of alignment on a nongravity-compensated robot. Given the contribution of this work in malleable-robot 3D workspace visualization, generation and task guidance, and the demonstrated improvement in alignment error compared to its manual counterpart, we therefore conclude that the system is effective in supplementing HRI tasks. The main sources of alignment error can be summarized as follows. First, the alignment was carried out manually via user-gesture inputs, making the system prone to human errors such as difficulties in depth perception. This was