Inquiry regarding Numerical Values for D-H Parameters & IK

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  • January 19, 2026 at 7:38 am #2441
    IssacGomez
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      Hi everyone!

      I’m currently working on my Master’s Thesis using Thor as my main platformI’ve been looking at the Forward/Inverse Kinematics logs and saw the symbolic math using SymPy. I really need the actual numerical values for the link lengths used in the standard firmware. Does anyone have these exact measurements in mm? Or maybe a config file where they are defined?Also, if anyone has already implemented a Python script for the Inverse Kinematics.

      Thanks a lot!

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