用虚拟现实交互式规划机器人路径，实时避障并部署到真实机器人。
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
- 在三维虚拟环境中通过手势操作动态调整环境与机器人姿态。
- 集成MoveIt框架，实现路径规划请求发送与结果可视化。
- 适合机器人研发、人机交互研究者快速验证运动规划方案。
我们提出扩展现实通用规划工具包（ERUPT），一个用于交互式运动规划的扩展现实（XR）系统。该系统使用户能够在沉浸式三维XR环境中创建并动态重构场景以规划机器人路径。相比传统二维屏幕操作，XR提供更自然的空间交互能力，用户可像在真实世界中一样抓取和调整环境物体。系统集成于移动规划框架MoveIt，支持用户发送运动规划请求，并在虚拟或增强现实中可视化机器人路径。提供多种交互方式，允许用户修改环境对象并与虚拟机器人交互。用户可在虚拟空间中直观验证机器人运动行为，确保无碰撞路径，随后将规划路径部署至真实世界中的物理机器人。
原文摘要 · Abstract (English)
We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. In immersive three-dimensional XR environments, users gain a greater spatial understanding. XR also unlocks a broader range of natural interaction capabilities, allowing users to grab and adjust objects in the environment similarly to the real world, rather than using a mouse and keyboard with the scene projected onto a two-dimensional computer screen. Our system integrates with MoveIt, a manipulation planning framework, allowing users to send motion planning requests and visualize the resulting robot paths in virtual or augmented reality. We provide a broad range of interaction modalities, allowing users to modify objects in the environment and interact with a virtual robot. Our system allows operators to visualize robot motions, ensuring desired behavior as it moves throughout the environment, without risk of collisions within a virtual space, and to then deploy planned paths on physical robots in the real world.
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