Actually RoboDK to our own roboto. There are 4 experiences for this (to try for now).
1- Thor Robot Arm Digits Or ST files (This exists.)
2- Thor Robot Arm Dimensions (This exists.)
3- Thor Robot Arm motion angles. I can share something similar used in the skittle by you.
4- Torque heights of Thor Robot Arm motors (This can be obtained from the information of their own motors)