Milestone map
Milestone map
2 milestones
Code the maths of a robot arm
2–4 weeks (about 8 hrs/week, est)
Build forward and inverse kinematics for a 2- or 3-link arm, with coordinate frames and transforms, unit tests, and the arm animated in a simulator. Keep it in one public repo and commit as you go. No hardware needed: this milestone is done in simulation.
Proof required
Link the public repo with the kinematics code, the tests and their passing output, and a short screen recording of the simulated arm reaching set targets.
What gets checked
- Forward kinematics matches hand-worked examples in the tests.
- Inverse kinematics reaches set targets within a stated error.
- Frames and transforms are documented in the README.
Common mistakes
- One big upload with no commit history.
- Results the repo cannot reproduce.
Powstik Guide
A public repo with forward and inverse kinematics for a 2- or 3-link arm, with coordinate frames and transforms, unit tests, and the arm animated in a simulator.
Steps
- Make a public repo.
- Set up the simulator from its free docs.
- Build the smallest version that works, then measure it.
- Write a README: what it is, how to launch it, what the numbers show.
- Ask someone who knows robotics to check it.
Template
README Stage 1: Foundations What is here: How to launch it: Results: Limits:
What gets sent back
- No measurements.
- Code that does not work from the README.
- Copied code with no history.
Resources
Foundationstart here
What a verifier looks for
- Forward kinematics matches hand-worked examples in the tests.
- Inverse kinematics reaches set targets within a stated error.
- Frames and transforms are documented in the README.
- Open the repo: does the code produce what the recording shows?
You'll sign in first, then come straight back here.
Check it against a real or simulated arm
1 week (about 4 hrs, est)
Show your kinematics driving a real arm or a simulated one, reaching at least five targets someone else picks. Do it in person or on a live video call. Simulation-only route: if you have no hardware, a live run in the simulator counts.
Proof required
Name the person who watched and add the recording or your notes of what happened, including anything that failed.
What gets checked
- The person picks the targets, not you.
- Reach error is measured for each target.
- Unreachable targets are handled, not ignored.
Common mistakes
- A pre-recorded run passed off as live.
- Cutting the failures.
Powstik Guide
A live demo to one person who knows robotics, with notes or a recording.
Steps
- Agree the test with the person first.
- Let them choose the conditions.
- Show it live and record what happened.
- Write down what failed and why.
Template
Demo notes Who watched: What they asked for: What happened: What failed:
What gets sent back
- The person did not see it live.
- No notes or recording.
Resources
What a verifier looks for
- The person picks the targets, not you.
- Reach error is measured for each target.
- Unreachable targets are handled, not ignored.
- Did you watch it happen live?
You'll sign in first, then come straight back here.
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