Re: Henson eye-design logic:

The focus of a Muppet's eyes depends on the placement of the pupils. The pupils are rarely in the exact center of the eye; instead, they are placed toward each other, making the character slightly "cross-eyed."

(my mock-up, right)
Referred to as the 'The Magic Triangle'

"making sure the eyes had a point of focus, because without that you had no character."

src: https://muppet.fandom.com/wiki/Muppet_eyes
Look for yourself đź‘€
Here's a simple test I once drew up to demonstrate what happens when you move the pupils in the eyes around (on a 2D-surface).

Henson's crew also had the challenge of static-never-changing-eyes on a 3D-surface, so they really had to adjust that pupil focus.
You can hear Henson (and Kermit) talk about all sorts of head gaze and eye logic in the video clip. Michael Frith specifically talks about how they're all sort of cross-eyed... at the 8:52 mark.
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