My Open Source Projects
Here’s a collection of projects I’ve been building. All code is open source on GitHub.
OmniBot
Open-source mecanum mobile manipulator
Open-source mecanum mobile manipulator (Yahboom base, SO-101 arm, Raspberry Pi 5, Meta Quest 3 teleop). Built on OhhO OS (Apache-2.0) — the package is ohho-os on PyPI (1.1.2, source: ohho-sdk).
What works today: The engine can talk to that base, run a simulator with no hardware attached, and record arm and base motion for later training. Supported today, with public code: ROS 2 topics, ROSBridge, and Web Serial. Built with ROS 2 Jazzy, Nav2, Gazebo, LeRobot, PyTorch, FastAPI, Unity / OpenXR, and Next.js.
Roadmap: One robot, one engine — the rest is roadmap. The website consoles are interactive demos with simulated data (prototype consoles: Build, Frame, Connect, Serve, View, Data, Train, Autonomy, Mind, Pilot). Fleet, twin, compliance and security consoles are roadmap (Bench, Bridge, Market, Fleet, Twin, Care, Comply, Shield, Proof). OhhO Comply is a roadmap checklist, not a certification tool (simulated checklist only; OhhO does not generate a technical file or a conformity certificate, and it does not claim ISO, CE, UL, or SOC 2). Certified fleets, one bill and a cheapest-price claim are roadmap, not what ships today.
Mecanum-Wheel-Robot
ROS-based mecanum wheel robot
A robotics project using ROS (Robot Operating System) to control a mecanum wheel robot. Covers locomotion, motion planning, and sensor integration.
SAM2forAV
SAM2 model applied to autonomous vehicles
Applying Meta’s Segment Anything Model 2 (SAM2) to autonomous vehicle perception tasks. Explores zero-shot segmentation for AV sensor data.
AEB-Model-Based-Design
Automatic Emergency Braking — Model-Based Design
A model-based design implementation of an Automatic Emergency Braking (AEB) system, a safety-critical feature in modern vehicles.
perfetto_analysis_repo
Performance analysis with Perfetto
Python scripts for capturing and analysing system traces using Google’s Perfetto tracing tool. Useful for deep-diving into CPU scheduling, memory, and I/O behaviour.
libfreenect2
Open-source drivers for Kinect for Windows v2
Fork with Raspberry Pi / ARM NEON and USB transfer fixes.
decentralized-voting-using-blockchain
Decentralised voting with fingerprint authentication
A blockchain-based voting system that uses MFS100 fingerprint scanner authentication to ensure secure, verifiable, and tamper-proof elections.
More coming soon. Follow me on GitHub to stay updated, and check out my YouTube channel for videos on AI, robotics, and performance engineering.