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Add support for UR8 LONG #375

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Merged
merged 1 commit into from
Sep 15, 2025
Merged

Add support for UR8 LONG #375

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1 change: 1 addition & 0 deletions include/ur_client_library/ur/datatypes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,7 @@ enum class RobotType : int8_t
UR10 = 2,
UR3 = 3,
UR16 = 4,
UR8LONG = 6,
UR20 = 7,
UR30 = 8,
UR15 = 9
Expand Down
16 changes: 11 additions & 5 deletions scripts/start_ursim.sh
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Expand Up @@ -43,7 +43,7 @@ help()
echo
echo "Syntax: `basename "$0"` [-m|s|h]"
echo "options:"
echo " -m <model> Robot model. One of [ur3, ur3e, ur5, ur5e, ur7e, ur10e, ur12e, ur16e, ur15, ur20, ur30]. Defaults to ur5e."
echo " -m <model> Robot model. One of [ur3, ur3e, ur5, ur5e, ur7e, ur8long, ur10e, ur12e, ur16e, ur15, ur20, ur30]. Defaults to ur5e."
echo " -v <version> URSim version that should be used.
See https://hub.docker.com/r/universalrobots/ursim_e-series/tags
for available versions. Defaults to 'latest'"
Expand Down Expand Up @@ -86,7 +86,7 @@ get_series_from_model()
ur3e|ur5e|ur7e|ur10e|ur12e|ur16e)
ROBOT_SERIES=e-series
;;
ur15|ur20|ur30)
ur8long|ur15|ur20|ur30)
ROBOT_SERIES=e-series
;;
*)
Expand Down Expand Up @@ -125,7 +125,7 @@ strip_robot_model()
ROBOT_MODEL=${robot_model^^}
else
ROBOT_MODEL=${robot_model^^}
# UR15, UR20 and UR30 need no further adjustment
# UR8LONG, UR15, UR20 and UR30 need no further adjustment
if [[ "$robot_model" = @(ur3e|ur5e|ur10e|ur16e) ]]; then
ROBOT_MODEL=$(echo "${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}")
elif [[ "$robot_model" = @(ur7e|ur12e) ]]; then
Expand Down Expand Up @@ -153,6 +153,8 @@ validate_parameters()
local MIN_UR30="5.15.0"
local MIN_UR7e="5.22.0" # and UR12e
local MIN_UR7e_X="10.9.0" # and UR12e
local MIN_UR8LONG="5.23.0"
local MIN_UR8LONG_X="10.11.0"

local URSIM_VERSION_CHECK="$URSIM_VERSION"
if [[ "$URSIM_VERSION" == "latest" ]]; then
Expand Down Expand Up @@ -182,7 +184,7 @@ validate_parameters()
verlte "$MIN_CB3" "$URSIM_VERSION_CHECK" && return 0
;;
e-series)
if [[ $ROBOT_MODEL != @(ur3e|ur5e|ur7e|ur10e|ur12e|ur16e|ur15|ur20|ur30) ]]; then
if [[ $ROBOT_MODEL != @(ur3e|ur5e|ur7e|ur8long|ur10e|ur12e|ur16e|ur15|ur20|ur30) ]]; then
echo "$ROBOT_MODEL is no valid e-series model!" && exit 1
fi
if [[ $ROBOT_MODEL == "ur15" ]]; then
Expand All @@ -193,6 +195,8 @@ validate_parameters()
MIN_VERSION=$MIN_UR30
elif [[ $ROBOT_MODEL == "ur7e" || $ROBOT_MODEL == "ur12e" ]]; then
MIN_VERSION=$MIN_UR7e
elif [[ $ROBOT_MODEL == "ur8long" ]]; then
MIN_VERSION=$MIN_UR8LONG
else
MIN_VERSION=$MIN_E_SERIES
fi
Expand All @@ -202,10 +206,12 @@ validate_parameters()
echo "PolyscopeX is only supported from version $MIN_POLYSCOPE_X onwards"
exit 1
fi
if [[ $ROBOT_MODEL != @(ur3e|ur5e|ur7e|ur10e|ur12e|ur16e|ur15|ur20|ur30) ]]; then
if [[ $ROBOT_MODEL != @(ur3e|ur5e|ur7e|ur8long|ur10e|ur12e|ur16e|ur15|ur20|ur30) ]]; then
echo "$ROBOT_MODEL is no valid PolyscopeX model!" && exit 1
elif [[ $ROBOT_MODEL == "ur7e" || $ROBOT_MODEL == "ur12e" ]]; then
MIN_VERSION=$MIN_UR7e_X
elif [[ $ROBOT_MODEL == "ur8long" ]]; then
MIN_VERSION=$MIN_UR8LONG_X
elif [[ $ROBOT_MODEL == "ur15" ]]; then
MIN_VERSION=$MIN_UR15_X
else
Expand Down
18 changes: 18 additions & 0 deletions tests/test_start_ursim.bats
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Expand Up @@ -247,6 +247,24 @@ setup() {
[ $status -eq 0 ]
}

@test "test ur8long min version" {
run test_input_handling -m ur8long -v 3.14.3
echo "$output"
[ $status -eq 1 ]
run test_input_handling -m ur8long -v 5.22.3
echo "$output"
[ $status -eq 1 ]
run test_input_handling -m ur8long -v 5.23.0
echo "$output"
[ $status -eq 0 ]
run test_input_handling -m ur8long -v 10.10.0
echo "$output"
[ $status -eq 1 ]
run test_input_handling -m ur8long -v 10.11.0
echo "$output"
[ $status -eq 0 ]
}

@test "unsupported versions raise error" {
run main -v 1.2.3 -t
echo "$output"
Expand Down
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