The track for the robot can be found in Damonta (not any of the Octotron Continuous Tracks, you'll need the "#TRL-01553 - Tank Tread"). I'm not sure where it's found, I recall reading it's a random loot but that there's also a location where it's guaranteed to appear if you don't have it already: I think it was in the area where you defeat a certain character in Damonta (don't want to spoiler).
The farmer named Jobe will be important when you return to the prison. He is part of an alternative way into the prison (instead of repairing the robot).
So right now I know of two ways into the prison: the robot and Jobe. Neither can be done the first time you get to the prison.
Also, when releasing the pigs (spoiler):
Make sure to disarm all the mines near the main entrance to the Prison area (I mean the area where the farm and actual prison are); if you don't the pigs won't make it to their owner. I did that when playing the beta. Now with the final version, I didn't release the pigs and when I came back later in the game they were dead so maybe you really have to release them on your first visit (their owner wasn't there any more on my second visit either).
I haven't found a way to release the pigs without the foremen getting hostile, BTW.
From my experience, there are two ways out of there.
Back out of the front entrance of the Bastion - this is the heavy airlock-like gate where you had to fight some guys to prove yourself worthy first). I have experienced some oddities regarding the front gate when I was messing around with different tactics.
Via a secret passage that connects a sewer entrance in Hollywood to the back wall of McDade's room.
This map shows clearly where the secret tunnel entrance in McDade's room.
http://guides.gamepressure.com/wasteland2/guide.asp?ID=27039
The entrance in Hollywood is shown on this map. It is up by a monitor on which Matthias speaks to you (and offers you a job being a very bad person). I think it is accessible as soon as you arrive in Hollywood (i.e., not plot-locked).
If I recall correctly, when I tried to use this tunnel without first coming through from Hollywood, I was not able to do so. That may be your issue. If it is, then you are probably going to have to go back to a prior save to insure this passage is open first.
Another possibility is that you did not get close enough to the people in the main chamber of the Griffith Observatory after the fight was over. That triggers a conversation which you witness between the remaining leaders. You might be plot-locked until you witness that.
So, you might be asking about the perception thing. There is a mechanism by which you can recognize [spoiler incoming]...
a mask that is on McDade's desk that matches a description given by his prostitute lover. This is another way to discover/confirm their relationship by confirming that he is the "broken man", but you do not need it. Unfortunately, it seems to remain forever, creating quite a distraction for those of us that want to be sure we have seen all of the content...
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I needed to repair this door first. Then I could lockpick it.