https://youtu.be/6Mc7xaSA6jo

https://youtu.be/5VdWryIqpRg

In those video, I have use the IK service to ask the inMoov to move his hand to a position up in the air. So the position of the servos are determined by the IK service and I did not controlled or script any of the movement

the obstacle (the tape) is not detected yet by the robot, but I told him by script about the obstacle at that position.

So the robot start to move in straight line toward the point that I ask. When it reach the obstacle, it stop, move away a bit, then try a new way to reach the target point.

In both video, the robot is trying to move to the same point, and use the same script/service setting, I have show both video to show that it can take different choice to move to the position and avoid the obstacle

It still need some improvement, like a better objects definition and improving the choice he can make to avoid the obstacle, but i'm really happy with the progress made

this is the test script that I use. In the video, the script is integrated to my inMoov script, but look the same

https://github.com/MyRobotLab/pyrobotlab/blob/develop/home/Calamity/IK_…

The settings for the IK service are the DH parameters, wich describe the angle and lenght of each joint use in the model, and setting up object that will be use in the collision detection method

Currently, the only object model that are use are cylinder (start point, end point and radius). I will need to improve that because the cylinder model don't describe well some of the body part, like the hand (in the video, the thumb is not describe, that's why it touch the tape at time)

the moveTo(x, y, z) method made the IK service determine the best position of the servo to reach the point, check on each step if object are colliding. If it find a collision, it stop, move away from the collision point and try to find a new way to reach the point. It repeat and rince until it reach target point (or give up)