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Please also keep in mind this guide
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go to the "Universal Robots" website at this link, download the URsim zip file and follow the instructions for VirtualBox
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(Optional) Create shared folder from as in this guide if you want to use files from your pc directly on the VM
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Establish a network connection guide between your computer and the VM in order to control the robot arm simulation on the VM from your PC
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Install anaconda or miniconda for python and open terminal (Linux or OS) or anaconda prompt (Windows)
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In the terminal create an environment with all the python dependencies with the command
conda env create --file ur5_requirements.yml -
Use python script
move_ur5_in_grid.pyand consult its documentation to move the robot in a predefined grid assuming it is restricted to move within the range defined by the spherical grid defined in the aforementioned script. There may be issues if a grid is defined outside of this sphere.