We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a constraint group (visualized as a hull) and groups can be nested into hierarchies. Each group can be relative (with a robot-specifiable 6DoF pose) or absolute (with an author-specified fixed 6DoF pose) in relation to its parent. A relative group specifies a subassembly that can be constructed at a location chosen by the robot software for efficiency rather than mandated by the user.

翻译：我们提出了一种双手 XR 交互方法，用于将远程装配任务规范为相对与绝对物体约束的层次结构，这些约束为机器人指定了高层级的远程操作目标。双手各抓取一个物体可创建一个约束组（可视化为外壳），且组可以嵌套形成层次结构。每个组相对于其父组可以是相对的（具有机器人可指定的 6 自由度位姿）或绝对的（具有作者指定的固定 6 自由度位姿）。相对组指定了一个子装配体，该子装配体可由机器人软件为提升效率而选择位置进行构建，而非由用户强制指定。