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To set up a wired ethernet connection from the UR5 robot to a computer, you need to set up the network configuration on your computer. In Ubuntu, go to Network Settings and go to the Options... page for wired connections and go to the IPv4 settings page and set it up as in the following picture:
Then, to verify the connection, run the test script with: python3 socket_connection_test.py. If you don't get an error message, you're all set!