At this stage, my primary challenge is ensuring that the software architecture remains scalable as more hardware components are finalized. Since the perception system, motor control logic, and mobile app will eventually operate together, I want to make sure the foundation I build now can support added complexity later. If integration becomes more complicated than expected, I can refactor the structure into smaller, more modular components to keep the system organized and maintainable.
Over the past week, I focused on designing the structural layout for the arms and joints while also progressing on the perception and estimation framework. On the software side, I outlined the full integration workflow and implemented the initial project setup in Xcode using Swift. I established the core architecture and built the essential functions to create a stable starting point for continued development and testing.