​ IKFAST is a very powerful tool when a robot requires inverse kinematic solutions, so it’s necessary for us to config a customized robot ikfast plugin from scratch, which is a basic skill for a robotic engineer, I deem.

​ This article shows how to configure a custom arm in MoveIt.

​ This lab comes from SE3355 *Compilers* lab3, which requires me to use Bisonc++ to implement a parser for the Tiger language.

The first time for me to construct a custom dataset and apply it in the mmdection.

The whole pipeline is as follows:

I. Collect and prepare the raw dataset.

II. Convert the raw dataset into COCO style.

III. Add and movify the mask-rcnn configuration in mmdection API to fit our requirement.

IV. Train the model by mmdection.

V. Evaluate and visualize the test dataset.

VI. Modify the result into mask image so that we can insert it smoothly in our pipeline.

在配置ROS-noetic MoveIt的时候，不可避免地遇到了一些问题。在此记录一下。

简单总结一下这次作业。基于Lucene的全文搜索功能和WebService的封装。

A internal talk of MVIG lab

总而言之前前后后好几天时间都在搞这个lab，不过主要花的时间可能是大半天时间。为了留下点东西，姑且总结一下这个lab。

本文章的主题为研究openGL和openCV中的摄像机参数的转化。

我们尝试来阅读一下pybullet-planning中和ik、planning相关的源码。