# UR5 simulation on Windows Gazebo without ROS

**URL:** <https://forum.universal-robots.com/t/ur5-simulation-on-windows-gazebo-without-ros/32537>\
**Category:** General Application Help: How do I?\
**Created:** [February 5, 2024, 8:40am UTC](https://forum.universal-robots.com/t/ur5-simulation-on-windows-gazebo-without-ros/32537 "2024-02-05T08:40:01Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![devmandal2004](https://avatars.discourse-cdn.com/v4/letter/d/f14d63/32.png) [@devmandal2004](https://forum.universal-robots.com/u/devmandal2004)\
**Post date:** [February 5, 2024, 8:40am UTC](https://forum.universal-robots.com/t/ur5-simulation-on-windows-gazebo-without-ros/32537/1 "2024-02-05T08:40:01Z")

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I am setting up a UR5 simulation on windows using Gazebo and I have managed to load in the model and even set its joint positions using a simple plugin.  
My end goal is to be able to move it to given cartesian poses. Almost all tutorials online involve ROS/Moveit and the Universal Robotics C++ library which is supported only on windows.  
Is there a way to have a fully functioning UR5 simulation on windows using gazebo and without ROS?