Implementation:Haosulab ManiSkill UR10e

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Manipulation
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for simulating the Universal Robots UR10e industrial robot arm in ManiSkill environments.

Description

The UR10e is a 6-DOF industrial robot arm loaded from an MJCF (MuJoCo XML) file. It has 6 active joints controlled via PD position or delta position controllers. The pd_joint_pos mode uses stiffness=1000 and damping=100. The pd_joint_delta_pos mode uses higher gains (stiffness=1e4, damping=1e3) with normalized actions in range [-0.1, 0.1]. The rest keyframe places the arm in a typical bent configuration with qpos=[-pi/2, -pi/2, pi/2, -pi/2, -pi/2, 0]. No gripper is included in this agent definition.

uid: ur_10e

MJCF path: {ASSET_DIR}/robots/ur10e/ur10e.xml

Supported control modes: pd_joint_pos, pd_joint_delta_pos

Usage

Use UR10e for tasks requiring a large-reach industrial manipulator without a gripper. Suitable for contact-rich tasks, pushing, and scenarios where the end-effector tool is defined separately. Can serve as a base for custom tool attachments.

Code Reference

Source Location

• Repository: Haosulab_ManiSkill
• File: mani_skill/agents/robots/ur_e/ur_10e.py

Signature

@register_agent(asset_download_ids=["ur10e"])
class UR10e(BaseAgent):
    uid = "ur_10e"
    mjcf_path = f"{ASSET_DIR}/robots/ur10e/ur10e.xml"
    urdf_config = dict()
    keyframes = dict(rest=Keyframe(pose=sapien.Pose(p=[0, 0, 0]),
                                   qpos=np.array([-1.5708, -1.5708, 1.5708, -1.5708, -1.5708, 0])))

Import

from mani_skill.agents.robots.ur_e.ur_10e import UR10e

I/O Contract

Inputs

Name	Type	Required	Description
(inherited from BaseAgent)

Outputs

Name	Type	Description
robot agent	UR10e	Configured 6-DOF industrial arm with PD joint controllers (no gripper)

Usage Examples

Creating Environment with Robot

import gymnasium as gym
import mani_skill.envs

env = gym.make("PushCube-v1", robot_uids="ur_10e")
obs, info = env.reset()

Related Pages

• Environment:Haosulab_ManiSkill_Python_SAPIEN_Core