Universal Robots UR5e
Universal Robots' 6-joint e-Series industrial cobot. LeRobot has no native support. It is reached through a third-party drop-in plugin (lerobot_robot_ur5e, RTDE control with a Robotiq gripper) or through fork-based extensions.
LeRobot pluginverified 2026-10-24aka UR5e, UR5 e-Series, lerobot_robot_ur5e
Policies on Universal Robots UR5e 8 with evidence · 2 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| Diffusion Policy Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| Multitask DiT Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| π0-FAST VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | The evidence is the authors' own UR5e evaluation; openpi releases no UR5e π0-FAST checkpoint or UR5e training config. |
| π0 VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | The upstream evidence is Physical Intelligence's own UR5e evaluation; openpi ships no UR5e fine-tuned checkpoint, and its examples/ur5 is an outline for writing UR5 input/output transforms rather than a tested recipe. |
| π0.5 VLA | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| SmolVLA VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| VQ-BeT Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
No verified evidence, but both are available in LeRobot (ecosystem context): EO-1, Evo-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, TD-MPC, VLA-JEPA, WALL-OSS, X-VLA.
Not yet verified: OpenVLA-OFT, OpenVLA. Have evidence?
Specifications
- Degrees of freedom
- 6 (e-Series arms have 6 rotating joints; gripper (e.g. Robotiq) is separate.)src
- Payload
- ?–5000 gsrc
- Repeatability
- ?–0.03 mmsrc
- Homepage
- www.universal-robots.com/products/e-series/
- Teleoperation
- GELLO (lerobot_teleoperator_gello plugin)
The UR5e does not appear on UR's current e-Series page as of 2026-10-24, which lists UR3e, UR7e, UR12e and UR16e. Payload and repeatability are therefore not recorded from a maker page.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | pluginsrc | — | ur5e | docs |
| ROS 2 | upstream-reposrc | — | — | repo |
| LeRobot: Third-party plugin (F-Fer/lerobot_ur5e_gello, Apache-2.0) using ur_rtde with a Robotiq gripper, paired with a GELLO teleoperator plugin (type gello). Not on PyPI as of 2026-10-24, so install editable from the repo. LeRobot also lists fork-based UR5e extensions (UR5e-LeRobot, lerobot_ur5e_auto) that need custom setup. | ||||
| ROS 2: Universal Robots' own ROS 2 driver. ur_type includes ur5e. | ||||
Sources
- T1 · upstream documentedvendor-docsverified 2026-10-25 (today)
Official UR5e datasheet. Its spec table lists payload 5 kg, reach 850 mm, 6 rotating joints and pose repeatability ± 0.03 mm (ISO 9283).
“applications with a payload of up to 5 kg and a reach”
https://www.universal-robots.com/media/1807465/ur5e_e-series_datasheets_web.pdf - T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1
LeRobot third-party page lists lerobot_robot_ur5e (drop-in) plus two fork-based UR5e extensions.
“with a <a href="https://robotiq.com/">Robotiq</a> gripper, over RTDE control.”
https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/third_party_robots.mdx - T3 · community reportedsource-codeverified 2026-10-24 (1d ago)
Plugin registers robot type ur5e; package name lerobot_robot_ur5e (pyproject).
https://github.com/F-Fer/lerobot_ur5e_gello/blob/3f3532cfc58d81ba12c1582f9c6087d12488269d/lerobot_robot_ur5e/lerobot_robot_ur5e/config_ur5e.py - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
UR e-Series page: 6 joints with ±360° range; lineup UR3e/UR7e/UR12e/UR16e.
“±360° Working range for all 6 joints”
https://www.universal-robots.com/products/e-series/ - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
UR ROS 2 driver launch example with ur_type:=ur5e.
“ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101”
https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/d8051bf441fbc5237071db0f6f1bc9065bb4e1ae/README.md