Laying the hardware groundwork

Goal: Have a fully functional hardware prototype

What I did:
- CAD modelled and 3D printed frame
- Hacked together tracks + motor encoders for tracked base
- CAD modelled and printed 5DOF arm and gripper
- Implemented all servo and power distribution electronics

What worked:
- Robot works!
- Can roll around, and track position using encoders
- Can manipulate arm using inverse kinematic server (buggy)

What failed:
- electronics are a fragile mess
- didnt get around to printing a head for the camera
- arm is weaker than expected, gripper design needs to be updated

Key learning:
- Hardware is very difficult
- Inverse kinematic libraries are few and far between and not well documented

Next session (future direction of project):
- Implement intelligent control (ResNet→action network)
- Add camera to arm
- Set up sim environment for policy training

Time spent: 100 hours