A method, comprising: determining a particular real-world object within a real-world environment using a computing device, wherein the real-world environment also comprises a robotic tool; receiving a specification of the particular real-world object at the computing device; determining a corresponding virtual fixture that corresponds to the particular real-world object based on the specification of the particular real-world object using the computing device, wherein one or more corresponding aspects of the corresponding virtual fixture are configured to align with one or more aspects of the particular real-world object; and providing a virtual environment that is configured for manipulating the robotic tool to operate on the particular real-world object by utilizing the corresponding virtual fixture using the computing device, wherein the corresponding virtual fixture comprises a combination fixture configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment by at least: providing haptic feedback to direct the robotic tool into alignment with the one or more aspects of the particular real-world object, and after the robotic tool is aligned with the one or more aspects of the particular real-world object, providing haptic feedback to inhibit movement of the robotic tool out of alignment with the one or more aspects of the particular real-world object, and wherein the virtual robotic tool in the virtual environment corresponds to the robotic tool in the real-world environment. determining a particular real-world object within a real-world environment using a computing device, wherein the real-world environment also comprises a robotic tool; receiving a specification of the particular real-world object at the computing device; determining a corresponding virtual fixture that corresponds to the particular real-world object based on the specification of the particular real-world object using the computing device, wherein one or more corresponding aspects of the corresponding virtual fixture are configured to align with one or more aspects of the particular real-world object; and providing a virtual environment that is configured for manipulating the robotic tool to operate on the particular real-world object by utilizing the corresponding virtual fixture using the computing device, wherein the corresponding virtual fixture comprises a combination fixture configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment by at least: providing haptic feedback to direct the robotic tool into alignment with the one or more aspects of the particular real-world object, and after the robotic tool is aligned with the one or more aspects of the particular real-world object, providing haptic feedback to inhibit movement of the robotic tool out of alignment with the one or more aspects of the particular real-world object, and wherein the virtual robotic tool in the virtual environment corresponds to the robotic tool in the real-world environment. providing haptic feedback to direct the robotic tool into alignment with the one or more aspects of the particular real-world object, and after the robotic tool is aligned with the one or more aspects of the particular real-world object, providing haptic feedback to inhibit movement of the robotic tool out of alignment with the one or more aspects of the particular real-world object, and wherein the virtual robotic tool in the virtual environment corresponds to the robotic tool in the real-world environment. <EOS>