Add support for URSim 10.9.0

- Add image mapping string for 10.9.0
- Fix model environment variable for UR7e and UR12e
- Add tests for UR7e and UR12e

Author: urfeex

scripts/start_ursim.sh

@@ -40,7 +40,8 @@ TEST_RUN=false
 # 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")
+                              ["10.8.0"]="0.13.124"
+                              ["10.9.0"]="0.14.47")
 
 help()
 {
@@ -135,7 +136,11 @@ strip_robot_model()
     if [[ "$robot_model" = @(ur3e|ur5e|ur10e|ur16e) ]]; then
       ROBOT_MODEL=$(echo "${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}")
     elif [[ "$robot_model" = @(ur7e|ur12e) ]]; then
-      ROBOT_MODEL=$(echo "${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}e")
+      if [[ "$robot_series" == "polyscopex" ]]; then
+        ROBOT_MODEL=$(echo "${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}")
+      else
+        ROBOT_MODEL=$(echo "${ROBOT_MODEL:0:$((${#ROBOT_MODEL}-1))}e")
+      fi
     fi
   fi
 }

tests/test_start_ursim.bats

@@ -171,9 +171,10 @@ setup() {
   run test_input_handling -m ur7e -v 5.22.0
   echo "$output"
   [ $status -eq 0 ]
-  #run test_input_handling -m ur7e -v 10.9.0
-  #echo "$output"
-  #[ $status -eq 0 ]
+
+  run test_input_handling -m ur7e -v 10.9.0
+  echo "$output"
+  [ $status -eq 0 ]
 }
 
 @test "test ur12e min version" {
@@ -190,9 +191,10 @@ setup() {
   run test_input_handling -m ur12e -v 5.22.0
   echo "$output"
   [ $status -eq 0 ]
-  #run test_input_handling -m ur12e -v 10.9.0
-  #echo "$output"
-  #[ $status -eq 0 ]
+
+  run test_input_handling -m ur12e -v 10.9.0
+  echo "$output"
+  [ $status -eq 0 ]
 }
 
 @test "test ur15 min version" {