does anyone have any experience with a remote desktop connection to a UR? It would be great to be able to program or debug more complex programs from a computer instead of the teach pendant, but as far as I can see there is no free solution from UR for this. I could only find VNC plugins to buy, or ones written by users, which I am not sure I want to try. Otherwise there is the possibility of using the offline simulator and then transferring programs to the robot via USB stick, which is also not very flexible.
Are there any other solutions, or has anyone tried one of the VNC plugins?