Gianluca D'Antuono

Hi Peter,

First of all thank you a lot for the tips!

By the way I noticed a compenetration of the cables in almost all the holes; it happens even in the base where we have a translational joint and it sounds pretty weird.

Another weird thing is about the joint force of the cable where we apply the force: if you look at the joint probe, the force seems to have components just in the horizontal direction.

What do you think about it?