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In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. ... Our system is based on the extraction of geometries for generalized cylindrical and cuboid shapes, after extracting the geometries, affordances are generated for objects by applying simple sketches. ... GEOMETRY EXTRACTION Maghoumi et al. presented GemSketch, an interactive system for extracting the geometries of generalized cylinders and cuboids from single-view or multiple-view point clouds  . ...arXiv:1911.07340v2 fatcat:sdb4ycztqbeolnjztu2lseyeca