This arm simulator is a basic test to try ODE. The gravity was lowered on the simulator so that real time can be perform. This is why the object bounced after it hit the table.
The arm is build out of cylinders and box. The joints are hinges and ball joints where appropriate. The joints are controlled by PD controllers.
Code is available here:
Reaching for a box
Reaching for a box with saliency maps
Observer point of view