[Jared Russell]

Awe inspiring work as always.

I am most interested in learning about how the climb is software aided. Specifically I am wondering about how you ensure you line up correctly with the 30" bar to ensure you don't "run out of real estate" by 90", and what sensors/control techniques are used to activate the arm retraction at the correct instant. I am guessing a gyro in the pitch axis, along with vision aiding for horizontal alignment.

Also, does the software ensure the arm doesn't extend during the portion of the swing that would angle the arm outside of the pyramid?