Techniques for following commands of an input device using a constrained proxy

A method comprising:

• receiving, by a processing system, a movement command from an input control of a computer-assisted device,
• updating, by the processing system, a pose of a proxy based on the movement command and a proxy constraint, wherein the proxy constraint limits possible poses of the proxy relative to a virtualized functional structure, and
• causing, by the processing system, a functional structure of the computer-assisted device to move based on the updated pose of the proxy.

One or more non-transitory machine-readable media comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:

• receiving a movement command from an input control of a computer-assisted device,
• updating a pose of a proxy based on the movement command and a proxy constraint, wherein the proxy constraint limits possible poses of the proxy relative to a virtualized functional structure, and
• causing a functional structure of the computer-assisted device to move based on the updated pose of the proxy.