{"id":2469,"date":"2025-08-19T20:17:00","date_gmt":"2025-08-20T03:17:00","guid":{"rendered":"https:\/\/robodk.com\/cn\/blog\/?p=2469"},"modified":"2025-08-19T07:27:56","modified_gmt":"2025-08-19T14:27:56","slug":"robot-programming-urp-2","status":"publish","type":"post","link":"https:\/\/robodk.com\/cn\/blog\/robot-programming-urp-2\/","title":{"rendered":"\u5982\u4f55\u4f7f\u7528UR\u793a\u6559\u5668\u4fee\u6539RoboDK\u7684\u673a\u5668\u4eba\u7a0b\u5e8f"},"content":{"rendered":"\n<p>\u8ba9UR\u673a\u5668\u4eba\u5982\u6b64\u6613\u4e8e\u7f16\u7a0b\u7684\u539f\u56e0\u4e4b\u4e00\uff0c\u662f\u5176\u56fe\u5f62\u5316\u7f16\u7a0b\u754c\u9762\u2014Polyscope\u3002\u5b83\u5141\u8bb8\u4f60\u901a\u8fc7\u7269\u7406\u65b9\u5f0f\u5728\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7a7a\u95f4\u5185\u5f15\u5bfc\u673a\u5668\u4eba\u79fb\u52a8\uff0c\u5e76\u5c06\u5176\u4f4d\u7f6e\u8bb0\u5f55\u4e3a\u201c\u8def\u5f84\u70b9\u201d<\/p>\n\n\n\n<p>\u4f46\u8fd9\u91cc\u5b58\u5728\u4e00\u4e2a\u95ee\u9898\uff1a\u5b83\u4e0e\u79bb\u7ebf\u7f16\u7a0b\u8f6f\u4ef6\u7684\u5339\u914d\u5ea6\u8f83\u5dee\u3002\u5728\u5f88\u591a\u60c5\u51b5\u4e0b\uff0c\u5982\u679c\u4f60\u60f3\u4f7f\u7528\u79bb\u7ebf\u7f16\u7a0b\uff0c\u5c31\u4e0d\u5f97\u4e0d\u653e\u5f03Polyscope\u7f16\u7a0b\u5e26\u6765\u7684\u4fbf\u5229\uff0c\u8f6c\u800c\u4f7f\u7528\u57fa\u4e8e\u6587\u672c\u7684SCRIPT\u6587\u4ef6\u8fdb\u884c\u7f16\u7a0b\u3002<\/p>\n\n\n\n<!--more-->\n\n\n\n<p>\u90a3\u4e48\uff0c\u5982\u679c\u6211\u4eec\u65e2\u60f3\u4eab\u53d7\u79bb\u7ebf\u7f16\u7a0b\u7684\u4f18\u52bf\uff0c\u53c8\u4e0d\u60f3\u653e\u5f03Polyscope\u53cb\u597d\u7684\u7528\u6237\u7f16\u7a0b\u4f53\u9a8c\uff0c\u8be5\u600e\u4e48\u529e\u5462\uff1f<\/p>\n\n\n\n<p>\u4f7f\u7528RoboDK\uff0c\u4e00\u5207\u5c31\u53d8\u5f97\u7b80\u5355\u4e86\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>UR<\/strong><strong>\u673a\u5668\u4eba\u7f16\u7a0b\u9009\u9879<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u60a8\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u4e24\u79cd\u65b9\u6cd5\u4e4b\u4e00\u5bf9UR\u673a\u5668\u4eba\u8fdb\u884c\u7f16\u7a0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>URP\u7a0b\u5e8f\u2014\u2014URP\u6587\u4ef6\u662f\u901a\u8fc7\u793a\u6559\u5668\u89e6\u6478\u5c4f\u4f7f\u7528Polyscope\u56fe\u5f62\u7528\u6237\u754c\u9762\uff08GUI\uff09\u521b\u5efa\u7684\u3002\u8fd9\u4e9b\u7a0b\u5e8f\u6613\u4e8e\u751f\u6210\u6216\u4fee\u6539\uff0c\u4e14\u65e0\u9700\u4efb\u4f55\u673a\u5668\u4eba\u7f16\u7a0b\u7ecf\u9a8c\u3002\u4e00\u4e2aURP\u7a0b\u5e8f\u8fd8\u53ef\u4ee5\u5305\u542b\u4e00\u4e2a\u6216\u591a\u4e2aSCRIPT\u6587\u4ef6\u4f5c\u4e3a\u5b50\u7a0b\u5e8f\uff0c\u4ee5\u6269\u5c55\u5176\u529f\u80fd\u3002<\/li>\n\n\n\n<li>SCRIPT\u7a0b\u5e8f\u2014\u2014\u811a\u672c\u6587\u4ef6\u4f7f\u7528UR Script\u7f16\u7a0b\u8bed\u8a00\u7f16\u5199\u3002\u4e0e\u4efb\u4f55\u5176\u4ed6\u7f16\u7a0b\u8bed\u8a00\u4e00\u6837\uff0cUR Script\u5305\u542b\u53d8\u91cf\u3001\u6570\u636e\u7c7b\u578b\u3001\u63a7\u5236\u6d41\u8bed\u53e5\u3001\u51fd\u6570\u7b49\u3002\u6b64\u5916\uff0cUR Script\u8fd8\u5185\u7f6e\u4e86\u4e00\u4e9b\u7528\u4e8e\u63a7\u5236\u673a\u5668\u4ebaI\/O\u548c\u8fd0\u52a8\u7684\u4e13\u7528\u53d8\u91cf\u548c\u51fd\u6570\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u4e24\u79cd\u65b9\u6cd5\u5404\u6709\u4f18\u7f3a\u70b9\uff1a\u867d\u7136\u901a\u8fc7\u793a\u6559\u5668\u521b\u5efaURP\u6587\u4ef6\u65e0\u9700\u7f16\u7a0b\u7ecf\u9a8c\uff0c\u4f46\u901a\u8fc7\u7f16\u5199\u811a\u672c\u5219\u53ef\u4ee5\u6269\u5c55\u66f4\u591a\u529f\u80fd\u3002\u6b64\u5916\uff0cSCRIPT\u6587\u4ef6\u8fd8\u53ef\u4ee5\u901a\u8fc7UR\u7684<a href=\"https:\/\/www.universal-robots.com\/articles\/ur\/interface-communication\/remote-control-via-tcpip\/\"><u>\u8fdc\u7a0b\u63a7\u5236<\/u><\/a>\u534f\u8bae\uff08\u57fa\u4e8eTCP\/IP\uff09\u8fdb\u884c\u6d41\u5f0f\u4f20\u8f93\uff0c\u4ece\u800c\u5b9e\u73b0\u8fdc\u7a0b\u63a7\u5236\u673a\u5668\u4eba\u3002<\/p>\n\n\n\n<p>Polyscope\u7684\u4e00\u4e2a\u4e3b\u8981\u95ee\u9898\u662f\u5b83\u5c06\u7a0b\u5e8f\u4fdd\u5b58\u4e3a\u4e8c\u8fdb\u5236\u683c\u5f0f\u7684URP\u6587\u4ef6\u3002\u800c\u5927\u591a\u6570\u79bb\u7ebf\u7f16\u7a0b\u8f6f\u4ef6\u53ea\u80fd\u901a\u8fc7\u76f8\u5bf9\u590d\u6742\u7684SCRIPT\u6587\u4ef6\u5c06\u7a0b\u5e8f\u5bfc\u51fa\u5230UR\u673a\u5668\u4eba\u4e0a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5c06\u79bb\u7ebf\u7f16\u7a0b\u8f6c\u6362\u4e3aURP\u7a0b\u5e8f<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5982\u679c\u6211\u4eec\u65e2\u80fd\u4eab\u53d7\u79bb\u7ebf\u7f16\u7a0b\u7684\u4f18\u52bf\uff0c\u53c8\u80fd\u591f\u901a\u8fc7Polyscope\u56fe\u5f62\u7528\u6237\u754c\u9762\uff08GUI\uff09\u66f4\u65b0\u7a0b\u5e8f\uff0c\u90a3\u5c82\u4e0d\u662f\u592a\u68d2\u4e86\uff1f<\/p>\n\n\n\n<p>\u4f7f\u7528RoboDK\u5c31\u53ef\u4ee5\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff01<\/p>\n\n\n\n<p>\u5f53\u4f60\u4f7f\u7528RoboDK\u4e3aUniversal Robots\uff08\u4f18\u50b2\u673a\u5668\u4eba\uff09\u7f16\u7a0b\u65f6\uff0c\u4f60\u53ef\u4ee5\u5c06\u7a0b\u5e8f\u5bfc\u51fa\u4e3aSCRIPT\u6587\u4ef6\u548cURP\u6587\u4ef6\u3002<\/p>\n\n\n\n<p>\u7136\u540e\uff0c\u4f60\u53ef\u4ee5\u5c06URP\u7a0b\u5e8f\u52a0\u8f7d\u5230\u673a\u5668\u4eba\u4e2d\uff0c\u5e76\u901a\u8fc7Polyscope GUI\u5bf9\u5176\u8fdb\u884c\u66f4\u65b0\u3002\u4f60\u751a\u81f3\u53ef\u4ee5\u901a\u8fc7FTP\u8fdc\u7a0b\u53d1\u9001\u7a0b\u5e8f\u548c\/\u6216\u8fdc\u7a0b\u542f\u52a8\u7a0b\u5e8f\uff01<\/p>\n\n\n\n<p>\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u5047\u8bbe\u6211\u4eec\u8ba1\u5212\u4e3a\u81ea\u52a8\u5316\u68c0\u6d4b\u4efb\u52a1\u521b\u5efa\u4e00\u4e2a\u7a0b\u5e8f\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u4e3b\u8981\u4efb\u52a1\u62c6\u5206\u4e3a\u4ee5\u4e0b\u5b50\u4efb\u52a1\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\" type=\"1\">\n<li>\u5b89\u5168\u63a5\u8fd1\uff08\u79fb\u52a8\uff09\u5f85\u68c0\u6d4b\u90e8\u4ef6<\/li>\n\n\n\n<li>\u6253\u5f00\u68c0\u6d4b\u529f\u80fd\uff08\u4e00\u4e2a\u6570\u5b57\u8f93\u51fa\u4fe1\u53f7\uff09<\/li>\n\n\n\n<li>\u6cbf\u68c0\u6d4b\u8def\u5f84\u79fb\u52a8<\/li>\n\n\n\n<li>\u5173\u95ed\u68c0\u6d4b\u529f\u80fd\uff08\u4e00\u4e2a\u6570\u5b57\u8f93\u51fa\u4fe1\u53f7\uff09<\/li>\n\n\n\n<li>\u5b89\u5168\u8fd4\u56de\u539f\u70b9\u4f4d\u7f6e<\/li>\n<\/ol>\n\n\n\n<p>\u4f60\u53ef\u4ee5\u5728RoboDK\u4e2d\u8f7b\u677e\u8bbe\u7f6e\u8fd9\u4e9b\u6b65\u9aa4\uff0c\u4ece\u800c\u751f\u6210\u6a21\u5757\u5316\u7684\u7a0b\u5e8f\u3002\u4ee5\u8fd9\u79cd\u65b9\u5f0f\u62c6\u5206\u7a0b\u5e8f\uff0c\u6709\u52a9\u4e8e\u6211\u4eec\u5728\u672a\u6765\u9700\u8981\u5bf9\u5e94\u7528\u8fdb\u884c\u4fee\u6539\u65f6\uff0c\u66f4\u8f7b\u677e\u5730\u8fdb\u884c\u7ef4\u62a4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-11.png\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"675\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-11.png\" alt=\"\" class=\"wp-image-2474\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-11.png 693w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-11-300x292.png 300w\" sizes=\"auto, (max-width: 693px) 100vw, 693px\" \/><\/a><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5982\u4f55\u4f7f\u7528RoboDK\u521b\u5efaURP\u6587\u4ef6<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u6309\u7167\u4ee5\u4e0b\u6b65\u9aa4\uff0c\u4f7f\u7528 RoboDK \u751f\u6210\u4e00\u4e2a\u9002\u7528\u4e8eUniversal Robots\u7684URP\u7a0b\u5e8f\u3002\u5982\u679c\u60a8\u8fd8\u6ca1\u6709\u5b89\u88c5 RoboDK\uff0c<a href=\"https:\/\/robodk.com.cn\/cn\/download?_gl=1*ej3vlc*_ga*NzAwNDI1MjkuMTcyMjc0Njg2NA..*_ga_CC15V23QWE*czE3NTU2MTI3MTMkbzE2NSRnMSR0MTc1NTYxMjg0MyRqOCRsMSRoMjI4NDA3NTU1\"><u>\u8bf7\u70b9\u51fb\u6b64\u5904\u4e0b\u8f7d<\/u><\/a>\u3002<\/p>\n\n\n\n<p>\u5047\u8bbe\u60a8\u5df2\u7ecf\u5728RoboDK\u4e2d\u51c6\u5907\u597d\u4e86\u4eff\u771f\u7a0b\u5e8f\u3002\u5982\u679c\u60a8\u9700\u8981\u76f8\u5173\u5e2e\u52a9\uff0c\u8bf7\u52a1\u5fc5\u67e5\u770b\u6211\u4eec\u7684<a href=\"https:\/\/robodk.com.cn\/doc\/cn\/Getting-Started.html\"><u>\u300a\u5165\u95e8\u6307\u5357\u300b<\/u><\/a>\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\" type=\"1\">\n<li>\u53f3\u952e\u5355\u51fb\u673a\u5668\u4eba\uff0c\u9009\u62e9\u201c\u9009\u62e9\u540e\u5904\u7406\u5668\u201d\uff08Select Post Processor\uff09\u3002 &nbsp;<\/li>\n\n\n\n<li>\u9009\u62e9\u201cUniversal_Robots_URP\u201d\u540e\u5904\u7406\u5668\uff08\u5982\u679c\u60a8\u6ca1\u6709\u770b\u5230\u8be5\u9009\u9879\uff0c\u8bf7\u66f4\u65b0 RoboDK\uff09\u3002 &nbsp;<\/li>\n\n\n\n<li>\u9009\u62e9\u201c\u7a0b\u5e8f &#8211; \u751f\u6210\u7a0b\u5e8f\u201d\uff08Program &#8211; Generate Program(s)\uff0c\u5feb\u6377\u952e F6\uff09\u3002\u6b64\u64cd\u4f5c\u5c06\u4e3a\u6bcf\u4e2a\u9009\u4e2d\u7684\u6216\u53ef\u7528\u7684\u7a0b\u5e8f\u751f\u6210\u4e00\u4e2a\u811a\u672c\u6587\u4ef6\u548c\u4e00\u4e2a URP \u7a0b\u5e8f\u6587\u4ef6\u3002\u8fd9\u4e9b\u7a0b\u5e8f\u6587\u4ef6\u9ed8\u8ba4\u4f1a\u751f\u6210\u5728\u684c\u9762\u6587\u4ef6\u5939\u4e2d\uff08\u60a8\u53ef\u4ee5\u5728\u201c\u5de5\u5177 &#8211; \u9009\u9879 &#8211; \u7a0b\u5e8f &#8211; \u673a\u5668\u4eba\u7a0b\u5e8f\u6587\u4ef6\u5939\u201d\u4e2d\u66f4\u6539\u6b64\u8bbe\u7f6e\uff09\u3002 &nbsp;<\/li>\n\n\n\n<li>\u5c06\u751f\u6210\u7684 URP \u6587\u4ef6\u590d\u5236\u5230 U \u76d8\u4e2d\u3002\u6216\u8005\uff0c\u9009\u62e9\u201c\u6d4f\u89c8\u201d\uff08Explore\uff09\uff0c<a href=\"https:\/\/robodk.com.cn\/doc\/cn\/Robots-Universal-Robots.html\"><u>\u901a\u8fc7 FTP \u4f20\u8f93\u65b9\u5f0f<\/u><\/a>\u5c06\u7a0b\u5e8f\u4f20\u9001\u5230\u673a\u5668\u4eba\uff08\u524d\u63d0\u662f\u673a\u5668\u4eba\u548c\u7535\u8111\u5df2\u8fde\u63a5\uff09\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-9.png\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"419\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-9.png\" alt=\"\" class=\"wp-image-2472\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-9.png 693w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-9-300x181.png 300w\" sizes=\"auto, (max-width: 693px) 100vw, 693px\" \/><\/a><\/figure>\n\n\n\n<p>\u7136\u540e\uff0c\u524d\u5f80\u60a8\u7684UR\u793a\u6559\u5668\uff0c\u5e76\u6309\u7167\u4ee5\u4e0b\u6b65\u9aa4\u5728\u673a\u5668\u4eba\u63a7\u5236\u5668\u4e0a\u52a0\u8f7d\u7a0b\u5e8f\uff1a<br>5. \u5728\u793a\u6559\u5668\u5c4f\u5e55\u7684\u4e3b\u83dc\u5355\u4e2d\u9009\u62e9\u201cProgram Robot\u201d\uff08\u7f16\u7a0b\u673a\u5668\u4eba\uff09\u3002<br>6. \u9009\u62e9\u201cLoad Program\u201d\uff08\u52a0\u8f7d\u7a0b\u5e8f\uff09\u3002<br>7. \u627e\u5230URP\u6587\u4ef6\u5e76\u9009\u62e9\u201cOpen\u201d\uff08\u6253\u5f00\uff09\uff08\u786e\u4fdd\u6240\u9700\u7684\u5b50\u7a0b\u5e8f\u4f4d\u4e8e\u540c\u4e00\u6587\u4ef6\u5939\u4e2d\uff0c\u5b83\u4eec\u5c06\u81ea\u52a8\u5173\u8054\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-10.png\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"519\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-10.png\" alt=\"\" class=\"wp-image-2473\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-10.png 692w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2025\/08\/image-10-300x225.png 300w\" sizes=\"auto, (max-width: 692px) 100vw, 692px\" \/><\/a><\/figure>\n\n\n\n<p>\u7a0b\u5e8f\u5c06\u5728\u4e3b\u5c4f\u5e55\u4e0a\u663e\u793a\uff0c\u5c55\u793a\u4e0e\u5728RoboDK\u4e2d\u521b\u5efa\u7684\u76f8\u540c\u5e8f\u5217\u3002\u60a8\u53ef\u4ee5\u70b9\u51fb\u201c\u64ad\u653e\u201d\u6309\u94ae\u6765\u542f\u52a8\u7a0b\u5e8f\u3002<\/p>\n\n\n\n<p>\u5982\u679c\u8ba1\u7b97\u673a\u5df2\u8fde\u63a5\u5230\u673a\u5668\u4eba\uff0c\u60a8\u4e5f\u53ef\u4ee5\u76f4\u63a5\u4eceRoboDK\u89e6\u53d1\u8be5\u7a0b\u5e8f\u3002\u8fd9\u5bf9\u4e8e\u8c03\u8bd5\u975e\u5e38\u6709\u7528\u3002\u60a8\u53ef\u4ee5\u901a\u8fc7\u8fde\u63a5\u673a\u5668\u4eba\u5e76\u4f7f\u7528\u201c<a href=\"https:\/\/robodk.com.cn\/doc\/cn\/Robots-Universal-Robots.html\"><u>\u5c06\u7a0b\u5e8f\u53d1\u9001\u5230\u673a\u5668\u4eba\uff08Send Program to Robot\uff09<\/u><\/a>\u201d\u9009\u9879\uff08\u5feb\u6377\u952e Ctrl+F6\uff09\u6765\u5b9e\u73b0\u8fd9\u4e00\u64cd\u4f5c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5982\u4f55\u5728Polyscope\u4e2d\u4fee\u6539\u4f60\u7684\u7a0b\u5e8f<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u65e2\u7136\u60a8\u5df2\u5c06URP\u7a0b\u5e8f\u52a0\u8f7d\u5230Polyscope\u4e2d\uff0c\u60a8\u5c31\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u793a\u6559\u5668\u8f7b\u677e\u4fee\u6539\u76ee\u6807\u70b9\uff08\u6211\u4eec\u79f0\u4e4b\u4e3a\u201c\u76ee\u6807\u70b9\u201d\uff0c\u800c\u4f18\u50b2\u673a\u5668\u4eba\u516c\u53f8\u79f0\u5176\u4e3a\u201c\u8def\u5f84\u70b9\u201d\uff09\uff0c\u6216\u8005\u66f4\u6539\u8fd0\u52a8\u987a\u5e8f\u3002<\/p>\n\n\n\n<p>\u5982\u679c\u60a8\u4e0d\u77e5\u9053\u5982\u4f55\u4f7f\u7528Polyscope\u56fe\u5f62\u7528\u6237\u754c\u9762\uff08GUI\uff09\uff0c\u90a3\u4e48\u8981\u8be6\u7ec6\u89e3\u91ca\u5b83\u53ef\u80fd\u8d85\u51fa\u4e86\u672c\u7bc7\u535a\u5ba2\u6587\u7ae0\u7684\u8303\u56f4\u3002\u4e0d\u8fc7\uff0c\u60a8\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e2a\u94fe\u63a5\u627e\u5230\u6700\u65b0\u7684<a href=\"https:\/\/s3-eu-west-1.amazonaws.com\/ur-support-site\/32522\/Software_Manual_en_Global-3.5.3.pdf\"><u>Polyscope\u7528\u6237\u624b\u518c<\/u><\/a>\u3002<\/p>\n\n\n\n<p>\u4f18\u50b2\u673a\u5668\u4eba\uff08Universal Robots\uff09\u8fd8\u63d0\u4f9b<a href=\"https:\/\/academy.universal-robots.com\/\"><u>UR\u5b66\u9662\uff08UR 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