crx_kinematics
- Software
- Robot arms and industry
- Library
A C++ and Python library for forward and inverse kinematics of the Fanuc CRX collaborative robot series, with a MoveIt 2 kinematics plugin.
Source on GitHub: github.com/danielcranston/crx_kinematics (opens in a new tab). Facts read at commit 21027ee (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 21027ee (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Implements a geometric approach to CRX inverse kinematics, deterministically finding all IK solutions.
- Reduces the IK problem to a 1-D search for zeros over a scalar function.
- Has minimal dependencies: numpy and scipy for Python, Eigen for C++.
- The C++ implementation is fast, running in about 50 μs on an Intel Core i7-13650HX.
- Provides a MoveIt 2 kinematics plugin compatible with the official Fanuc URDF descriptions.
- Includes an interactive ROS 2 demo launched with RViz, and defaults to the CRX-10iA model.
Written by Robotheca from the project's README (opens in a new tab) at commit 21027ee.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 23 May 2026 on master
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.