KoalbyMQP/RaspberryPi-Code_24-25
Oct 2024 – Mar 2025
4 Months active
Languages Used
CoppeliaSimPythonC++JSONURDFXML
Technical Skills
CoppeliaSimBackend DevelopmentControl SystemsCoppeliaSimData ProcessingEmbedded Systems
j411wong
PROFILE
J411wong
Developed advanced sensor-driven balance and control systems for the KoalbyMQP/RaspberryPi-Code_24-25 repository, focusing on real-world and simulated robotics. Over four months, delivered multi-IMU integration, pressure and force sensor orchestration, and center-of-pressure based balance estimation using Python and C++. Enhanced the codebase with a URDF-based kinematic model, modularized backend organization, and introduced reinforcement learning for balance via PyTorch and PPO. Implemented robust data acquisition pipelines, PID-tuned control logic, and dynamic balance testing, while maintaining simulation compatibility. The work emphasized hardware-software integration, sensor fusion, and maintainable code structure, supporting both experimental development and reliable deployment in robotics applications.
Overall Statistics
Feature vs Bugs
92%Features
Repository Contributions
23Total
Bugs
1
Commits
23
Features
11
Lines of code
8,814
Activity Months4
Your Network
21 peopleWork History
March 2025
3 Commits • 3 Features
Mar 1, 2025March 2025: Delivered end-to-end sensor-based balance capabilities on KoalbyMQP/RaspberryPi-Code_24-25, covering MCC DAQ pressure sensor interface, pressure-sensor driven balance control with trajectory planning, and PPO-based RL for balance using fused IMU data. Enhanced hardware interfacing, sensor fusion, control, and learning components; included testing scripts; prepared platform for simulation-to-deployment. No major bugs reported this period.
3 Commits • 3 Features
Mar 1, 2025March 2025: Delivered end-to-end sensor-based balance capabilities on KoalbyMQP/RaspberryPi-Code_24-25, covering MCC DAQ pressure sensor interface, pressure-sensor driven balance control with trajectory planning, and PPO-based RL for balance using fused IMU data. Enhanced hardware interfacing, sensor fusion, control, and learning components; included testing scripts; prepared platform for simulation-to-deployment. No major bugs reported this period.
March 2025
February 2025
3 Commits • 2 Features
Feb 1, 2025February 2025 monthly summary for KoalbyMQP/RaspberryPi-Code_24-25 highlighting feature delivery, codebase improvements, and impact on project velocity and reliability.
February 2025
3 Commits • 2 Features
Feb 1, 2025February 2025 monthly summary for KoalbyMQP/RaspberryPi-Code_24-25 highlighting feature delivery, codebase improvements, and impact on project velocity and reliability.
November 2024
12 Commits • 4 Features
Nov 1, 2024November 2024 monthly performance summary for KoalbyMQP/RaspberryPi-Code_24-25 focusing on balance control and simulation readiness. Delivered significant improvements to center-of-pressure (CoP) based balance estimation, fused IMU data processing, and PID-tuned balancing, accompanied by new dynamic balance tests and essential bug fixes. Updated simulation environments to ensure compatibility with balance tests, enabling faster validation of dynamic motions and stability under real-time conditions.
12 Commits • 4 Features
Nov 1, 2024November 2024 monthly performance summary for KoalbyMQP/RaspberryPi-Code_24-25 focusing on balance control and simulation readiness. Delivered significant improvements to center-of-pressure (CoP) based balance estimation, fused IMU data processing, and PID-tuned balancing, accompanied by new dynamic balance tests and essential bug fixes. Updated simulation environments to ensure compatibility with balance tests, enabling faster validation of dynamic motions and stability under real-time conditions.
November 2024
October 2024
5 Commits • 2 Features
Oct 1, 2024October 2024 performance summary for KoalbyMQP/RaspberryPi-Code_24-25. Delivered multi-IMU support with an IMUManager to orchestrate data from multiple IMUs in Koalby_T within CoppeliaSim, and integrated pressure/force sensors across real hardware and simulation with a shift to CoP-based balancing groundwork. Updated Robot to consume IMUManager and sensor data, and renamed VelBalance to IMUBalance with parameter refinements to support per-sensor pressure calculations.
October 2024
5 Commits • 2 Features
Oct 1, 2024October 2024 performance summary for KoalbyMQP/RaspberryPi-Code_24-25. Delivered multi-IMU support with an IMUManager to orchestrate data from multiple IMUs in Koalby_T within CoppeliaSim, and integrated pressure/force sensors across real hardware and simulation with a shift to CoP-based balancing groundwork. Updated Robot to consume IMUManager and sensor data, and renamed VelBalance to IMUBalance with parameter refinements to support per-sensor pressure calculations.
Activity
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Quality Metrics
Correctness79.6%
Maintainability80.0%
Architecture75.2%
Performance69.6%
AI Usage20.0%
Skills & Technologies
Programming Languages
CoppeliaSimC++JSONPythonURDFXML
Technical Skills
CoppeliaSimBackend DevelopmentC++Code CleanupCode OrganizationConfiguration ManagementControl SystemsCoppeliaSimData AcquisitionData ProcessingEmbedded SystemsFile ManagementHardware IntegrationIMU IntegrationPID Control
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