01 — CODE

The repositories, explained.

What each repo actually contains and where to start reading. Trees reflect the real structure, not an idealized one — key files marked.

  1. GauthamCodes/coco-robot-ros2

    PYTHON · 2 ROS 2 PACKAGES · 67 FILES

    Two ROS 2 packages behind the IEEE ICRM 2025 paper.

    The simulation platform behind the IEEE ICRM 2025 paper. gazebo_models holds the URDF authored from CAD meshes plus the worlds and launch files; custom_teleop drives the base and the manipulator from a keyboard.

    • coco-robot-ros2/
    • gazebo_models/# robot description + worlds
    • urdf/# authored from CAD meshes
    • meshes/
    • launch/
    • package.xml
    • custom_teleop/# base + arm keyboard teleop
    • launch/
    • setup.py
    • docs/images/
    • README.md

  2. GauthamCodes/PAAMB-Bioinspired-Robotic-Snake-for-Pipeline-Surveillance

    C++ FIRMWARE + PYTHON · TFLITE MODEL IN-REPO · 52 FILES

    The whole snake in one repo — firmware, dashboard, model, STLs.

    Three firmware sketches (motor, sensor, camera), the Flask dashboard with its on-device FOMO/TFLite detector, the printable STLs — and secrets.h.example, the artifact of the hardcoded-WiFi lesson from WHAT BROKE.

    • PAAMB-…-Surveillance/
    • paamb_motor/# ESP32 + PCA9685 gait firmware
    • paamb_sensor/# MQ135 + BMP280 telemetry
    • paamb_cam/# ESP32-CAM stream
    • dashboard_app.py# Flask + FOMO/TFLite overlay
    • model.tflite# the deployed detector
    • design/# printable STLs
    • secrets.h.example# the hardcoded-WiFi lesson
    • README.md

  3. GauthamCodes/LeRobot-ST3215-Controller

    PYTHON · SERIAL-BUS SDK + SCRIPTS · 31 FILES

    Teach-and-replay over a serial-bus servo protocol.

    The teach-and-replay stack for six daisy-chained ST3215 servos. The docs/ folder is the honest part: WIRING, SERVO_IDS, and TROUBLESHOOTING exist because the bus faults in the case study actually happened.

    • LeRobot-ST3215-Controller/
    • scripts/
    • teach_replay.py# 3 threads @ 50 Hz
    • teach_mode.py
    • realtime_feedback.py
    • scan_ids.py# bus utilities
    • scservo_sdk/# ST3215 protocol
    • protocol_packet_handler.py
    • group_sync_write.py
    • docs/
    • WIRING.md
    • TROUBLESHOOTING.md# the bus faults, documented
    • requirements.txt

  4. GauthamCodes/red_ball_nav

    PYTHON · 1 ROS 2 PACKAGE · 17 FILES

    One node that finds a red ball and drives to it.

    A deliberately small package: one node that finds a red ball with OpenCV and then actually drives to it through Nav2. Good first read for how the search → detect → navigate behavior is structured.

    • red_ball_nav/
    • red_ball_nav/
    • color_search_node.py# HSV detect → Nav2 goal
    • red_ball.sdf# the ball
    • launch/# node_only + full
    • media/
    • package.xml
    • setup.py

  5. GauthamCodes/ai-ap-employee

    PYTHON · LANGGRAPH SUPERVISOR/WORKER · 44 FILES

    A supervisor/worker pipeline with safety gates before payment.

    Each agent is its own module under agents/, the safety gates live in the approval path, and tests/ exercises the whole flow end to end.

    • ai-ap-employee/
    • agents/# 6 specialized agents
    • supervisor.py# the orchestrator
    • ingestion.py
    • matching.py
    • accounting.py
    • approval.py# the 3 safety gates
    • schemas/state.py# shared pipeline state
    • tools/connectors.py
    • tests/# 7/7 end-to-end
    • main.py# FastAPI entry