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, using their versioned asset materials.

UR3
UR3
UR3e
UR3e
UR5
UR5
UR5e
UR5e
UR10
UR10
UR10e
UR10e

Images use RenderCfg(renderer="rt") (OfflineRT), default lighting and a common display pose. The V4 asset bundle corrects the UR3/UR3e material colors while preserving geometry and kinematics. Camera and rendering settings are recorded in the render manifest.

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.

  • Distinct link and joint materials with silver links, grey housings and blue joint covers.

  • 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.

  • UR3 / UR3e materials use the corrected V4 palette, removing the legacy darkening of the silver links and blue joint covers.

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_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

See Also#

  • :doc:/guides/add_robot - Adding a new robot (quick reference)

  • :doc:/overview/sim/motion/solvers/index - IK solver reference

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