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fix typos pointed out by annotations
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RussTedrake committed Oct 6, 2024
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require explicit object models, that supports the types of queries we need
for motion planning (for instance, fast collision detection and
minimum-distance computations), which we can update efficiently from our
raw sensor data, and which scale well to large scenes. Raw, merged point
raw sensor data, and which scales well to large scenes. Raw, merged point
clouds, for instance, are easy to update and don't require a model, but
would not be ideal for fast planning queries.</p>

<p>Voxel grids are a geometry representation that meets (almost all of) the
<p>Voxel grids are a geometry representation that meets (almost all of)
our desiderata -- we actually used them already in order to efficiently
down-sample a point cloud. In this representation we discretize some finite
volume of 3D space into a grid of fixed-size cubes; let's say 1 cm$^3.$ We
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geometry to be avoided. Many collision queries with voxel grids can be fast
(and are easily parallelized). In particular the sphere-on-voxel collision
query can be very fast, which is one of the reasons that you see a number
of collision geometries in the Drake models that are approximate with
of collision geometries in the Drake models that are approximated with
densely packed spheres. <todo>Figure</todo> Updating a voxel grid with
points clouds is also efficient. In order to scale voxel representations to
have both fine resolution and to be able to represent very large scenes, we
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<p>When I've used the term "simulation" so far in these notes, I've been
focusing mostly on the enabling technologies, like the physics engine and the
the rendering engine. In robotics today, there are only a handful of
rendering engine. In robotics today, there are only a handful of
mainstream simulators which people are using, such as NVidia Isaac/Omniverse,
MuJoCo, and Drake. (PyBullet was very popular but is no longer
actively maintained.) But there is another crop of tools which call
Expand All @@ -363,7 +363,7 @@ <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a><

<p>Most of the ideas we've covered in this chapter so far can be considered
relatively modest extensions to our existing manipulation toolbox. But there
are some important problem associated with navigating a mobile robot that
are some important problems associated with navigating a mobile robot that
really don't come up in table-top manipulation.</p>

<subsection><h1>Mapping (in addition to localization)</h1>
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