2GT pulleys are difficult to get right when 3D printing. Only thing to do is fiddle around with 3D printer setting and keep DFM in mind when designing. If it does not work after many attempts, plan to use actual aluminum pulleys.

Linear bearings I bought are super cheap from amazon and the bearing balls fell from the bearings. Need to redesign parts so I don't have to push too hard/hammer the linear bearings. Plan to split the part and use screws to clamp the linear bearings into the part.

Gripper is actuated using a servo. If gripper grips onto something for too long, servo gets hot and possibly get damaged. Need to implement current sensing ability for the servo so that adequate amount of current is sent to the gripper to grip something. Plan to do this by using a shunt resistor and measuring the voltage across and using V=IR to get somewhat accurate current value.