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+# UR Control
+
+## Requirements
+
+Python 3.10 needed. See python wheels support matrix for ur_rtde https://pypi.org/project/ur-rtde/
+Virtualenv recommended. Install modules with `pip install -r requirements.txt`
+
+URCap for Network control on Polyscope. Download: https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases
+Tested with Version 1.0.5 on Polyscope 5.16.0
+Installation Instructions: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md
+
+### Install URCap in Simulator
+URSim 5.16.0 inside VirtualBox.
+Transfer donwloaded URCap via USB Thumbdrive to Programs UR10 folder on the virtual machine.
+If error verr_pdm_no_usb_ports appreas, change USB Controller in VBox settings to USB-3.0-Controller (xHCI)
+
+If resolution is too low, change it with `xrandr -s 1440x900`
+
+To be able to reach the VM via network, set adapter to Bridge and promicious mode to allow all.
+
+Follow instructions on how to setup externalControl: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md
+
+Enable Remote Control: Settings - System - Remote Control - Enable
+Run Program with the externalControl once. Error "Receive program failed" occurs. Stop Program. Not sure if this is needed, but RTDEControlInterface was not able to connect otherwise.
+In main menu change from "local" to "remote control" in the top right corner.
+
+## Misc
+
+RTDEReceive works without enabling remote control.
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+ur_rtde
+numpy