I connected the output Joint Encoder to the Moteus r4.11. Since I can do this on every Joint, I will not need to worry about cable management. There will only be 2 cables coming from the arm which is the CAN cable and the power cable. This will simply daisy chain through the Joints. I still need to look into improving the backlash of the output. Since the backlash is enough for the output encoder to measure it, it implies that the motor could do a better job holding the position. In other words I want the make the motor fight the backlash a soon as it is measured. This would make the arm very accurate.

Moving on, I am still working on the second stage Joints. The biggest problem is the print-in-place planetary gears. Since this Joint will be so small, The planetary gears are quite difficult to print. I am now attempting to not make them print-in-place but rather find a way to assemble them. There will be quite a few challenges like this with the second stage Joints, such as the bearing and ball bearing sizes, but I'm not too worried. I think the design could be completed by the end of next week.