A three-dimensional object data generation apparatus includes an obtaining unit that obtains three-dimensional object data representing a three-dimensional object with plural voxels, an attribute pattern reception unit that receives an attribute pattern of an attribute to be set for the plural voxels, a setting condition reception unit that receives a setting condition for setting the attribute for the three-dimensional object in accordance with the attribute pattern, and an attribute setting unit that sets the attribute indicated by the attribute pattern for at least one of the plural voxels in accordance with the setting condition.

Provided is a simulation device for simulating machining of a machine tool, the simulation device being configured to calculate a designable range of a voxel size on the basis of workpiece shape data, present the designable range of the voxel size to a user, receive designation of the voxel size, and create an image, in which machining of the machine tool is simulated, on the basis of the designated voxel size.

An information processing device includes a data processing unit that specifies a void region of a three-dimensional shaped object based on shaping data for shaping the three-dimensional shaped object, the shaping data including path information indicating a movement path of a discharge unit that moves while discharging a shaping material and discharge amount information indicating a discharge amount of the shaping material in the movement path; and a display control unit that display, on a display unit, at least a part of first shape data indicating a shape of the three-dimensional shaped object generated based on the shaping data, in which the display control unit performs, on the display unit, a display that can specify the void region in at least a part of the first shape data.

A method includes determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment. The method also includes determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories. The method further includes controlling, by the robotic device, the perception system to move through the determined perception system trajectory.

An object interference checking technique using height maps, for machine tooling and other applications. A CAD model of a workpiece or other obstacle is converted to a height map defining obstacle height above a plane of a reference frame for each cell of a grid. A machine tool center point path is then transformed to the same reference frame. Interference checking is performed by comparing a height coordinate of each transformed tool path check point to the height map value for a corresponding grid cell. Any interference that is detected is addressed by defining new path points with increased height coordinate to replace the interference-critical path points. An entire tool can be interference checked by creating a bottom-up height map of the tool and comparing each pixel of the tool height map against the corresponding grid cell of the obstacle height map.