This video showcases how kdFlex can be used to simulate systems with constraints, add controllers for systems with constraints, and use algorithms from Karana.Dynamics.SOADyn_Py.Algorithms for control (in this case, the evalComputedTorque algorithm). The vidoe shows a pair of Barrett WAM arms gripping an object and coordinating to trace the outline of the Karana Dynamics logo. These arms use an open-loop computed torque controller to trace out the logo. The multibody topology is closed-loop, as there is a constraint between the right Barret WAM arm and the pencil.