The open source files for the Bento Arm hardware and software are available on github:

• Bento Arm Hardware
• Bento Arm Software (brachIOplexus)

Our open source files are released under the following licenses:

• Hardware – Creatives Commons BY-SA 4.0
• Software – GPL v3

We also have software interfaces in development for ROS and Matlab Simulink Real-Time. If you are interested in controlling the Bento Arm in these environments please contact us via our community forum and we can arrange early access.

Alternatively, if you wish to write your own custom software here are some existing libraries that can be used as starting points:

• Official Dynamixel SDK – http://support.robotis.com/en/software/dynamixelsdk.htm
• Dynamixel_controllers ROS package – http://wiki.ros.org/dynamixel_controllers
• Python package – https://pypi.python.org/pypi/dynamixel/1.0.1