- Finish importing CAD in Webots
- Add real robot dimensions in the controller code
- Write interfaces for actuators in simulation
- Calculate wheel rolling velocities based on skid steering
- Implement a controller using keyboard for open loop testing in simulator
- Implement and verify velocity equations with graphs
- Feed calculated velocities to simulation
- Design control loops for velocity control for each motor
- Verify controllers on physical hardware
- Documentation: Kinematics equations (velocities, wheel centers, reference point pose wrt joint angles (will be used later), ...)
- Documentation: Control loops diagrams
- Simulation and physical robot overview