Inverse Kinematics Forum › Get Help › Others This topic has 3 replies, 2 voices, and was last updated 3 years, 1 month ago by Angel LM. Viewing 4 posts - 1 through 4 (of 4 total) Author Posts January 15, 2020 at 1:40 am #417 Quote JOSE FRANCISCO VILLA TIBURCIO Hello, what is the code used in Sympy to calculate the inverse kinematics fo the thor robot. I was hoping if anyone has the code please. January 21, 2020 at 6:58 pm #669 Quote Angel LMAdmin Hi Jose, I have done the calculations for the Forward Kinematics using SymPy, but not for the Inverse. Here is the code I used for the FK calculus, it may be helpful! Best regards,Angel LM January 30, 2020 at 12:38 am #671 Quote JOSE FRANCISCO VILLA TIBURCIO Thank you Angel by the information, it helped me a lot. ; I have a nother cuestion, you will have a link to dowload the robot assembly (CAD)?, because I would like to do a simulation. Greetings!!! January 30, 2020 at 8:43 pm #673 Quote Angel LMAdmin Sure Jose, Inside the folder “freecad-src” at Thor’s Github you can find the ThorAssembly.fcstd file it is in FreeCAD format, but is easy to export the parts you need to other format (stp, stl, etc…) Hope it helps!Ángel Author Posts Viewing 4 posts - 1 through 4 (of 4 total) You must be logged in to reply to this topic.