Robot Arms to collect dog poop

These robot arms will go into a vehicle that will go around the back yard and pick up the dog poop. I wanted to release what I have so far, in case it is useful to others as is. Features:

• All parts are modeled in openSCAD, (including servos and screws!).
• Forward and inverse kinematics fully solved and programmed
• Various motions are simulated with openSCAD animate feature, outputting servo
  angles and pulse widths, which can be transferred to servo driver code
• This is about as parameterized as possible, so most dimensions can be
  changed as needed without recoding

See thingiversesummary.pdf for more information and getting started.