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We have implemented an interface to control all the joints in Python. You can find it here. It lacks documentation (we will fix that) but it is very feature rich.

At the moment you can:

• Control all the joints or just a subset of them
• Save a joints configuration on a file to retrieve it later
• Save a sequence of joints poses to execute in order

Please let me know if you need any help with the interface or if you have any feature request / problem.