From a309f7693dc16bb17ab54ee1e41aada703674c74 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 1 Aug 2025 13:08:41 +0200
Subject: [PATCH 1/2] Add launch support for UR8 Long

---
 ur_simulation_gz/launch/ur_sim_control.launch.py | 1 +
 ur_simulation_gz/launch/ur_sim_moveit.launch.py  | 1 +
 ur_simulation_gz/test/test_description.py        | 1 +
 ur_simulation_gz/test/test_gz.py                 | 2 +-
 ur_simulation_gz/urdf/ur_gz.urdf.xacro           | 2 +-
 5 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index d1e9632..dd2f038 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -206,6 +206,7 @@ def generate_launch_description():
                 "ur5",
                 "ur5e",
                 "ur7e",
+                "ur8long",
                 "ur10",
                 "ur10e",
                 "ur12e",
diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
index 26528e2..be47147 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -89,6 +89,7 @@ def generate_launch_description():
                 "ur5",
                 "ur5e",
                 "ur7e",
+                "ur8long",
                 "ur10",
                 "ur10e",
                 "ur12e",
diff --git a/ur_simulation_gz/test/test_description.py b/ur_simulation_gz/test/test_description.py
index eeab24b..f71febe 100644
--- a/ur_simulation_gz/test/test_description.py
+++ b/ur_simulation_gz/test/test_description.py
@@ -45,6 +45,7 @@
         "ur5",
         "ur5e",
         "ur7e",
+        "ur8long",
         "ur10",
         "ur10e",
         "ur12e",
diff --git a/ur_simulation_gz/test/test_gz.py b/ur_simulation_gz/test/test_gz.py
index fbdf4f0..ba7f054 100644
--- a/ur_simulation_gz/test/test_gz.py
+++ b/ur_simulation_gz/test/test_gz.py
@@ -74,7 +74,7 @@
 # might change, once the gz launch system migration is done using gzserver and such....
 # @launch_testing.parametrize(
 # "ur_type",
-# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur10", "ur10e", "ur12e", "ur16e", "ur15", "ur20", "ur30"],
+# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur8long", "ur10", "ur10e", "ur12e", "ur16e", "ur15", "ur20", "ur30"],
 # )
 @pytest.mark.launch_test
 def generate_test_description():
diff --git a/ur_simulation_gz/urdf/ur_gz.urdf.xacro b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
index e7a6087..c4d46c9 100644
--- a/ur_simulation_gz/urdf/ur_gz.urdf.xacro
+++ b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
@@ -7,7 +7,7 @@
 
   <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur8long, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur5x"/>
 

From 971367c32f11a387a05869710b8cad4c66861143 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Thu, 11 Sep 2025 15:21:09 +0200
Subject: [PATCH 2/2] Reorder model listings by generation, payload

The list of supported robot models has been growing over time. This commit
sorts them by generation (CB3, e-Series and UR series) and each generation
by payload.
---
 ur_simulation_gz/launch/ur_sim_control.launch.py | 6 +++---
 ur_simulation_gz/launch/ur_sim_moveit.launch.py  | 6 +++---
 ur_simulation_gz/test/test_description.py        | 6 +++---
 ur_simulation_gz/test/test_gz.py                 | 2 +-
 ur_simulation_gz/urdf/ur_gz.urdf.xacro           | 2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index dd2f038..4bd5bef 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -202,15 +202,15 @@ def generate_launch_description():
             description="Type/series of used UR robot.",
             choices=[
                 "ur3",
-                "ur3e",
                 "ur5",
+                "ur10",
+                "ur3e",
                 "ur5e",
                 "ur7e",
-                "ur8long",
-                "ur10",
                 "ur10e",
                 "ur12e",
                 "ur16e",
+                "ur8long",
                 "ur15",
                 "ur20",
                 "ur30",
diff --git a/ur_simulation_gz/launch/ur_sim_moveit.launch.py b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
index be47147..d73e8bf 100644
--- a/ur_simulation_gz/launch/ur_sim_moveit.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_moveit.launch.py
@@ -85,15 +85,15 @@ def generate_launch_description():
             description="Type/series of used UR robot.",
             choices=[
                 "ur3",
-                "ur3e",
                 "ur5",
+                "ur10",
+                "ur3e",
                 "ur5e",
                 "ur7e",
-                "ur8long",
-                "ur10",
                 "ur10e",
                 "ur12e",
                 "ur16e",
+                "ur8long",
                 "ur15",
                 "ur20",
                 "ur30",
diff --git a/ur_simulation_gz/test/test_description.py b/ur_simulation_gz/test/test_description.py
index f71febe..cc8c5e5 100644
--- a/ur_simulation_gz/test/test_description.py
+++ b/ur_simulation_gz/test/test_description.py
@@ -41,15 +41,15 @@
     "ur_type",
     [
         "ur3",
-        "ur3e",
         "ur5",
+        "ur10",
+        "ur3e",
         "ur5e",
         "ur7e",
-        "ur8long",
-        "ur10",
         "ur10e",
         "ur12e",
         "ur16e",
+        "ur8long",
         "ur15",
         "ur20",
         "ur30",
diff --git a/ur_simulation_gz/test/test_gz.py b/ur_simulation_gz/test/test_gz.py
index ba7f054..cff3570 100644
--- a/ur_simulation_gz/test/test_gz.py
+++ b/ur_simulation_gz/test/test_gz.py
@@ -74,7 +74,7 @@
 # might change, once the gz launch system migration is done using gzserver and such....
 # @launch_testing.parametrize(
 # "ur_type",
-# ["ur3", "ur3e", "ur5", "ur5e", "ur7e", "ur8long", "ur10", "ur10e", "ur12e", "ur16e", "ur15", "ur20", "ur30"],
+# ["ur3", "ur5", "ur10", "ur3e", "ur5e", "ur7e", "ur10e", "ur12e", "ur16e", "ur8long", "ur15", "ur20", "ur30"],
 # )
 @pytest.mark.launch_test
 def generate_test_description():
diff --git a/ur_simulation_gz/urdf/ur_gz.urdf.xacro b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
index c4d46c9..c0096b0 100644
--- a/ur_simulation_gz/urdf/ur_gz.urdf.xacro
+++ b/ur_simulation_gz/urdf/ur_gz.urdf.xacro
@@ -7,7 +7,7 @@
 
   <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.ros2_control.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur8long, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
+  <!-- possible 'ur_type' values: ur3, ur5, ur10, ur3e, ur5e, ur7e, ur10e, ur12e, ur16e, ur8long, ur15, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="ur5x"/>