Universal Robots Forum

Setup programming environment Linux Mint 64 Cinammon URCap


after I installed Linux Mint I am having trouble to install the URCap SDK, urcap-sdk-
I like to use Linux Mint because there is more software available.
It´s the linuxmint-17.1-cinnamon-64bit- version

The error message is:
dpkg: error processing archive urtool/urtool3_0.3_amd64.deb (–install):
trying to overwrite ‘/opt/urtool-3.0/lib/libxmlrpc_server.so.3.33’, which is also in package libxmlrpc-c-ur 1.33.14

dpkg: error: subprocess paste was killed by signal (Broken pipe)
Errors were entcountered while processing:
Done. Please log out and back in.



This error is related to the installation of UR Tool chain.
Let me know if this fix does not solve it.

Hello Jacob,

finally I have the Hello World Demo running.
So these were my steps:

  1. Use the URSim 3.30.145 Starter package

  2. Change the ./install.sh file and comment the lines described in your fix with the ‘#’

#echo “Installing UR tool chain…”
#mvn install:install-file -Dfile=artifacts/commons-httpclient- -DgroupId=commons-httpclient -DartifactId=commons-httpclient -Dversion= -Dpackaging=jar -q
#mvn install:install-file -Dfile=artifacts/ws-commons-util- -DgroupId=org.apache.ws.commons.util -DartifactId=ws-commons-util -Dversion= -Dpackaging=jar -q
#mvn install:install-file -Dfile=artifacts/xmlrpc-client- -DgroupId=org.apache.xmlrpc -DartifactId=xmlrpc-client -Dversion= -Dpackaging=jar -q
#mvn install:install-file -Dfile=artifacts/xmlrpc-common- -DgroupId=org.apache.xmlrpc -DartifactId=xmlrpc-common -Dversion= -Dpackaging=jar -q

#sudo apt-get install lib32gcc1 libc6-i386
#sudo dpkg -i urtool/*.deb

  1. Change to the helloworld example folder and type “mvn install”

  2. Copy the target folder or only the “helloworld-1.0-SNAPSHOT.urcap” file to the program folder of the URSim program

  3. Load the new URCap

  4. It works!

Right now I just use gedit for changing some of the *.java files and play around.
After changing some I type mvn install and create a new *.urcap file.

Thanks for your help so far.


Thanks, @generalmidi
You can also deploy the URCap directly to the simulated PolyScope by changing the target in the pom.xml file and run mvn install -Premote ursim.
The steps to do so, should all be explained in the URCap tutorial.


I can now deploy the URCap directly.
I changed the following in the pom.xml file:

The entry ursim.home was empty and now directs to my program folder of URSim.

The entry ursimvm.install.host was empty and now has the value: which is the IP of the virtual machine.
The IP was found by typing “ifconfig” in the console.


Check out this post just created on the same topic.