First of all, congratulations for this awesome project!
I’ve been searching a well designed robotic arm for a while before finding your Ergo Jr.
I’m currently working on an open source quadruped robot exploring Reinforcement Learning and OpenAI, you will find it here.
In the latest version I’ve attached (editing a little bit your public URDF) your great Ergo Jr on the top of the rack in order to experiment tasks like open a door and grasp objects.
Any feedback/contributions are very welcome!