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Hello, great project! Any chance you can send me the original fusion 360 files. I primarily use Inventor, and i can convert the STL's, but there is some major loss of data compared to an IAM. / IPT. Also have you done any FEA on this? The individual joints could definitely benefit from some roller bearings at minimum and possibly tapered roller bearings if you can spare the weight. I understand the concept of using whats available and cheap, so i get why you wouldn't on the first version. have a few suggestions on the software side as well, mainly concepts for how to accurately go to polar coordinates without using floating point. Floating point always seems to be the killer on most micro-controllers. But not to ramble on, if you could send me those files id like to try to do a few changes in order to possibly improve a few things.Awesome project so far, Thanks!