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Our goal is to characterise the physical properties of the metal-poor browndwarf population. In particular, we focus on the recently discovered peculiardwarf WISE J1810055$-$1010023.  We collected optical iz and near-infrared J-band imaging on multipleoccasions over 1.5 years to derive accurate trigonometric parallax and propermotion of the metal-depleted ultra-cool dwarf candidate WISE1810. We alsoacquired low-resolution optical spectroscopy (0.6$-$1.0 $\mu$m) and newinfrared (0.9$-$1.3 $\mu$m) spectra of WISE1810 that were combined with ourphotometry, other existing data from the literature and our trigonometricdistance to determine the object's luminosity from the integration of theobserved spectral energy distribution covering from 0.6 through 16$\mu$m. Wecompared the full optical and infrared spectrum with state-of-the-artatmosphere models to further constrain its effective temperature, surfacegravity and metallicity.  WISE1810 is detected in the $iz$ bands with AB magnitudes of$i$=23.871$\pm$0.104 and $z$=20.147$\pm$0.083 mag in the PanSTARRS system. Itdoes not show any obvious photometric variability beyond 0.1$-$0.2 mag in anyof the $z$- and $J$-band filters. The very red $z-J \approx 2.9$ mag colour iscompatible with an ultra-cool dwarf nature. Fitting for parallax and propermotion, we measure a trigonometric parallax of 112.5$^{+8.1}_{-8.0}$ mas forWISE1810, placing the object at only 8.9$^{+0.7}_{-0.6}$ pc, about three timescloser than previously thought. We employed Monte Carlo methods to estimate theerror on the parallax and proper motion. The object's luminosity was determinedat log$L/L_\odot$=$-$5.78$\pm$0.11 dex. From the comparison to atmosphericmodels, we infer a likely metallicity of [Fe/H] $\approx -1.5$ and an effectivetemperature cooler than 1000K.  Abridged

Physical properties and trigonometric distance of the peculiar dwarf WISE J181005.5$-$101002.3