# Key Points from IRC Log (September 18, 2012)

• Skorket reported modifications to GRBL firmware for CNC applications, enabling position tracking and working toward automatic height mapping with a USB-based continuity tester for surface detection.

• Rethink Robotics introduced "Baxter," a significant advancement in affordable robotics—a complete two-armed system priced at just $22,000, representing a major price breakthrough.

• Participants discussed molecular manufacturing challenges, emphasizing that current 3D printing technology falls far short of requirements for diamondoid mechanosynthesis, with references to technical roadmaps and the Freitas process.

• The Gada Prize for self-replicating 3D printers was critiqued, with participants noting that while multi-material printing had progressed, no team had achieved printing complete electronic circuits or full replication before the deadline.

• Technical discussions covered USB implementation challenges on microcontrollers, particularly with PIC devices, highlighting timing and debugging difficulties.

• A University of Bristol research paper was shared about neural mechanisms that initiate rhythmic movements like walking and swimming, specifically related to Central Pattern Generators.

• Participants criticized the nanoengineer codebase for poor software engineering practices, including inconsistent whitespace in Python files, excessive import statements, and failure to separate GUI code from backend functionality.