Hirokazu Ishida

robust-tube-mpc. Example implementation for robust model predictive control using tube

plainmp. Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems

detic_ros. ROS wrapper for pretrained Detic instance segmentation and detection (and some utils to work with point cloud)

tinyfk. small fast forward kinematics solver (+jacobian) in c++ and python binding

voxbloxpy. standalone and "ros-free" python wrapper of voxblox (online SDF generator from point clouds)

mohou. CNN+LSTM type "classical" visuomotor behavior cloning framework

julia_motion_planning. Julia imprementation of (differential) Fast Marching Tree

mohou_ros. For imitation learning using real robot (PR2 on ROS1 only now)

ompl-thin-python. A thin python-binding of OMPL motion planning library (*For my own research)

snippets. fraction of codes which may be grepped later

scikit-motionplan. Collision aware IK/motion planning by optimization / sampling-based methods

autogames. Python

quick_tutorial. CMake

ARHMM.jl. Training auto-regressive HMM by EM-algorithm with forward-backward algorithm

sdf2dgen. two-dim signed distance field (sdf) generator for c++ and python

osqp-sqp. A naive SQP implementation based on OSQP

hifuku. [T-RO 2025] Code for CoverLib paper https://arxiv.org/abs/2405.02968

mujoco-xml-editor. Utils for editing mujoco xml

conway_tower. python: fast enough 3d random shape generation using cellular automaton (conway's game of life)

miniature_diffusion. My sandbox of diffusion models for trajectory generation

diplan-cpp. sampling based planning for double integrator system in c++ (with Python binding)

kyozi. Python

inpaint. A simple wrapper for deep image completion (Iizuka+, SIGGRAPH, 2017) https://github.com/satoshiiizuka/siggraph2017_inpainting

tunable_filter. A library for creating customTUNABLE image filter

bench_plainmp_and_vamp. Motion planning benchmark (plainmp and VAMP)

nlopt_slsqp. slsqp component extracted from https://github.com/stevengj/nlopt

fingertip_dual_sensor. C++

Xstar. C++

SDFGen. A simple commandline utility to generate grid-based signed distance field (level set) generator from triangle meshes, using code from Robert Bridson's website.

ReedsShepp.jl. C++

dual_sensor. C++

ertconnect. ERT connect fetched from https://github.com/ompl/ompl/pull/783

siggraph2017_inpainting. Code for the paper 'Globally and Locally Consistent Image Completion'. http://iizuka.cs.tsukuba.ac.jp/projects/completion/

voxblox_ros_c. c and python interface to voxblox_ros

mohou_bench. Python

ifopt. An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

pr2frmax. Python

pyphysx. Python Wrapper for Nvidia PhysX simulator.

mimic. For robot imitation learning

sktometometo-analects. Toward creating live-forever artificial Shinjo intelligence (ASI)

atom. Calibration tools for multi-sensor, multi-modal robotic systems

pr2_ikfast. Simple IKFast Python Bindings for PR2