Unless I am still doing something wrong the only point I would like to change is doing the arm roation absolutely vertical. My reason for that is that I believe it makes variation of distance easier. When the roation is vertical the only difference between 10 and 20m is the point of release. If it is not absolute vertical than changing the point of release is not enough. The additionally the movement of the arm and/or the position to the target has to be changed.

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Zwiebeltuete