For the deploying part to the URSim you can do it in different ways:
Manual deployment:
- From the starter package (in virtual machine) go to the path of the URSim something like the following - it depends on which robot you want to test (E-series or CB3). This path is for testing of the e-series : /home/ur/ursim/ursim-5.4.0.76181/programs.UR5
so in here you can paste your .urcap file.
Then you power up your URSim (the one where you placed your urcap - 5.4.0.76181) :
From here you should be able to find your urcap using the “plus” symbol to add the urcap.
Another way (automatic deployment) can be done using the configuration in the pom.xml file of your project.
Here is the video demonstrating the deployment:
https://plus.universal-robots.com/getting-started/myfirsturcap-building-and-deploying-the-urcap/
Hope it helped !