For context, I’m aware that Leap Motion was supported for uArm previously although I’m not very sure of its application.
However currently we are trying to build a prototype using Leap Motion to control xArm’s movement. Basically we are trying to get the xArm to imitate a person’s hand motion, simply tracking a hand motion and translating that position to X Y Z position of the xArm.
Is there anyone working on something similar? Or would xArm has any recommendation on how to approach this?
Right now we are purely using
set_position to set the cartesian coordinates of xArm whenever the hand positions are being output by Leap Motion. But because Leap Motion outputs about 120 frames per second, the xArm doesn’t move fast enough and the xArm moves and stop from
set_position, and I think we may have exceeded the number of caches stored.
I’m considering using
move_arc_lines and specifying path list instead.
Please advise! Thank you.