# Iteration 2

## Did
- Added **MGN12 linear-rail** reps on all 3 axes (mgn12_rail.stl, 12×8mm profile).
- Added **GT2 flanged pulleys** (gt2_pulley.stl) on the X and Z belt-motor shafts + idlers at the far ends.
- Motorized gantry now shows the full guide + drive train per axis: X/Z = MGN12 rail + belt pulleys +
  NEMA17; Y = MGN12 rail + T8 leadscrew + nut-block + NEMA17.

## Files
gen_nema.py (rewritten), mgn12_rail.stl, gt2_pulley.stl, gantry_arm_motorized.urdf

## Verify
HTTP 200; render confirms pulleys at rail ends, leadscrew + arm hanging, upright on ground.
Viewer: https://cad.omidlab.net/?dir=/data/cameron/repos/smith300_para_stuff&file=gantry_arm_motorized.urdf

## Next
- GT2 belt loops (thin flat runs between pulleys) for X/Z — visual completion of the drive.
- Real carriage plates (the carriages are still plain boxes) with MGN block + belt-clamp features.
- Then start mobile_base.urdf (docs/home_robot).