To dowmload the flies in github :https://github.com/QiayuanLiao/DArm

Include Arduino source code , solidworks design flies.

And you can download the .STL files in thingiverse: https://www.thingiverse.com/thing:1204552

Control it use the G-Code just like a 3DPrinter!!!

You can use some software to turn the test or images to the G-Code.