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Thanks to many new contributors who provided bug fixes and comments! In addition to a general overhaul, the grasping chapter has been substantially improved with many new figures.
compiled successfully, minor errors like Figure, Content and so on ne… …ed to be fixed later
Thanks to AlWiVo, beardicus, mguida22, aokeson, as1ndu, apnorton, JohnAllen and jmodares for all your contributions!