I have been simultaneously working on the physical side of the project while also working on the electronics & firmware. I borrowed an ESP32 from the place where I work (very nice) and bought the motor controller, current sensor, hall sensor (for RPM), aluminum shell resistors to apply braking torque, the load & measuring motor, and the accelerometers. I have finished printing all of the parts I need, however I encountered a slight issue with alignment and spent some time fixing that. I made a drawing of my full assembly to place all of the holes properly on the aluminum plate I plan to use. I may add a little bit of extra space between the gearbox and the motor just so that the sun gear has no chance of rubbing up against the carrier; the printed-out drawing will definitely help me though (I can just tape it to the plate and make markings through the paper or just drill straight through).