I got the L6 Arm to work under MSRS 2008 in the simulator. Picks up dominos automatically and let’s you control the arm with the sliders.
This is in Chapter 8 of ProMRDS
promrds.com/Chapter8/ReadMe.htm
Chapter 15
promrds.com/Chapter15/Lynx6Arm.htm
http://www.otherrobots.com/lynxmotion/l6arm.jpg