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I miss magic physics land, where nothing has friction and we can treat everything like rigid bodies... I wish you the best of luck with making your own, I think it makes for a fun project, but that might just be a defensive mechanism since I've had to work on it for so long...
We were experimenting with the SCARA Marlin options, but it was proving to be a pain to get it to work right/at all, so we did our own little work-around instead of trying to learn the intricacies of how Marlin runs.