How to install Robotiq’s URCaps on URSim

Annick_Mottard 2016-07-06

Robotiq recently released its new URCaps packages for both the 2-Finger Gripper and the Force Torque Sensors. These packages can be installed and used with the Universal Robots simulator, URSim.

You simply need to make sure you get the latest URSim version (3.3.X.XXX). If your computer operating system is not Linux, you will need to install a software to run the URSim virtual machine (VMWare Player or VirtualBox). To download and to get more information on URSim, visit the Universal Robots support website (http://www.universal-robots.com/download/).

The next step is to download the URCaps installation file for your Robotiq device (download at support.robotiq.com) and unzip the content on a USB stick. Now you need to connect the USB stick to your virtual machine, and therefore disconnect it from the host - your computer. Once the USB stick is available to the virtual machine, you can copy the .urcap file from your USB key to the ‘’programs’’ folder of the Polyscope you want to use (UR3, UR5 or UR10).

The rest of the installation procedure is the same as if you were to install the URCaps on an actual UR controller. You can view the step-by-step procedure in the proper instruction manual on the Robotiq support website (support.robotiq.com).

To control the 2-Finger Gripper or a Force Torque Sensor, you have to connect the device to a power supply. You also have to connect it via the USB adapter to a USB connector of your computer.

You are now ready to test your programs with URSim using the Robotiq device you have!

Sebastien 2016-10-31

@Annick_Mottard
Do you know if it is possible to have a PC running with both Linux and Windows. I don't like the use of virtual machine on a PC. So the best option to run the UR simulator would be to have the choice to select Linux or Windows as the PC starts up.

Annick_Mottard 2016-11-01

@Sebastien
You can indeed install both operating systems on your PC and booth with the preferred one.

Sebastien 2016-11-01

any pros found a specific method to setup your computer online that worked for them?

Samuel_Paxton 2017-08-03

Hello,

I am using the latest URsim (3.4.3) through VMWare Player, but have run into an issue. I have the URCaps file in the programs folder, but when I try to load it in through the URCaps menu in Polyscope, nothing happens. The file is available, but does not appear as an "active" URCaps when I try to open it. I should add that the URCaps file works fine on our actual machine. Any help with this matter is greatly appreciated.

Sam

bstone 2017-08-06

@Annick_Mottard

We will buy 6 UR5 for educational purposes and choosing now the grippers. The students should simulate the programs bevor with polyscope with ursim and i'm able to install the Robotiq Software in URCaps. But without a physical gripper polyscope freezes. Can you provide a dummyversion for the simulation, which does not need the physical feedback of the gripper?
Thanks in advance.
Michael

mracko 2017-09-16

Hi, Is it something new in Robotiq 2-finger gripper simulator for UR Simulator software (without harware)?
Thanks,
Vlastimil.

David_Levasseur 2019-09-18

Hi pros,

Here is a procedure that explains how to manually start the Gripper driver in a Virtual Machine. This way, you can control a real gripper from URSim.

Hope this helps

Milan 2021-04-19

Hi All,
Some of the above links are not working. Can anyone please give links/instructions on how to set up Robotiq on the UR simulator?

Thanks

Ahmed94 2021-07-10

Can i connect 2FGZ gripper with mitsubishi collaborative robot?

and how are the procedures?