UR Family (UR3 / UR5 / UR10 + e variants)

UR Family (UR3 / UR5 / UR10 + e variants)#

URRobotCfg covers six Universal Robots manipulators in one configuration class: ur3, ur3e, ur5, ur5e, ur10, and ur10e. The images below show the exact variants currently documented in EmbodiChain: the compact UR3 pair, the mid-reach UR5 pair, and the long-reach UR10 pair, with darker classic models and brighter silver-arm e-series renders.

Key Features#

One config, six UR variants selected through robot_type.
Image-matched family lineup from the shortest-reach UR3 pair to the longest-reach UR10 pair.
Classic and e-series styling with darker legacy arms and brighter silver-arm e-series renders.
Analytic UR inverse kinematics through URSolverCfg and the Warp-based UR solver path.
Simulation-ready defaults for URDF selection, control parts, drive properties, and rigid-body attributes.

Visual Differences Across Variants#

UR3 / UR3e are the most compact renders in the set and keep the wrist close to the base.
UR5 / UR5e extend the shoulder-to-wrist span while keeping the same 6-axis arm layout.
UR10 / UR10e show the longest upper-arm and forearm links, matching the largest reach tier in the family.
Classic models (ur3, ur5, ur10) appear darker overall, especially on the arm links.
e-series models (ur3e, ur5e, ur10e) use brighter silver links and lighter joint accents in these renders.

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain.lab.sim.robots import URRobotCfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=4))
cfg = URRobotCfg.from_dict({"robot_type": "ur5"})
robot = sim.add_robot(cfg=cfg)

Robot Parameters#

Parameter	Description
`robot_type`	UR variant: `ur3`, `ur3e`, `ur5`, `ur5e`, `ur10`, or `ur10e`
Number of joints	6 revolute joints plus the fixed `ee_link`
Control parts	`arm` (6 joints)
Root / end link	`base_link` / `ee_link`
Solver	`URSolverCfg` (analytic UR IK)
Drive `max_effort`	UR3/UR3e about 56 N.m, UR5/UR5e about 150 N.m, UR10/UR10e about 330 N.m

Note: The ur5 URDF uses lowercase joint names (joint1 to joint6), while the other variants use Joint1 to Joint6. URRobotCfg._build_defaults selects the correct naming scheme automatically.

Variants at a Glance#

`robot_type`	Preview	URDF	Reach (m)	Payload (kg)
`ur3`	Compact classic render	`UniversalRobots/UR3/UR3.urdf`	~0.5	3
`ur3e`	Compact e-series render	`UniversalRobots/UR3e/UR3e.urdf`	~0.5	3
`ur5`	Mid-size classic render	`UniversalRobots/UR5/UR5.urdf`	~0.85	5
`ur5e`	Mid-size e-series render	`UniversalRobots/UR5e/UR5e.urdf`	~0.85	5
`ur10`	Long-reach classic render	`UniversalRobots/UR10/UR10.urdf`	~1.3	10
`ur10e`	Long-reach e-series render	`UniversalRobots/UR10e/UR10e.urdf`	~1.3	10