I enhanced the Arduino code to manipulate uArm Swift Pro from an Esplora that can manipulate all Swift Pro actuators to a fairly high degree of precision - good enough to move LEGO and Jenga pieces. Please watch the video at the link below, and the Arduino sketch is available at the GitHub link below as well. Enjoy!
https://github.com/ebto/sendGcodetouarm7
uArmSwift, @UFACTORY