ERUPT：一款用于在扩展现实中与机器人运动规划器交互的开源工具包
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
AI总结：
本研究提出开源XR工具包ERUPT，集成MoveIt框架支持交互式机器人运动规划，提供多模态自然交互与路径可视化，可在虚拟空间验证后部署到实体机器人。
摘要：
我们提出了扩展现实通用规划工具包（Extended Reality Universal Planning Toolkit，ERUPT），这是一套用于交互式运动规划的扩展现实（XR）系统。该系统允许用户在规划机器人路径的同时创建并动态重构环境。在沉浸式三维XR环境中，用户能获得更强的空间感知能力。XR还解锁了更丰富的自然交互能力，用户可以像在现实世界中一样抓取、调整环境中的物体，而非通过鼠标键盘操作投影在二维电脑屏幕上的场景。我们的系统与操作规划框架MoveIt集成，用户可发送运动规划请求，并在虚拟现实或增强现实中可视化生成的机器人路径。系统提供了多种交互模式，支持用户修改环境中的物体并与虚拟机器人交互。操作人员可以可视化机器人运动，在虚拟空间中无碰撞风险地验证机器人在环境中移动时的预期行为，随后可将规划好的路径部署到现实世界的实体机器人上。
英文摘要：
We present the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. This paper serves to introduce our open-source system to others who can use it as a base to develop immersive robot interaction applications. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. ERUPT uses XR to provide a broad range of natural interaction capabilities, allowing users to grab and adjust objects in the environment similar to interaction in the real world, rather than using a mouse and keyboard with the scene projected onto a 2D 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. Code can be found at https://github.com/parasollab/erupt.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
