diff --git a/ur_robot_driver/doc/usage/simulation.rst b/ur_robot_driver/doc/usage/simulation.rst
index ab46d0a1e..5cf69efdb 100644
--- a/ur_robot_driver/doc/usage/simulation.rst
+++ b/ur_robot_driver/doc/usage/simulation.rst
@@ -7,7 +7,7 @@ Apart from being used with a real robot, the ROS driver can be used with ros2_co
 
 Additionally, the robot can be simulated using
 `Gazebo Classic <https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation>`_ or
-`GZ Sim <https://github.com/UniversalRobots/Universal_Robots_ROS2_Ignition_Simulation>`_ but that's
+:ref:`GZ Sim <ur_simulation_gz>` but that's
 outside of this driver's scope.
 
 .. _usage_with_official_ur_simulator:
@@ -15,15 +15,57 @@ outside of this driver's scope.
 Usage with official UR simulator
 --------------------------------
 
-The easiest way to use URSim is the `Docker
-image <https://hub.docker.com/r/universalrobots/ursim_e-series>`_ provided by Universal Robots (See
-`this link <https://hub.docker.com/r/universalrobots/ursim_cb3>`_ for a CB3-series image).
+The easiest way to use URSim is the Docker
+image provided by Universal Robots. There is an image for each software generation:
 
-To start it, we've prepared a script:
+- `PolyScope 5 <https://hub.docker.com/r/universalrobots/ursim_e-series>`_
+- `PolyScope X <https://hub.docker.com/r/universalrobots/ursim_polyscopex>`_
+- `CB3 <https://hub.docker.com/r/universalrobots/ursim_cb3>`_
+
+We have prepared a script to unify the startup of the simulator independent of the software
+platform version:
 
 .. code-block:: bash
 
-   ros2 run ur_client_library start_ursim.sh -m <ur_type>
+   ros2 run ur_client_library start_ursim.sh -m <ur_type> -v <ursim_version>
+
+If you skip the ``-v`` option, the script will use the latest version of the PolyScope 5 URSim
+image. If you skip the ``-m`` option, the robot model will default to a UR5(e) robot.
+
+**Example:**
+
+.. code-block:: console
+
+   $ ros2 run ur_client_library start_ursim.sh -v 10.8.0 -m ur20
+   ROBOT_MODEL: ur20
+   ROBOT_SERIES: polyscopex
+   URSIM_VERSION: 10.8.0
+   5b140a83f8600c7ada0b7d75bc7a5808667adbeec77387e8c73b093f10fd2379
+   Starting URSim. Waiting for UrService to be up...................................
+   UrService is up
+   Installing URCapX /home/feex/.ursim/polyscopex/urcaps/external-control-0.1.0.urcapx
+
+
+   To access PolyScopeX, open the following URL in a web browser.
+
+
+           http://192.168.56.101
+
+   To exit, press CTRL+C
+
+
+Accessing the URSim GUI is done using a web browser. The script will print the URL to access the
+GUI. Depending on the PolyScope version, this is different.
+
+.. tabs::
+
+   .. group-tab:: PolyScope 5 / CB3
+
+       Open http://192.168.56.101:6080/vnc.html in a web browser.
+
+   .. group-tab:: PolyScope X
+
+       Open http://192.168.56.101 in a web browser.
 
 With this, we can spin up a driver using
 
@@ -31,11 +73,9 @@ With this, we can spin up a driver using
 
    ros2 launch ur_robot_driver ur_control.launch.py ur_type:=<ur_type> robot_ip:=192.168.56.101 launch_rviz:=true
 
-You can view the polyscope GUI by opening `<http://192.168.56.101:6080/vnc.html>`_.
-
 When we now move the robot in Polyscope, the robot's RViz visualization should move accordingly.
 
-For details on the Docker image, please see the more detailed guide :ref:`here <ursim_docker>`.
+For details on the (PolyScopr 5 and CB3) Docker image, please see the more detailed guide :ref:`here <ursim_docker>`.
 
 Mock hardware
 -------------