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 transferr