Configure the UR simulator (URSIM)

If you don't have a real robot but want to test this library, please follow the instructions.

  • Extract the archive (with 7Zip for example)

  • Download latest version of Virtual Box :

  • Install VirtualBox and ensure that you checked all network features in the installer, as shown here :

VirtualBox installer

  • Change your VirtualBox Host-Only Network IP address to a static IP like local network configuration

  • Open Oracle VM Virtualbox, press CTRL+A (or Machine menu / Add...) and select the downloaded URSim_VIRTUAL-x.x.x.xxxxx.vbox file.

  • Open Configuration, go to network and attach to Host only Adapter (Réseau privé hôte in french) named Virtualbox Host-only Ethernet Adapter and press OK. VirtualBox network configuration

  • Start the virtual machine and Lubuntu should boot.

  • Change Lubuntu IP Address Click Start menu / Run and execute command sudo leafpad /etc/network/interfaces to edit interfaces file. VirtualBox network configuration

Change the content of interfaces file to assign static IP with the following configuration :

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
auto eth0
iface eth0 inet static

VirtualBox network configuration

  • Restart Lubuntu by clicking Start menu / Logout / Reboot

  • When VM is restarted, launch the URSim version of your choice (UR3, UR5, UR10 or UR16)

  • The first time you launch URSim you should click on "Confirm Safety" popup button.

  • You can then enjoy the Windows Forms Example by connecting to

Please refer to the following Universal Robots support tutorial for setting DHCP :

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