Pepper - Actuator & Sensor list

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Joints and Actuators

HeadYaw

Key See ...
Device/SubDeviceList/HeadYaw/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/HeadYaw/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/HeadYaw/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/HeadYaw/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/HeadYaw/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/HeadYaw/Temperature/Sensor/Status Temperature status

See also: Head joints.

Diagnosis Keys See ...

Diagnosis/Active/HeadYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/HeadYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/HeadYaw/Error

[Level of failure severity: SERIOUS]

Error

HeadPitch

Key See ...
Device/SubDeviceList/HeadPitch/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/HeadPitch/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/HeadPitch/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/HeadPitch/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/HeadPitch/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/HeadPitch/Temperature/Sensor/Status Temperature status

See also: Head joints.

Diagnosis Keys See ...

Diagnosis/Active/HeadPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/HeadPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/HeadPitch/Error

[Level of failure severity: SERIOUS]

Error

LElbowYaw

Key See ...
Device/SubDeviceList/LElbowYaw/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/LElbowYaw/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/LElbowYaw/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LElbowYaw/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LElbowYaw/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LElbowYaw/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

LElbowRoll

Key See ...
Device/SubDeviceList/LElbowRoll/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/LElbowRoll/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/LElbowRoll/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LElbowRoll/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LElbowRoll/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LElbowRoll/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

RElbowYaw

Key See ...
Device/SubDeviceList/RElbowYaw/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/RElbowYaw/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/RElbowYaw/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RElbowYaw/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RElbowYaw/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RElbowYaw/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RElbowYaw/Error

[Level of failure severity: SERIOUS]

Error

RElbowRoll

Key See ...
Device/SubDeviceList/RElbowRoll/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/RElbowRoll/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/RElbowRoll/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RElbowRoll/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RElbowRoll/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RElbowRoll/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RElbowRoll/Error

[Level of failure severity: SERIOUS]

Error

LHand

Key See ...
Device/SubDeviceList/LHand/Position/Actuator/Value Position/Actuator (%)
Device/SubDeviceList/LHand/Position/Sensor/Value Position/Sensor (%)
Device/SubDeviceList/LHand/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LHand/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LHand/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LHand/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LHand/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LHand/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LHand/Error

[Level of failure severity: SERIOUS]

Error

LWristYaw

Key See ...
Device/SubDeviceList/LWristYaw/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/LWristYaw/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/LWristYaw/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LWristYaw/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LWristYaw/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LWristYaw/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LWristYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LWristYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LWristYaw/Error

[Level of failure severity: SERIOUS]

Error

RHand

Key See ...
Device/SubDeviceList/RHand/Position/Actuator/Value Position/Actuator (%)
Device/SubDeviceList/RHand/Position/Sensor/Value Position/Sensor (%)
Device/SubDeviceList/RHand/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RHand/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RHand/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RHand/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RHand/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RHand/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RHand/Error

[Level of failure severity: SERIOUS]

Error

RWristYaw

Key See ...
Device/SubDeviceList/RWristYaw/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/RWristYaw/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/RWristYaw/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RWristYaw/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RWristYaw/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RWristYaw/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RWristYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RWristYaw/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RWristYaw/Error

[Level of failure severity: SERIOUS]

Error

LShoulderPitch

Key See ...
Device/SubDeviceList/LShoulderPitch/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/LShoulderPitch/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LShoulderPitch/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LShoulderPitch/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LShoulderPitch/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

LShoulderRoll

Key See ...
Device/SubDeviceList/LShoulderRoll/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/LShoulderRoll/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/LShoulderRoll/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/LShoulderRoll/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/LShoulderRoll/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/LShoulderRoll/Temperature/Sensor/Status Temperature status

See also: Left Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/LShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/LShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/LShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

RShoulderPitch

Key See ...
Device/SubDeviceList/RShoulderPitch/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/RShoulderPitch/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/RShoulderPitch/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RShoulderPitch/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RShoulderPitch/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RShoulderPitch/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RShoulderPitch/Error

[Level of failure severity: SERIOUS]

Error

RShoulderRoll

Key See ...
Device/SubDeviceList/RShoulderRoll/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/RShoulderRoll/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/RShoulderRoll/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/RShoulderRoll/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/RShoulderRoll/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/RShoulderRoll/Temperature/Sensor/Status Temperature status

See also: Right Arm joints and actuators.

Diagnosis Keys See ...

Diagnosis/Active/RShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/RShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/RShoulderRoll/Error

[Level of failure severity: SERIOUS]

Error

HipRoll

Key See ...
Device/SubDeviceList/HipRoll/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/HipRoll/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/HipRoll/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/HipRoll/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/HipRoll/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/HipRoll/Temperature/Sensor/Status Temperature status

See also: Leg joints.

Diagnosis Keys See ...

Diagnosis/Active/HipRoll/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/HipRoll/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/HipRoll/Error

[Level of failure severity: CRITICAL]

Error

HipPitch

Key See ...
Device/SubDeviceList/HipPitch/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/HipPitch/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/HipPitch/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/HipPitch/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/HipPitch/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/HipPitch/Temperature/Sensor/Status Temperature status

See also: Leg joints.

Diagnosis Keys See ...

Diagnosis/Active/HipPitch/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/HipPitch/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/HipPitch/Error

[Level of failure severity: CRITICAL]

Error

KneePitch

Key See ...
Device/SubDeviceList/KneePitch/Position/Actuator/Value Position/Actuator (rad)
Device/SubDeviceList/KneePitch/Position/Sensor/Value Position/Sensor (rad)
Device/SubDeviceList/KneePitch/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/KneePitch/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/KneePitch/Hardness/Actuator/Value Stiffness (%)
Device/SubDeviceList/KneePitch/Temperature/Sensor/Status Temperature status

See also: Leg joints.

Diagnosis Keys See ...

Diagnosis/Active/KneePitch/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/KneePitch/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/KneePitch/Error

[Level of failure severity: CRITICAL]

Error

WheelFL

Key See ...
Device/SubDeviceList/WheelFL/Position/Actuator/Value ref:PA_radper_ju
Device/SubDeviceList/WheelFL/Position/Sensor/Value ref:Po_radsec_ju
Device/SubDeviceList/WheelFL/ElectricCurrent/Sensor/Value ref:current_ju
Device/SubDeviceList/WheelFL/Temperature/Sensor/Value ref:temp_cel_ju
Device/SubDeviceList/WheelFL/Hardness/Actuator/Value ref:stiffness_ju
Device/SubDeviceList/WheelFL/Temperature/Sensor/Status ref:temp_sta_ju
Diagnosis Keys See ...

Diagnosis/Active/WheelFL/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/WheelFL/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/WheelFL/Error

[Level of failure severity: CRITICAL]

Error

WheelFR

Key See ...
Device/SubDeviceList/WheelFR/Position/Actuator/Value ref:PA_radper_ju
Device/SubDeviceList/WheelFR/Position/Sensor/Value ref:Po_radsec_ju
Device/SubDeviceList/WheelFR/ElectricCurrent/Sensor/Value ref:current_ju
Device/SubDeviceList/WheelFR/Temperature/Sensor/Value ref:temp_cel_ju
Device/SubDeviceList/WheelFR/Hardness/Actuator/Value ref:stiffness_ju
Device/SubDeviceList/WheelFR/Temperature/Sensor/Status ref:temp_sta_ju
Diagnosis Keys See ...

Diagnosis/Active/WheelFR/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/WheelFR/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/WheelFR/Error

[Level of failure severity: CRITICAL]

Error

WheelB

Key See ...
Device/SubDeviceList/WheelB/Position/Actuator/Value ref:PA_radper_ju
Device/SubDeviceList/WheelB/Position/Sensor/Value ref:Po_radsec_ju
Device/SubDeviceList/WheelB/ElectricCurrent/Sensor/Value ref:current_ju
Device/SubDeviceList/WheelB/Temperature/Sensor/Value ref:temp_cel_ju
Device/SubDeviceList/WheelB/Hardness/Actuator/Value ref:stiffness_ju
Device/SubDeviceList/WheelB/Temperature/Sensor/Status ref:temp_sta_ju
Diagnosis Keys See ...

Diagnosis/Active/WheelB/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/WheelB/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Temperature/WheelB/Error

[Level of failure severity: CRITICAL]

Error

Position/Actuator

Joint angle (in radian) to reach.

Exception: for hands, aperture (in percentage); 0 means closed, 1 means opened.

Content update:

  • if Stiffness > 0: the last position requested by a timed command.
  • if Stiffness <= 0: the same value as the Position/Sensor.

Position/Actuator (rad)

Joint angle (in radian) to reach.

Content update:

  • if Stiffness > 0: the last position requested by a timed command.
  • if Stiffness <= 0: the same value as the Position/Sensor.

Position/Actuator (%)

Hand aperture (in percentage) to reach; 0 means closed, 1 means opened.

Content update:

  • if Stiffness > 0: the last position requested by a timed command.
  • if Stiffness <= 0: the same value as the Position/Sensor.

Position/Actuator (rad/s)

Rotation speed (rad/s) to reach by wheels.

Content update:

  • if Stiffness > 0: the last position requested by a timed command.
  • if Stiffness <= 0: the same value as the Position/Sensor.

Stiffness (%)

Stiffness

Stiffness of the joint (in percentage); 0.0 means 0% and 1.0 means 100% (full power).

In the motorboard, this percentage is directly applied to the max current. Setting the Stiffness to 0.5 means that the electric current limitation is reduced to 50%.

The Stiffness is sent to the motor board every DCM cycle time, so you can decrease/increase the control loop very fast. However, the current limitation may have some delay.

If the Stiffness is <0, the motor is free (no electromagnetic break), but due to hardware limitation, it’s only possible when the two motors of the same board are <0 (both are then free). If not, it’s still electromagnetic brake, but with a security that disable it when there is some movement, to protect the mechanics.

Stiffness may be automatically cut in case of problem (calibration, sensors …) seen at the DCM level or at the µc level, in order to protect the robot.

Position/Sensor (rad)

Angle of the joint (in radian).

Content update:

The sensor used is a Magnetic Rotary Encoder (MRE), used like potentiometer. It’s a 12bits precise value (from 0 to 4095) change in rad.

For further details, see: Pepper - MRE.

Position/Sensor (%)

Hand aperture (in percentage); 0 means closed, 1 means opened.

Content update:

The sensor used is a Magnetic Rotary Encoder (MRE), used like potentiometer. It’s a 12bits precise value (from 0 to 4095) change in percentage (0.0 to 1.0).

For further details, see: Pepper - MRE.

Position/Sensor (rad/s)

Rotation speed (rad/s) of the wheels.

Content update:

The sensor used is a Magnetic Rotary Encoder (MRE), used like potentiometer. It’s a 12bits precise value (from 0 to 4095) change in rad.

For further details, see: Pepper - MRE.

Current (A)

Every motorboard has a current sensor for each motor that is a shunt resistor. The current is an absolute value in Ampere.

Every joint has an electric current limitation: if the current reach the “Max” value (“ElectricCurrent/Sensor/Max”) the PWM (return by the control loop) will be decreased a bit until it returns under the maximum value, and it’s increased again after. This is a kind of current control loop around the maximum value. The aim of this limitation is to protect the motor, the electronic board, and the mechanical part of the joint.

Temperature (°C)

The motor temperature is a sensor placed on the motor housing. The motor board implements a temperature limitation to protect the motor. The temperature limitation depends on robot version.

Temperature status

The status is computed accordingly to the temperature limitation to protecting the motor. A non null value implies an automatic correction of the Stiffness.

  • 0: means regular temperature
  • 1: means temperature has reach the max limit, start reducing stiffness.
  • 2: means the joint is very hot, stiffness reduced over 30%.
  • 3: means the joint is critically hot, stiffness value is set to 0.

Error

The results of a diagnosis (see ALDiagnosis and Temperature Diagnosis). A int with 0 (success) or 1 (error).

Level of failure severity

This value defines the consequence of the device failure on the robot behavior. The higher the level is the less the robot will be functionnal.

The value could be: NEGLIGIBLE, SERIOUS or CRITICAL (see Diagnosis effect for more details about the robot behavior when a failure is detetected).

Touch sensor

LHand

Key See ...
Device/SubDeviceList/LHand/Touch/Back/Sensor/Value Touch (ON/OFF)

See also: Tactile Hands.

Diagnosis Keys See ...

Diagnosis/Active/LHand/Touch/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/LHand/Touch/Error

[Level of failure severity: NEGLIGIBLE]

Error

RHand

Key See ...
Device/SubDeviceList/RHand/Touch/Back/Sensor/Value Touch (ON/OFF)

See also: Tactile Hands.

Diagnosis Keys See ...

Diagnosis/Active/RHand/Touch/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/RHand/Touch/Error

[Level of failure severity: NEGLIGIBLE]

Error

Touch (ON/OFF)

Touch sensors are capacitive sensors that return a 2 state float value 0.0 (unpressed) or 1.0 (pressed).

Depending on robot version, hands sensors are either inactive, or only one is active.

Switches

ChestBoard

Key See ...
Device/SubDeviceList/ChestBoard/Button/Sensor/Value Switch (ON/OFF)

See also: Pepper - Buttons and Tactile Sensors.

Diagnosis Keys See ...

Diagnosis/Active/Chest/Button/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Chest/Button/Error

[Level of failure severity: NEGLIGIBLE]

Error

Bumpers

Key See ...
Device/SubDeviceList/Platform/FrontRight/Bumper/Sensor/Value Switch (ON/OFF)
Device/SubDeviceList/Platform/FrontLeft/Bumper/Sensor/Value Switch (ON/OFF)
Device/SubDeviceList/Platform/Back/Bumper/Sensor/Value Switch (ON/OFF)

See also: Pepper - Bumpers.

Diagnosis Keys See ...

Diagnosis/Active/Bumper/FrontRight/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Active/Bumper/FrontLeft/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Active/Bumper/Back/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Bumper/FrontRight/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Bumper/FrontLeft/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Bumper/Back/Error

[Level of failure severity: NEGLIGIBLE]

Error

Switch (ON/OFF)

Switches are simple sensors that return a 2-state float value 0.0 (unpressed) or 1.0 (pressed). Beware that the value is read only every 10ms, and very fast change may be unseen.

Inertial

Gyroscope

Key See ...
Device/SubDeviceList/InertialSensor/GyroscopeX/Sensor/Value Gyroscope (rad/s)
Device/SubDeviceList/InertialSensor/GyroscopeY/Sensor/Value Gyroscope (rad/s)
Device/SubDeviceList/InertialSensor/GyroscopeZ/Sensor/Value Gyroscope (rad/s)

See also: Inertial unit specifications.

Diagnosis Keys See ...

Diagnosis/Active/Gyrometer/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/Gyrometer/Error

[Level of failure severity: CRITICAL]

Error

Angle

Key See ...
Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value Angles (rad)
Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value Angles (rad)
Device/SubDeviceList/InertialSensor/AngleZ/Sensor/Value Angles (rad)

See also: Inertial unit specifications.

Accelerometer

Key See ...
Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value Accelerometer (m/s²)
Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value Accelerometer (m/s²)
Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value Accelerometer (m/s²)

See also: Inertial unit specifications.

Diagnosis Keys See ...

Diagnosis/Active/Accelerometer/Error

[Level of failure severity: CRITICAL]

Error

Diagnosis/Passive/Accelerometer/Error

[Level of failure severity: CRITICAL]

Error

Gyroscope (rad/s)

Theses are direct rotation speed values in rad.s-1 from the inertial sensor in the center of the body.

Angles (rad)

The inertial board computes 3 inclination angles of the robot body with the gyro and accelero data. All angles are in radians.

Accelerometer (m/s²)

Theses are 3-axis acceleration in m.s-2 from the inertial sensor in the center of the body (one g is approximately 9.81 m.s-2) Depending the robot version, the precision is 8 or 12 bits.

There are other deprecated values still returned.

LEDs

Eyes - Ears- ChestBoard -

Eyes

Diagnosis Keys See ...

Diagnosis/Active/Face/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Face/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Face/Led/Red/Left

Key See ...
Device/SubDeviceList/Face/Led/Red/Left/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Left/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Face/Led/Green/Left

Key See ...
Device/SubDeviceList/Face/Led/Green/Left/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Left/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Face/Led/Blue/Left

Key See ...
Device/SubDeviceList/Face/Led/Blue/Left/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Left/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Face/Led/Red/Right

Key See ...
Device/SubDeviceList/Face/Led/Red/Right/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Red/Right/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Face/Led/Green/Right

Key See ...
Device/SubDeviceList/Face/Led/Green/Right/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Green/Right/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Face/Led/Blue/Right

Key See ...
Device/SubDeviceList/Face/Led/Blue/Right/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/45Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/90Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/135Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/225Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/270Deg/Actuator/Value LED (%)
Device/SubDeviceList/Face/Led/Blue/Right/315Deg/Actuator/Value LED (%)

See also: Eye LED specifications.

Ears

Diagnosis Keys See ...

Diagnosis/Active/Ears/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Ears/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Ears/Led/Right

Key See ...
Device/SubDeviceList/Ears/Led/Right/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/36Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/72Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/108Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/144Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/216Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/252Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/288Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Right/324Deg/Actuator/Value LED (%)

See also: Ear LED specifications.

Ears/Led/Left

Key See ...
Device/SubDeviceList/Ears/Led/Left/0Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/36Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/72Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/108Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/144Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/180Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/216Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/252Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/288Deg/Actuator/Value LED (%)
Device/SubDeviceList/Ears/Led/Left/324Deg/Actuator/Value LED (%)

See also: Ear LED specifications.

ChestBoard

Key See ...
Device/SubDeviceList/ChestBoard/Led/Red/Actuator/Value LED (%)
Device/SubDeviceList/ChestBoard/Led/Green/Actuator/Value LED (%)
Device/SubDeviceList/ChestBoard/Led/Blue/Actuator/Value LED (%)

See also: Shoulder LED specifications.

Diagnosis Keys See ...

Diagnosis/Active/ChestBoard/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/ChestBoard/Led/Error

[Level of failure severity: NEGLIGIBLE]

Error

Led state

Key See ...
Device/SubDeviceList/ChestBoard/Led/State/Actuator/Value LED state (number)

LED (%)

Every LED is a simple actuator that has a float value from 0.0 (no light) to 1.0 (full light). Each LED has only one color, but there could be 3 LEDs (RGB) at the same place to have a full color RGB LED. But for the DCM point of view it’s always 3 LEDs. The number of real differents values of leds depends on the leds (64 for the eyes, 256 for chest & foot)

Warning

Unfortunately, having 3 RGB LEDs set to “1.0” does not mean that you’ll see a perfect white: one or two LEDs will be brighter than others.

Warning

Chest LEDs are now located in the shoulder.

LED state (number)

Internal. Do not use.

Sonars

Key See ...
Device/SubDeviceList/Platform/Front/Sonar/Sensor/Value Sonar/Sensor (m)
Device/SubDeviceList/Platform/Back/Sonar/Sensor/Value Sonar/Sensor (m)

See also: Sonar specifications.

Diagnosis Keys See ...

Diagnosis/Active/Sonar/Front/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Active/Sonar/Back/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Sonar/Front/Error

[Level of failure severity: NEGLIGIBLE]

Error

Diagnosis/Passive/Sonar/Back/Error

[Level of failure severity: NEGLIGIBLE]

Error

Sonar/Sensor (m)

Continuous distance update from sonars, in meters.

Battery

Key See ...
Device/SubDeviceList/Battery/Current/Sensor/Value current Sensor (A)
Device/SubDeviceList/Battery/Charge/Sensor/Value Charge Sensor (%)
Device/SubDeviceList/Battery/Temperature/Sensor/Value Temperature Sensor (%)
Device/SubDeviceList/Battery/TemperatureSensorInternal/Sensor/Value Temperature Sensor (%)
Device/SubDeviceList/Battery/TemperatureSensor1/Sensor/Value Temperature Sensor (%)
Device/SubDeviceList/Battery/TemperatureSensor2/Sensor/Value Temperature Sensor (%)
Device/SubDeviceList/Battery/TemperatureSensor3/Sensor/Value Temperature Sensor (%)
Device/SubDeviceList/Battery/Voltage1/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage2/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage3/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage4/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage5/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage6/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage7/Sensor/Value Voltage Sensor (%)
Device/SubDeviceList/Battery/Voltage8/Sensor/Value Voltage Sensor (%)

See also: Batttery specifications.

Diagnosis Keys See ...

Diagnosis/Active/Battery/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Passive/Battery/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/Battery/Error

[Level of failure severity: SERIOUS]

Error

Diagnosis/Temperature/BatteryFuse/Error

[Level of failure severity: CRITICAL]

Error

Power hatch

Key  
Device/SubDeviceList/Platform/ILS/Sensor/Value 0 means closed, 1 means open

See also: Pepper - Power entries.

Brakes

Diagnosis Keys See ...
Diagnosis/Active/Brake/HipPitch/Error [Level of failure severity: CRITICAL] Error
Diagnosis/Active/Brake/KneePitch/Error [Level of failure severity: CRITICAL] Error

Lasers

Front ground evaluation: Shovel data (A) | Vertical right data (B) | Vertical left data (C) | Surrounding: Front (D) | Left (E) | Right (F)
Diagnosis Key See ...
Diagnosis/Passive/LaserSensor/Front/Error Error
Diagnosis/Passive/LaserSensor/Right/Error Error
Diagnosis/Passive/LaserSensor/Left/Error Error

Front ground evaluation

Shovel data (A)

Key See ...
Platform/LaserSensor/Front/Shovel/Seg01/X/Sensor/Value Distances
Platform/LaserSensor/Front/Shovel/Seg01/Y/Sensor/Value Distances
Platform/LaserSensor/Front/Shovel/Seg02/X/Sensor/Value Distances
Platform/LaserSensor/Front/Shovel/Seg02/Y/Sensor/Value Distances
Platform/LaserSensor/Front/Shovel/Seg03/X/Sensor/Value Distances
Platform/LaserSensor/Front/Shovel/Seg03/Y/Sensor/Value Distances

Vertical right data (B)

Key See ...
Platform/LaserSensor/Front/Vertical/Right/Seg01/X/Sensor/Value Distances
Platform/LaserSensor/Front/Vertical/Right/Seg01/Y/Sensor/Value Distances

Vertical left data (C)

Key See ...
Platform/LaserSensor/Front/Vertical/Left/Seg01/X/Sensor/Value Distances
Platform/LaserSensor/Front/Vertical/Left/Seg01/Y/Sensor/Value Distances

Surrounding

Front (D)

Key See ...
Platform/LaserSensor/Front/Reg/Status/Sensor  
Platform/LaserSensor/Front/Reg/BoardTemp/Sensor  
Platform/LaserSensor/Front/Reg/FrameCount/Sensor Frames captured
Platform/LaserSensor/Front/Reg/AssertFailCount/Sensor  
Platform/LaserSensor/Front/Reg/RunMode/Sensor  
Platform/LaserSensor/Front/Reg/CalibrDataVer/Sensor  
Platform/LaserSensor/Front/Reg/OperationMode/Actuator Operation mode actuator
Platform/LaserSensor/Front/Reg/OperationMode/Sensor Operation mode sensor

See also: Laser specifications.

Horizontal obstacle data

Key See ...
Platform/LaserSensor/Front/Horizontal/Seg01/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg01/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg02/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg02/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg03/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg03/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg04/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg04/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg05/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg05/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg06/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg06/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg07/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg07/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg08/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg08/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg09/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg09/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg10/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg10/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg11/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg11/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg12/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg12/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg13/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg13/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg14/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg14/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg15/X/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Seg15/Y/Sensor Distances
Platform/LaserSensor/Front/Horizontal/Reg/DataStatus/Sensor  
Platform/LaserSensor/Front/Horizontal/Reg/Time/Sensor  

Left (E)

Key See ...
Platform/LaserSensor/Left/Reg/Status/Sensor  
Platform/LaserSensor/Left/Reg/BoardTemp/Sensor  
Platform/LaserSensor/Left/Reg/FrameCount/Sensor Frames captured
Platform/LaserSensor/Left/Reg/AssertFailCount/Sensor  
Platform/LaserSensor/Left/Reg/RunMode/Sensor  
Platform/LaserSensor/Left/Reg/CalibrDataVer/Sensor  
Platform/LaserSensor/Left/Reg/OperationMode/Actuator Operation mode actuator
Platform/LaserSensor/Left/Reg/OperationMode/Sensor Operation mode sensor

See also: Laser specifications.

Horizontal obstacle data

Key See ...
Platform/LaserSensor/Left/Horizontal/Seg01/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg01/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg02/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg02/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg03/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg03/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg04/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg04/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg05/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg05/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg06/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg06/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg07/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg07/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg08/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg08/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg09/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg09/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg10/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg10/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg11/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg11/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg12/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg12/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg13/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg13/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg14/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg14/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg15/X/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Seg15/Y/Sensor Distances
Platform/LaserSensor/Left/Horizontal/Reg/DataStatus/Sensor  
Platform/LaserSensor/Left/Horizontal/Reg/Time/Sensor  

Right (F)

Key See ...
Platform/LaserSensor/Right/Reg/Status/Sensor  
Platform/LaserSensor/Right/Reg/BoardTemp/Sensor  
Platform/LaserSensor/Right/Reg/FrameCount/Sensor Frames captured
Platform/LaserSensor/Right/Reg/AssertFailCount/Sensor  
Platform/LaserSensor/Right/Reg/RunMode/Sensor  
Platform/LaserSensor/Right/Reg/CalibrDataVer/Sensor  
Platform/LaserSensor/Right/Reg/OperationMode/Actuator Operation mode actuator
Platform/LaserSensor/Right/Reg/OperationMode/Sensor Operation mode sensor

See also: Laser specifications.

Horizontal obstacle data

Key See ...
Platform/LaserSensor/Right/Horizontal/Seg01/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg01/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg02/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg02/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg03/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg03/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg04/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg04/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg05/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg05/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg06/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg06/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg07/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg07/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg08/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg08/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg09/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg09/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg10/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg10/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg11/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg11/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg12/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg12/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg13/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg13/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg14/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg14/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg15/X/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Seg15/Y/Sensor Distances
Platform/LaserSensor/Right/Horizontal/Reg/DataStatus/Sensor  
Platform/LaserSensor/Right/Horizontal/Reg/Time/Sensor  

Distances

The distances returned follow the robot’s coordinate system, with the position of the camera, projected on the ground, as the origin.

../../../_images/laser_distance.png

Frames captured

Frames captured since the start of the robot. Rolls over after 65535.

Operation mode Actuator

Sets the operation mode.

The operation mode determines which lasers are activated. All cards contain the operation mode 0 and 1. The operation modes 2-7 are only available in the front sensor, they cannot be activated on the left+right sensors simply because they only have a horizontal laser.

0: all lasers off

1: horizontal laser on

2: 2x vertical lasers on

3: horizontal + 2x vertical lasers on

4: shovel laser on

5: shovel + horizontal laser on

6: shovel + 2x vertical lasers on

7: shovel + horizontal + 2x vertical lasers on

Operation mode Sensor

Reads the operation mode.