The Multi-Joint Homunculus Doodle Appendage is a two axis SCARA robotic arm that is meant to draw shapes that are preprogrammed with sizes that the user can choose. The user chooses the shapes and requests the arm to draw them through the use of a Python graphical user interface (GUI). This design has two motor drivers that use digital logic signals and a DC power input in order to run each motor with varying speed either clockwise or counterclockwise or stop them completely for an emergency stop. The drivers receive these digital logic signals from an ESP32 NodeMCU microcontroller that has an Arduino IDE code uploaded onto it. This code is called the parser and receives the G-code commands from the GUI in order to run the commands. A big accomplishment in the progress for this project was being able properly create a parser that could convert X-Y coordinates into angles by using inverse kinematics to be used by the arm to track its movement. One area of improvement that could've been better addressed was the fact we should have started soon on a few parts of the project including the code and selecting/committing to parts. This ended up being roadblocks for our group and we ended up going to office hours and seeking advice on our code and we did find that helpful. Overall we should have reached out sooner as asking for help was able to put us on the right track.