I've been working on the smaller joints on a off for a few weeks now and I've made some progress. The Joint is completely designed and I'm onto testing. The only problem I am running into is the planetary gearbox is too stiff causing too much friction for the motor to spin. I'm working on a fix currently and hopefully it works soon. Otherwise things seem to be working well.

another consideration for later that I've been thinking about is how the magnetic output controller is going to work. There are two options. Either I use the moteus r4 software and configure it to be an output encoder. Or I code my own script that reads the output encode and drives the moteus r4. The first option would be ideal, but I have been unable to get it to work well. This aspect of the arm is vital to its accuracy so I may just end up coding my own script though ROS to ensure I have maximum accuracy.