# How to install OnRobot RG2 URCap on URSim please **URL:** \ **Category:** Technical Questions\ **Created:** [April 2, 2025, 7:04am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339 "2025-04-02T07:04:13Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![jean-claude.bikaku](https://avatars.discourse-cdn.com/v4/letter/j/c57346/32.png) [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Post date:** [April 2, 2025, 7:04am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/1 "2025-04-02T07:04:13Z")
Hi, How to install OnRobot RG2 Gripper URCap on URSim please. Thanks JC ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 2, 2025, 1:49pm UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/2 "2025-04-02T13:49:42Z")
Hi @jean-claude.bikaku, What environment are you using to run your URSim? if you are using a docker based URSim it is a different process than if you’re running on a VM based implementation. Sam ---
**Author:** ![jean-claude.bikaku](https://avatars.discourse-cdn.com/v4/letter/j/c57346/32.png) [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Post date:** [April 2, 2025, 1:59pm UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/3 "2025-04-02T13:59:01Z")
Hi Sam, thank you for quick reply, i am using VM based implementation. Thanks JC ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 3, 2025, 8:46am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/4 "2025-04-03T08:46:06Z")
Hi, Have you setup a shared folder between your host machine and your VM? If not there’s plenty of instructions online for how to do this. Something you will have to do once it’s setup, which I don’t always see in instructions online, is run `sudo adduser ur vboxsf` in a terminal to give your VM permissions to acess the folder. Once you’ve done that, download the OnRobot URCap and use your shared folder to send it to your VM, then copy it into the ursim/programs folder, and you should be able to then install it in your URSim just like you would on a real robot If you don’t have a shared folder you can also download it inside the VM through firefox if your network allows it! Hope this helps, Sam ---
**Author:** ![jean-claude.bikaku](https://avatars.discourse-cdn.com/v4/letter/j/c57346/32.png) [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Post date:** [April 3, 2025, 11:39am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/5 "2025-04-03T11:39:54Z")
Great thanks Sam, will do and let you know. Just quick one how to view graph, slop, etc.. on VM. Thanks JC ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 3, 2025, 11:56am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/6 "2025-04-03T11:56:52Z")
I’m afraid I don’t know what you mean by that question, you’ll have to give some more context! ---
**Author:** ![jean-claude.bikaku](https://avatars.discourse-cdn.com/v4/letter/j/c57346/32.png) [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Post date:** [April 3, 2025, 6:13pm UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/7 "2025-04-03T18:13:24Z")
I am working on a reportproject needs speed graph to be inserted on the report. How to view speed graph from simulation mode please? ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 4, 2025, 7:13am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/8 "2025-04-04T07:13:08Z")
There is no robot speed graph viewable anywhere in Polyscope to the best of my knowledge I’m afraid. If you wish to record such data, You can do so using the [UR Log Viewer](https://www.universal-robots.com/download/software-e-series/support/ur-log-viewer/log-viewer-v1210/). Though to my knowledge you will need a real robot to connect to in order to use this. Perhaps theres a way of connecting this to a simulator - I’m not sure I’m afraid. ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 4, 2025, 7:44am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/9 "2025-04-04T07:44:14Z")
I just gave it a go on another machine, and you can indeed log URSim data on a VM with the UR Log Viewer, if youi hover over the network icon on the status bar of your VM, it will display your IP address, enter this into the “Record Data” tab of the log viewer and hit start. Once you have recorded the data you want, import it back into the log viewer, then right click on the flight record and select the data you’d like to review, and you should see the graphs you’re looking for. I trialed this with a program conatining 2 waypoints and it produced the sort of graph it sounds like youre looking for: ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b01a10cbb8d66cc93a94763819a56562af24de95.png) ---
**Author:** ![jean-claude.bikaku](https://avatars.discourse-cdn.com/v4/letter/j/c57346/32.png) [@jean-claude.bikaku](https://forum.universal-robots.com/u/jean-claude.bikaku)\ **Post date:** [April 4, 2025, 11:37pm UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/10 "2025-04-04T23:37:24Z")
Hi Sam, You are genius. Much appreciated and thanks ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [April 7, 2025, 9:44am UTC](https://forum.universal-robots.com/t/how-to-install-onrobot-rg2-urcap-on-ursim-please/39339/11 "2025-04-07T09:44:11Z")
No problem, glad it’s worked for you!