---
name: project_robot_program_roadmap
description: Robot CAD program roadmap + docs structure + autonomous cron (2026-07-02). smith300_para_stuff/. Arm→gantry→mobile.
metadata: 
  node_type: memory
  type: project
  originSessionId: f6b5d2b8-94fd-4193-ba95-68aa32076e95
---

Cameron's robot-build program, three horizons (see `smith300_para_stuff/docs/CHECKLIST.md`):
- **NOW (~4 days, printing):** the 6-servo arm — **beauty variant + detachable fiducial base, NO gravity comp**
  (`two_servo_beauty.urdf` / `two_servo_detach.urdf`). Details in [[project_para_arm_beauty_detach]].
- **NEXT:** 3-axis linear-rail **gantry** (fetch-like) — `gen_gantry.py` → `gantry_arm.urdf` (3 prismatic
  X/Z-horizontal + Y-vertical, + 4-DOF servo wrist hanging down). Motorized: `gen_nema.py` (NEMA17 42.3mm +
  mount) → `gantry_arm_motorized.urdf`. Key concern doc: `docs/gantry/IMPLEMENTATION_GUIDE.md` (vertical axis
  needs a **self-locking T8 leadscrew** so the arm doesn't back-drive/drop when power is off).
- **LATER:** mobile home robot — 4-wheel base + big vertical lift rail + arm/gantry (`docs/home_robot`).

**Docs reorganized 2026-07-02** into `smith300_para_stuff/docs/` (CHECKLIST.md, DESIGN_INDEX.md = every URDF,
per-design READMEs for arm/camera_mount/gravity_comp/gantry/home_robot). **Code stays FLAT** in the repo root
(shared deps: gen_two_servo.py + shared STLs) — only docs are foldered.

**Autonomous cron 3cb4f187** (session-only, `13,43 * * * *` = every 30 min) set 2026-07-02 for ~12h: fleshes
out gantry motorization + mobile base, logs to `docs/_autolog/`, self-deletes at ~24 iterations. **FROZEN
(cron must not touch):** two_servo_beauty/detach.urdf, holder_fillet, yoke_fillet, connector_beauty_*,
base_holder_detach, fiducial_mount.

Also built: Arducam **B0332** camera + mount (`gen_camera.py` → camera_mount.urdf, [[project_para_arm_beauty_detach]]).
Gravity-comp spring counterbalance = **parked** (`gen_cb.py`, docs/gravity_comp). Structural analysis:
`struct_analysis.py`/`struct_beams.py` (shoulder output_1 = 52% stall → run servos at 12V).

Parked idea (2026-07-08, Cameron: "keep it in mind"): **twin-CF-tube arm links** — printed end caps
(one face = existing holder/yoke bolt interface, other = split clamp for 2× Ø8-10mm CF tubes ~20mm apart
for torsion resistance). Link length becomes cut-tube not reprint; ~50g/m vs printed links. 2020 extrusion
stays gantry/frame-only (~500g/m, too heavy for arm links).


**Pending tests (2026-07-13):** double-servo joint module (double_yoke badacda1 + double_holder d74bd104,
28mm gap, servo B flipped/reversed — feetech_calib notified) awaits servos arriving ~Wed 2026-07-16.
Also pending: Cameron's yoke_thin_test screw-fit verdict (PLATE_T=2.0 gate for arm link reprints), and the
cube-variant wand print (gripper_v2_print_fixed_umicube, 4 marker faces, IDs suggested 110-145 unassigned).