Detailed Status

Rigid-body motion and kinematics. Chapter 3 material went straight into the FK implementation on the arm; working toward velocity kinematics and the Jacobian.

Working through Steve Brunton's control series alongside the hardware, so each idea has something physical to land on.

• Teach-and-repeat: record and replay joint trajectories
• Arm class: one reusable hardware interface
• Calibration from measured joint range
• Forward kinematics validated to 0.4 cm RMS
• Next: servo characterization and a hand-written PID controller

• Bilingual routing and dark mode
• Markdown + LaTeX content pipeline
• Pending: deployment and CMS authentication