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Remove SDK version mapping #355

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Merged
urfeex merged 1 commit into from
Jul 18, 2025
Merged

Remove SDK version mapping #355

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16 changes: 4 additions & 12 deletions scripts/start_ursim.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,6 @@
CONTAINER_NAME="ursim"
TEST_RUN=false

# TODO: Add support for more URSim PolyScopeX versions once released
# The PolyScopeX URSim containers follow the SDK versioning scheme. This maps those to marketing
# versions
declare -Ag POLYSCOPE_X_MAP=( ["10.7.0"]="0.12.159"
["10.8.0"]="0.13.124"
["10.9.0"]="0.14.47")

help()
{
# Display Help
Expand Down Expand Up @@ -205,8 +198,8 @@
fi
;;
polyscopex)
if [[ ! "${POLYSCOPE_X_MAP[${URSIM_VERSION_CHECK}]+_}" ]]; then
echo "URSim version $URSIM_VERSION_CHECK is unfortunately not supported"
if ! verlte "$MIN_POLYSCOPE_X" "$URSIM_VERSION_CHECK"; then
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
Expand Down Expand Up @@ -285,7 +278,7 @@
post_setup_polyscopex()
{

if [[ "$URSIM_VERSION" == "${POLYSCOPE_X_MAP[10.7.0]}" ]]; then
if [[ "$URSIM_VERSION" == "10.7.0" ]]; then

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get_download_url_urcapx 0.1.0
else
get_download_url_urcapx latest
Expand Down Expand Up @@ -434,7 +427,6 @@
DOCKER_ARGS=""

if [ "$ROBOT_SERIES" == "polyscopex" ]; then
URSIM_VERSION=${POLYSCOPE_X_MAP[$URSIM_VERSION]}
DOCKER_ARGS="$DOCKER_ARGS --privileged"
fi

Expand All @@ -456,7 +448,7 @@
PROGRAM_STORAGE=$(realpath "$PROGRAM_STORAGE")

ROBOT_MODEL_CONTROLLER_FLAG=""
verlte "${POLYSCOPE_X_MAP[10.7.0]}" "$URSIM_VERSION" && verlte "$URSIM_VERSION" "${POLYSCOPE_X_MAP[10.8.0]}" && ROBOT_MODEL_CONTROLLER_FLAG="-e ROBOT_TYPE_CONTROLLER=${ROBOT_MODEL}"
verlte "10.7.0" "$URSIM_VERSION" && verlte "$URSIM_VERSION" "10.8.0" && ROBOT_MODEL_CONTROLLER_FLAG="-e ROBOT_TYPE_CONTROLLER=${ROBOT_MODEL}"

docker_cmd="docker run --rm -d \
--net ursim_net --ip $IP_ADDRESS \
Expand Down
9 changes: 1 addition & 8 deletions tests/test_start_ursim.bats
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
setup_file() {
echo "Pulling latest URSim Docker images for CB3 and PolyScope 5"
docker pull universalrobots/ursim_cb3:latest
docker pull universalrobots/ursim_e-series:latest
}
Expand Down Expand Up @@ -261,14 +262,6 @@ setup() {
[ $status -eq 1 ]
}

@test "docker image polyscopex" {
run main -v 10.7.0 -t
echo "$output"
image=$(echo "$output" | tail -n1 | awk '{ print $NF }')
[ $status -eq 0 ]
[ "$image" == "universalrobots/ursim_polyscopex:0.12.159" ]
}

@test "docker image cb3 latest" {
run main -m ur3 -t
echo "$output"
Expand Down
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