ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

Abstract: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 this https URL.

Robotics (cs.RO); Human-Computer Interaction (cs.HC)

arXiv:2510.02464 [cs.RO]

(or arXiv:2510.02464v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2510.02464 Focus to learn more arXiv-issued DOI via DataCite

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