# UR10e Robot UID: `ur_10e` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/ur_e/ur_10e.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/ur_e/ur_10e.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 6 Controllers: `pd_joint_pos`, `pd_joint_delta_pos` ## Visuals and Collision Models
ur_10e ur_10e

Visual Meshes


ur_10e ur_10e

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)