side projects · physical ai

robots i build

Day job is AI. After hours it's motors, firmware and ROS2 — and putting LLMs in charge of real hardware, behind a controller that keeps them safe.

01 · 2026 · sound on

SO-101 × Claude Code

MCP server that lets Claude Code drive a real SO-101 arm.

Claude Code drives a real arm through 10 MCP tools — joints, poses, gestures, gripper, camera
Safety core on LeRobot: clamps to calibrated range, caps speed, parks before torque-off
Desktop studio: sliders, leader-arm teleop, chat or voice — shows Claude's moves live

PythonMCPClaude CodeLeRobotSO-101TeleoperationComputer VisionFastAPI

02 · 2026

ROS 2 + Nav2 LiDAR obstacle avoidance for a GPS-guided ArduPilot rover.

Two LiDARs at different heights; either one seeing an obstacle hands control from AUTO to GUIDED
Nav2 MPPI planner steers around it, then the GPS mission resumes
Debounce, cooldown, manual-override lock, stuck watchdog and command timeout
NVIDIA Jetson + CubeOrange+ over MAVROS · co-maintainer

ROS 2 HumbleNav2 (MPPI)MAVROSArduPilotRPLidarNVIDIA JetsonPythonDocker