For anyone interested in and , I've started working with and simulator to model an Arduino Braccio arm.

I put together a package with everything needed to simulate pick+drop of an object. github.com/lots-of-things/brac

also wrote a little post about the bonkerfield.org/2020/08/bracci

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I've also got part of the pick+drop working in real life too. And packaged that code up separately
github.com/lots-of-things/ros_

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