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A 10 mm-period, high-temperature superconducting (HTS) undulator consisting of twenty staggered-array GdBa2Cu3O7-x (GdBCO) bulk superconductors has been fabricated and tested successfully. Each GdBCO disk was machined into a half-moon shape with micro-meter accuracy and shrink-fitted into a slotted oxygen-free copper disk which provided pre-stress and effective conduction-cooling. The HTS undulator prototype, consisting of GdBCO disks, copper disks, and CoFe poles fitted in a long copper shell, was field-cooled (FC) magnetized in fields of up to 10 T at 10 K. An undulator field of 2.1 T in a 4 mm magnetic gap was obtained. This field is the largest reported yet for the same gap and period length and exceeds the target value of 2 T for the meter-long HTS undulator scheduled for the hard x-ray I-TOMCAT beamline in the Swiss Light Source 2.0. We have demonstrated that bulk superconductor based undulators can provide significantly improved performance over alternative technologies.