So today i decided to rework my entire arm. I was introduced to planatary gears and realised that i could use that to make my arm less bulky, and now i have made the whole arm section. Next move on to the claw. Also might try to add retractable thingy to pull on the wire when the arm turns. Also decided to add rings so that wires between joints doesnt interfere with the rotation. Hopefully tis works. Using the Nema 17, the thin one for tis.