Physical Parameters for FANUC CRX-10iA/L – Issues in Isaac Sim Dynamics Simulation

[AbbassIbrahim01]

Hi everyone,

I'm currently working on simulating the FANUC CRX-10iA/L robot arm in Isaac Sim / Isaac Lab, and I'm running into a significant issue: I can't find the necessary physical parameters required to accurately simulate the robot’s dynamics. Specifically, I'm missing:

• Mass (kg) for each individual link
• Center of Mass (XYZ, relative to each link’s local frame)
• Inertia Tensor (Ixx, Iyy, Izz, Ixy, Ixz, Iyz)

Without these values, the simulation behaves unrealistically, especially when attempting to train policies or run dynamic tasks like motion planning or collision response.

I tried using automatically generated or estimated values, but unfortunately the resulting behavior in simulation is incorrect and unstable—clearly the Robot in the Simulation is not even Moving ...
Since these parameters are not publicly available from FANUC documentation, I’m stuck. Has anyone:

• Successfully simulated the CRX-10iA/L with realistic dynamics in Isaac Sim?
• Found a reliable source for these physical parameters?
• Used alternative methods (e.g. CAD model extraction, reverse engineering, estimation tools) to approximate them with usable results?
• Any advice, resources, or shared URDF/USD files would be immensely appreciated.

Thanks in advance!

[louislelay]

Hi @AbbassIbrahim01,

That’s a tough one, FANUC doesn’t publish mass/CoM/inertia data, so you won’t find them in the docs. A few options:

• Try asking FANUC directly (sometimes they’ll share under NDA).
• If you can get a CAD model, you can extract mass and inertia with tools like FreeCAD or SolidWorks.
• Otherwise, you’re limited to kinematic simulation, since the dynamics will be unrealistic with guessed values.

I don’t think anyone has shared a proper CRX-10iA/L model with dynamics yet, so CAD extraction is probably your best bet.

[RandomOakForest]

Thank you for posting this. Following up, there is currently no public release from FANUC or major robotics repositories that provides the full set of physical parameters (mass per link, link center of mass, link inertia tensors) for each link of the CRX-10iA/L robot arm. The official datasheets, technical brochures, and reliable third-party sources only provide the following information:

• The total robot mass: 40 kg.¹²³
• Payload: 10 kg.²¹
• General overall reach and repeatability.³¹²
• Allowable load moment and inertia at the wrist, but these values specify limits for payloads and do not correspond to the robot’s own link inertias.⁴⁵⁶

What’s Missing

No official datasheet, operator manual, or third-party aggregator supplies the mass, center of mass, or inertia tensors for each individual link of this robot arm. The official operator's manuals and product datasheets focus on installation, operation, basic technical overviews, and safety. These granular dynamic details are classically proprietary and not shared by FANUC.⁷⁸⁹ You may want to consider contacting them directly.

I will move this post to our Discussions for follow up. Thank you for your interest in Isaac Lab.

Footnotes

1. https://crx.fanucamerica.com/crx-10ia-l ↩ ↩² ↩³

2. https://qviro.com/product/fanuc/crx-10ia-l/specifications ↩ ↩² ↩³

3. https://www.propac.com/packaging-equipment/palletizing-depalletizing/fanuc/collaborative/industrial/crx10ial/ ↩ ↩²

4. https://www.fanuc.eu/~/media/files/pdf/products/robots/robots-datasheets-en/crx/crx-10ial-en.pdf?la=tr ↩

5. https://crx.fanuc.eu/wp-content/uploads/2024/12/MBR-02361-EN.pdf ↩

6. https://www.fanucamerica.com/docs/default-source/default-document-library/crx-information.pdf ↩

7. https://robochallenge.pl/wp-content/uploads/2021/10/Collaborative_robot_function_operator_manual_B-83744EN_04_Robo_Challenge.pdf ↩

8. https://www.fanucamerica.com/docs/default-source/default-document-library/2024-robot-product-overview-brochure.pdf ↩

9. https://www.fanuc.com/fin/id/product/catalog/RCRX(E)-02.pdf ↩