ur_rtde is automatically tested with unit tests against a UR simulator running Polyscope, in its CI pipeline. The idea is to test against 1 or 2 different versions from each series (CB and e-Series). Currently it is being tested with Polyscope 5.11.1:
This post will be updated with badges / links to the versions currently being tested against, you can also find them here. Remember that the interface will still work on other versions of Polyscope, this is simply to discover bugs and issues. If you have any ideas for tests that can be performed, or a specific version to test against, please let me know.