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@paul_ipv6
The harpsichord and the clavichord are the historical starting point. Figuring out an alternative to the escapement was a multi-century journey.

I tried to find a good video about how a grand piano action works, and there are many, but none really nailed it in my view: they walk through the parts but don’t do a good job of showing the motivations and the design pressures that shaped them. Everything there solves a problem!