Projects

Some projects I’ve built!

Autonomous AMR docking with a UR5 arm for pick-and-place

ROS 2 Humble logistics system

Mobile robot navigation with Nav2 and slam_toolbox, paired with UR5 manipulation via MoveIt2 and ArUco markers.

SAM3D reconstruction + FoundationPose localization

Perception and grasp generation

Metric 3D reconstruction of a scene using SAM3D, followed by object localization and grasp generation using FoundationPose and Grasp Sampler.

Parallel-jaw grasp sampling on a mesh object

Dependency-light grasp sampler

Generates 6-DoF parallel-jaw grasps for any mesh by combining primitive, OBB-face and antipodal samplers.

Human-to-robot motion mimicry via adaptive IK

ROS 2 teleoperation framework

Maps Meta Quest 2 controller poses to a robot arm using adaptive inverse kinematics, with support for multiple robots and teleoperation modes.