Software and hardware

Projects

Projects in robot simulation, tactile sensing, and robot mechanisms. Explore the repositories for source code, design files, and documentation.

Quest 3S recording of RIVET XR showing a controller, virtual objects, and a simulated robot arm in passthrough.
Quest 3S recording
XR and robot simulation

RIVET XR

Native XR robot simulation for the Meta Quest 3 family, combining on-device Newton physics, OpenXR rendering, and RGB-D scene inspection.

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CAD rendering of the Point Taken tactile fingertip with a dark compliant contact surface and a light sensor housing.
Fingertip CAD rendering
Optical tactile sensing

Point Taken

An optical tactile fingertip prototype built around the TMF8829 time-of-flight sensor. Includes custom PCBs and a sensor housing with a deformable silicone surface for observing contact.

View on GitHub
CAD assembly of the Unitree Z1 wrist showing its two intersecting axes, four servos, and printed structural parts.
Wrist CAD assembly
Robotic hardware

Unitree Z1 Wrist

A two-axis, 3D-printable wrist prototype for the Unitree Z1 using four DYNAMIXEL XL330 servos. Includes editable CAD, printable parts, an assembly guide, and a bill of materials.

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Research record

Publications

Explore the publication record for research papers and related work.

Publications