Zima · 2026-01-23 · 3 hours
Goal: Resume zima project, fix motor driver, arm issues, and plan next steps
Work Done:
- installed new motor driver after short circuiting the last one
- debugged intermittent joint failures, most likely due to brown outs from limited max current on buck converter
Successes:
- Entire zima platform should be working now, lerobot interface done, firmware issues resolved, electrical issues resolved
- Found firmware bug causing excessive arm jittering, fixed by rate limiting servo updates to 50hz
Failures:
- Spent more time than expected on fixing joint failures
Next steps:
- Record task demonstrations, replay to test reproducibility
- figure out how to format observations to be compatible with lerobot act policy
Time spent: 3 hours