[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.

[Angel LM]

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

[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!!!

[Angel LM]

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

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