MOSS: A Small, Mostly 3D-Printed Open-Source Litter-Picking Rover

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MOSS is a small litter-picking rover built in public: a tracked base, a bin, and an arm derived from the LeRobot SO-101 with a parallel gripper. In one week it went from concept video to CAD to electronics in the chassis. All 113 printed parts are on the bench, both drive motors turned with encoders counting on 20 September, and that evening the Jetson Orin Nano was booting from battery. An ESP32-S3 with two Cytron drivers handles motion, a RealSense camera provides depth, the Jetson side runs dimOS, and parts cost about USD 500 to 700. Code is Apache-2.0. It runs on the bench but does not roll yet, and the tracks go on next.