There is a list of targets that Nao can track using the Naoqi Tracker API, which works well under good lighting conditions. Here is a walkthrough on how to track a face with its head and a red ball with its arms.
Track a face with Nao’s head
First, import the necessary functions from the SIC framework:
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nao.tracker.request( StartTrackRequest(target_name=target_name, size=0.2, mode="Head", effector="None") ) |
Unregister a target
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nao.tracker.request(RemoveTargetRequest(target_name)) |
Track a red ball with Nao’s arms
Set a new target
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target_name = "RedBall" |
Set a robot position relative to target. This is only needed in Move mode. The parameters represent [coordX, coordY, coordWz, thresholdX, thresholdY, thresholdWz]. In this case, it sets the target ball to be the robot stays 30 cm away (along the x-axis) with a 10 cm threshold from the red ball. The XYZ frame reference for the robot can be found here position-identification
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