Thanks, that's very interesting, bookmarked! I found https://github.com/thomashiemstra/fred https://github.com/thomashiemstra/fred whilst searching, which also

Thanks, that's very interesting, bookmarked! I found https://github.com/thomashiemstra/fred https://github.com/thomashiemstra/fred whilst searching, which also uses dynamixel motors, but very expensive ones. It does look very smooth motion-wise though!