WATonomous/humanoid
Mar 2026 – May 2026
2 Months active
Languages Used
PythonCC++MarkdownNoneShellXMLYAML
Technical Skills
Pythonartificial intelligenceroboticssimulationC programmingC++ Development
Ramy Wahib
PROFILE
Ramy Wahib
Worked on the WATonomous/humanoid repository to deliver advanced humanoid arm and hand control systems, focusing on task-space manipulation and robust simulation. Developed a 6-DOF arm configuration with initial joint states and actuator settings, and refactored simulation scripts for stability. Enhanced real-time communication by improving the CAN interface and integrating ROS2, while implementing a PCA-based hand simulation with safety features such as joint limits and self-collision avoidance. Refactored the Fabrics Controller ecosystem for maintainability, improved inverse kinematics for arm-target interactions, and simplified embedded CAN bus firmware. Utilized C, Python, and ROS2, emphasizing code quality, modularity, and documentation.
Overall Statistics
Feature vs Bugs
86%Features
Repository Contributions
21Total
Bugs
1
Commits
21
Features
6
Lines of code
88,521
Activity Months2
Your Network
21 peopleShared Repositories
21
Allen AbrahamMember
Daniel AlpMember
Eddy ZhouMember
Eddy ZhouMember
Eddy ZhouMember
FarhaanMember
Hasan TahirMember
Muhammad FarooqiMember
Johnson YepMember
Work History
May 2026
19 Commits • 5 Features
May 1, 2026May 2026 monthly summary for the WATonomous humanoid initiative. Deliveries focused on reliability, safety, and maintainability across control interfaces, hand manipulation, and ecosystem tooling. Key outcomes include improvements to CAN interface and ROS2 integration for robust real-time communication, a PCA-based humanoid hand simulation with safety controls (joint limits, body repulsion for self-collision, and energy management), a major Fabrics Controller ecosystem refactor with submodule fixes and better documentation, IK controller enhancements for more stable arm-target interactions, and CAN bus firmware simplification to reduce firmware complexity.
19 Commits • 5 Features
May 1, 2026May 2026 monthly summary for the WATonomous humanoid initiative. Deliveries focused on reliability, safety, and maintainability across control interfaces, hand manipulation, and ecosystem tooling. Key outcomes include improvements to CAN interface and ROS2 integration for robust real-time communication, a PCA-based humanoid hand simulation with safety controls (joint limits, body repulsion for self-collision, and energy management), a major Fabrics Controller ecosystem refactor with submodule fixes and better documentation, IK controller enhancements for more stable arm-target interactions, and CAN bus firmware simplification to reduce firmware complexity.
May 2026
March 2026
2 Commits • 1 Features
Mar 1, 2026Monthly summary for 2026-03 focused on delivering robust humanoid arm task-space control in WATonomous/humanoid. Implemented and refined 6-DOF configuration, establishing initial joint states and actuator settings to enable task-space control; refactored configuration to remove unnecessary hand-specific setup and aligned test scripts to improve simulation stability. This work lays the foundation for advanced manipulation tasks and higher fidelity simulations.
March 2026
2 Commits • 1 Features
Mar 1, 2026Monthly summary for 2026-03 focused on delivering robust humanoid arm task-space control in WATonomous/humanoid. Implemented and refined 6-DOF configuration, establishing initial joint states and actuator settings to enable task-space control; refactored configuration to remove unnecessary hand-specific setup and aligned test scripts to improve simulation stability. This work lays the foundation for advanced manipulation tasks and higher fidelity simulations.
Activity
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Quality Metrics
Correctness87.6%
Maintainability86.6%
Architecture86.6%
Performance87.6%
AI Usage26.8%
Skills & Technologies
Programming Languages
CC++MarkdownNonePythonShellXMLYAML
Technical Skills
C programmingC++ DevelopmentCI/CDCode QualityDockerFreeRTOSLintingPCAPythonPython DevelopmentPython programmingPython scriptingROS2URDFartificial intelligence
Repositories Contributed To
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