Universal Robots are one of the most dynamic robotic arm ecosystem worldwide. Programming them is a tough task, especially if you do not have direct access to it. Even if we have access to it, it is always safe to simulate it in software and than implement it. In our Cyber Physical Lab, we had same situation, we had access to the UR5e  but instead of hard coding it directly which I could, I decided to try out the software simulation programming. Octopuz is a software which allows to program UR5e and many such robots.