# Robot Program — Checklist & Roadmap
_Updated 2026-07-02. Timeline: NOW → NEXT → LATER._

## ⭐ NOW — print the arm (next ~4 days) — MAIN FOCUS
6-servo desktop arm, **beauty variant + detachable fiducial base, NO gravity comp**. This is what we physically print.
- [ ] Sync print STLs → Mac `~/Projects/robotics_testing/stl_transfers/arm_stls/`
      (holder_fillet, yoke_fillet, connector_beauty_1..5, base_holder_detach, fiducial_mount)
- [ ] Test-print base pins first (base_holder_detach + fiducial_mount) → check drop-on fit
- [ ] Tune pin clearance `CLEAR` in gen_detach.py after first fit (start 0.35mm)
- [ ] Print 6× holder_fillet, 6× yoke_fillet, connector_beauty_1..5
- [ ] Assemble + wire 6× STS3215 — **run at 12V** (shoulder is torque-limited, see docs/arm)
- [ ] Print + mount Arducam B0332 on the wrist (docs/camera_mount)
→ docs/arm/README.md

## ▶ NEXT — 3-axis linear-rail gantry (fetch-like)
- [ ] Motorize the 3 linear axes (NEMA17 steppers) + printed mounts → docs/gantry
- [ ] Choose rails (2040 extrusion) + guides (MGN12 vs V-wheel) + drive (belt vs leadscrew)
- [ ] **Vertical axis: self-locking leadscrew or brake** (gravity back-drive!) → IMPLEMENTATION_GUIDE
- [ ] Hang the 4-DOF wrist off the vertical carriage
→ docs/gantry/README.md + docs/gantry/IMPLEMENTATION_GUIDE.md

## ⏳ LATER — mobile home robot
- [ ] 4-wheel mobile base
- [ ] Big vertical linear rail on the base
- [ ] Arm/gantry on top ("access-gantry on a mobile base" concept)
→ docs/home_robot/README.md

## 🅿 Parked
- Gravity-compensation spring counterbalance — designed, deferred → docs/gravity_comp/README.md

## Autonomous work log
The 12h/30min cron appends progress to docs/_autolog/. Check there for what got done.

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## Progress (autonomous, 2026-07-02/03)
**Gantry NEXT — motorization substantially done:**
- [x] NEMA17 + printable motor mount (real M5 foot holes)
- [x] Vertical Y = T8 leadscrew + nut-block (self-locking, no back-drive)
- [x] MGN12 linear rails (3 axes) + GT2 pulleys + belt loops (X/Z)
- [x] Printable carriage_plate.stl (MGN12 seat + belt clamp)
- [ ] Wire carriage_plate into the URDF; endstops; controller BOM
→ gantry_arm_motorized.urdf

**Mobile LATER — both variants prototyped:**
- [x] mobile_base.urdf (wheels + lift + 4-DOF arm)
- [x] mobile_gantry.urdf (wheels + compact gantry — the fetch-like one)
- [ ] pick a variant, size drives, printable arm-mount + drive detail

Autonomous log: docs/_autolog/ (iters 1–8).