XR teleoperation
TeleopXR
WebXR robot teleoperation with live video, robot-model visualization and inverse-kinematics control from an XR interface.
Screenshot from the TeleopXR project.
Explore projectRobotics / Projects
Projects
Personal projects in robotics, hardware and developer tools.
Robotics & tooling
CAD / robot models
onshape2xacro
Convert Onshape CAD assemblies into configurable Xacro/URDF robot descriptions, with meshes, joint definitions and runtime joint-transform overrides for robot simulation and integration.
Explore projectMotor control / in development
can-motor-control
A Rust library with Python bindings for controlling Damiao-family motors over CAN, including motor commands, feedback and USB-to-CAN connections.
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Hardware / robot design
OpenArm Waist
A waist extension for OpenArm that adds a rotating base to the arm assembly, with CAD files, a bill of materials and an integrated robot description.
Assembly image from the project repository.
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Developer tools / Rust
opencode-kanban
A terminal kanban board that organizes coding tasks alongside Git worktrees and OpenCode tmux sessions.
Board screenshot from the project README.
Explore projectDeveloper tools / ROS 2
Modern ROS 2 Workspace
A Linux ROS 2 Humble workspace template that combines Pixi environments, uv Python packages and colcon build tasks to help start ROS projects.
Explore projectEarlier projects
2023 / Robotics project
Vox-Fusion-Robust
Achieve illumination robustness for Vox-Fusion, a NeRF-based SLAM project. Course Project for ROB 530 Mobile Robotics W23.
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2022 / Robotics project
A Guided Tour to Neural Radiance Field
A course mini project for EECS 498 - Deep learning for Computer Vision 2022
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2021 / Robotics project
Robot Localization in PyBullet
Implements a kalman filter and a particle filter and compares their accuracy using pybullet as simulation environment.
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