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This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers  by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordancedoi:10.1109/icra.2015.7140073 dblp:conf/icra/HartDH15 fatcat:dc3fc56jbzccdggmemqryapu2e