub, it looks like 0.17.138 has the same hash as 10.12, so that explains why dev-mode default is not effective for me (10.12 vs 10.13?)

Good news is I was able to install URCaps after putting the sim in remote mode. Thats a little annoying and I can totally see why dev-mode was added in 10.13 👍

Should i bother with trying to get 10.13 running in this sdk devcontainer config? or just use remote mode for now and wait for a new sdk config that uses 10.13?

[EbbeFuglsang]

You should be able to use the existing devcontainer/SDK. In the container you can run
docker run --rm -it -p 80:80 --add-host "host.docker.internal:host-gateway" --env HOST_ARCH=amd64 --env DEVMODE=true --network bridge --privileged universalrobots/ursim_polyscopex:10.13.0-preview-0 then you should be able to deploy without changing to external control.

[robot-ranger]

do i need to include --env DEVMODE=true? per the docs page, devmode is enabled by default. am i misinterpreting that?

https://docs.universal-robots.com/PolyScopeX_SDK_Documentation/build/SDK-v0.20/HowToGuides/working-with-simulator.html#starting-in-development-mode

In the simulator, however, Development Mode is default, meaning this requirement is bypassed and the need for switching between Local and External control while developing and installing URCaps is gone. To turn off this behavior, use the --no-dev parameter.

[EbbeFuglsang]

do i need to include --env DEVMODE=true? per the docs page, devmode is enabled by default. am i misinterpreting that?

https://docs.universal-robots.com/PolyScopeX_SDK_Documentation/build/SDK-v0.20/HowToGuides/working-with-simulator.html#starting-in-development-mode

In the simulator, however, Development Mode is default, meaning this requirement is bypassed and the need for switching between Local and External control while developing and installing URCaps is gone. To turn off this behavior, use the --no-dev parameter.

Yes, if you continue with the old devcontianer. The default is implemented for the execution of ./run-simulator. I hope that makes sense🤞