• juerg posted an update 3 years, 9 months ago

    A little bit more autonomy?
    I have created a MRL-script (python) that includes the kinematic facts of InMoov, reads the current servo positions and calculates the head and palms x,y,z positions from it. Based on this the rothead and neck positions are calculated to have the eyes point to the hand by simply using
    lookatHand(“left”) or lookatHand(“right”)

    here is my video https://www.youtube.com/watch?v=2k9nicW-ipI

    It is not a built in MRL function so there is no command that would activate a “follow hand with eyes” function but instead of having to set the head servos manually in the script it allows to simply call the lookatHand subroutine after changing the arm position.
    Maybe you have seen Kevin using the same type of calculations to control InMoov with joysticks and he inspired and helped me with this demo.
    My script is a bit long and you can find it here
    https://drive.google.com/file/d/0BzHOAcGHjhpTSnYxVTVuRzViYW8/view?usp=sharing