Hi, I'm creating a 3D printed 6DOF robotic arm (it's my 3,5th attempt), I'm printing my own cycloidal reducers, all 5 of them are hollow shaft, I'm using 8 encoders, 2x BLDC servos (Odrive), 4x stepper motors. The current state of the project is - I've got the robot running, internal communication is working, mechanical side is done, electronics are working as well but still need to be cleaned up, I'm currently learning to use ROS and Moveit! to integrate my robot into the ROS ecosystem. I'm aiming at sub 0.5mm repeatability without changing load, and sub 2mm repeatability while changing load. Load capability is 4.5kg max, 2.5kg what I’d call 'nominal'. Load is wrist limited, I was able to lift 9.5 kg at 0.5m with the Axis 1, 2, 3 assembly. Considering the mass of the robot that was about 60Nm at Ax2. Use case - I’m trying to make it as versatile as possible, the end effector is easily swappable and has power and CAN

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