The approaches are designed for both 2D and 3D visualization modes.

Further details on these can be found in A Comparison of Remote Robot Teleoperation Interfaces for General Object Manipulation, published in HRI 2017. Point-and-click makes use of autonomous grasp calculation, and involves the user selecting a previously calculated grasp for execution from a list of potential grasps.

The approach angle is constrained to pass through the grasp point. Constrained positioning uses a sphere marker to first set a grasp point, followed by setting an approach angle by clicking on the surface of the sphere. The three approaches are shown below, with interaction points for setting initial poses shown in yellow, and interaction points for adjusting poses shown in blue.įree positioning uses a ring-and-arrow marker which can be clicked and dragged to individually adjust translation along and rotation about each Cartesian axis. This package includes three approaches: Free Positioning (FP), Constrained Positioning (CP), and Point-and-Click (P&C). Remote Manipulation Interaction Approaches These interactive marker servers are intended for use with rviz or with Robot Web Tools interfaces.

The approaches include Free Positioning, Constrained Positioning, and Point-and-Click. The remote_manipulation_markers package contains interactive marker servers for a set of remote manipulation interaction approaches.

Remote Manipulation Interaction Approaches.

Instal Gripper free