EMULATION WITH VC PREMIUM/ROBOTICS AND POLYSCOPE(UR ROBOT GRAPHICAL PROGRAMMING ENVIRONMENT)
How to install Universal Robot offline simulator UR-Sim (Polyscope) - YouTube
GitHub - UniversalRobots/Universal_Robots_ROS_as_a_Service_URCap: This URCap makes a universal robot part of a ROS system by making ROS calls available inside Polyscope through the rosbridge.
UR launches PolyScope X software platform - The Robot Report
Universal Robots Introduces PolyScope X Software for Machine Tending - Robotics 24/7
PolyScope Manual
URCaps: Development of plugins for Universal Robots - Danish Technological Institute