Rocket the Robot

Rocket is a custom-built robot developed with USC Makers. The hardware runs on an ATmega microcontroller and a Jetson for compute, with stepper motors, an IMU, and other sensors.

I wrote the I2C communication protocol between the ATmega and Jetson and helped assemble the robot — wiring, electronics, and integration. On the software side, I implemented a custom RL environment in Python using Isaac Sim and Isaac Lab, defining state observations, action spaces, and reward functions to prototype autonomous control behaviors in simulation using OpenAI Gymnasium.