The Process Simulate Robot Library includes GP110 and GP250 models.
Posts by DemiGod
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Siemens Process Simulate can handle UR robots, CAD data and various behavior models.
There's a 30-day free trial you can register to here.
I think there's an example there with UR robots. It also has a connection to URSIM which can be used for this purpose.
You can ask about "Process Simulate Virtual Commissioning Lite" as the main software is quite expensive
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By the way - there's also a trial for Virtual Commissioning:
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