This past week was spent on putting the finishing touches on the manipulator. We installed the new mount, linear bearings, and longer screws+spacers. The resulting mechanism is extremely smooth, and capable of fitting objects as thick as the frame’s space allows. The last thing that needs to be fixed up is the mounting. The motor shield on the ESP32 board makes designing housing around the outgoing wires difficult, but this next iteration ought to work. Functionally, the manipulator is complete. Besides the 3D print, all of my remaining time will be spent helping characterize the manipulator, gathering data, and working on our reports.