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H21 - LEDs

Cannot be tested on a simulated robot.

See also

NAO H21 | LEDs

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Part	Location	Qty	Description
A	Head tactile sensor	12	16 step blue LEDs
B	Ears	2x10	16 step blue LEDs
C	Eyes	2x8	Full colour RGB LEDs
D	Chest button	1	Full colour RGB LED
E	Feet	2x1	Full colour RGB LED

Head tactile sensor LED locations

Right

Short Name	Name	X(m)	Y(m)	Z(m)
Brain0	Head/Led/Front/Right/1/Actuator/Value	0.03656	-0.01535	0.09652
Brain1	Head/Led/Front/Right/0/Actuator/Value	0.02223	-0.01856	0.10383
Brain2	Head/Led/Middle/Right/0/Actuator/Value	0.00736	-0.01833	0.10747
Brain3	Head/Led/Rear/Right/0/Actuator/Value	-0.01245	-0.01836	0.10578
Brain4	Head/Led/Rear/Right/1/Actuator/Value	-0.02749	-0.01622	0.10062
Brain5	Head/Led/Rear/Right/2/Actuator/Value	-0.03508	-0.00816	0.09836

Left

Short Name	Name	X(m)	Y(m)	Z(m)
Brain6	Head/Led/Rear/Left/2/Actuator/Value	-0.03508	0.00816	0.09836
Brain7	Head/Led/Rear/Left/1/Actuator/Value	-0.02749	0.01622	0.10062
Brain8	Head/Led/Rear/Left/0/Actuator/Value	-0.01245	0.01836	0.10578
Brain9	Head/Led/Middle/Left/0/Actuator/Value	0.00736	0.01833	0.10747
Brain10	Head/Led/Front/Left/0/Actuator/Value	0.02223	0.01856	0.10383
Brain11	Head/Led/Front/Left/1/Actuator/Value	0.03656	0.01535	0.09652

For the related ALMemory keys, see: Head LED Sensors.

Eye LED locations

NAO V5, V4 and V3.3

Right

Part	X(m)	Y(m)	Z(m)	Group Name	Short Name	Actuator Value
R 0	0.0436	-0.0257	0.0511	FaceLedRight0	RightFaceLed8	Face/Led/[Color]/Right/315Deg
R 1	0.0434	-0.0198	0.0487	FaceLedRight1	RightFaceLed7	Face/Led/[Color]/Right/270Deg
R 2	0.0430	-0.0173	0.0428	FaceLedRight2	RightFaceLed6	Face/Led/[Color]/Right/225Deg
R 3	0.0425	-0.0198	0.0369	FaceLedRight3	RightFaceLed5	Face/Led/[Color]/Right/180Deg
R 4	0.0424	-0.0257	0.0344	FaceLedRight4	RightFaceLed4	Face/Led/[Color]/Right/135Deg
R 5	0.0425	-0.0316	0.0368	FaceLedRight5	RightFaceLed3	Face/Led/[Color]/Right/90Deg
R 6	0.0430	-0.0341	0.0428	FaceLedRight6	RightFaceLed2	Face/Led/[Color]/Right/45Deg
R 7	0.0434	-0.0316	0.0487	FaceLedRight7	RightFaceLed1	Face/Led/[Color]/Right/0Deg

Left

Part	X(m)	Y(m)	Z(m)	Group Name	Short Name	Actuator Value
L 0	0.0436	0.0257	0.0511	FaceLedLeft0	LeftFaceLed1	Face/Led/[Color]/Left/45Deg
L 1	0.0434	0.0198	0.0487	FaceLedLeft1	LeftFaceLed2	Face/Led/[Color]/Left/0Deg
L 2	0.0430	0.0173	0.0427	FaceLedLeft2	LeftFaceLed3	Face/Led/[Color]/Left/315Deg
L 3	0.0425	0.0198	0.0368	FaceLedLeft3	LeftFaceLed4	Face/Led/[Color]/Left/270Deg
L 4	0.0424	0.0257	0.0344	FaceLedLeft4	LeftFaceLed5	Face/Led/[Color]/Left/225Deg
L 5	0.0425	0.0316	0.0368	FaceLedLeft5	LeftFaceLed6	Face/Led/[Color]/Left/180Deg
L 6	0.0430	0.0341	0.0428	FaceLedLeft6	LeftFaceLed7	Face/Led/[Color]/Left/135Deg
L 7	0.0434	0.0316	0.0487	FaceLedLeft7	LeftFaceLed8	Face/Led/[Color]/Left/90Deg

For the related ALMemory keys, see: Eye LED Sensors.

NAO V3+, V3.2

Part	Group Name	Short Name	Led Ref	Group Name	Short Name
R 0	FaceLedRight0	RightFaceLed8	L 0	FaceLedLeft0	LeftFaceLed1
R 1	FaceLedRight1	RightFaceLed7	L 1	FaceLedLeft1	LeftFaceLed2
R 2	FaceLedRight2	RightFaceLed6	L 2	FaceLedLeft2	LeftFaceLed3
R 3	FaceLedRight3	RightFaceLed5	L 3	FaceLedLeft3	LeftFaceLed4
R 4	FaceLedRight4	RightFaceLed4	L 4	FaceLedLeft4	LeftFaceLed5
R 5	FaceLedRight5	RightFaceLed3	L 5	FaceLedLeft5	LeftFaceLed6
R 6	FaceLedRight6	RightFaceLed2	L 6	FaceLedLeft6	LeftFaceLed7
R 7	FaceLedRight7	RightFaceLed1	L 7	FaceLedLeft7	LeftFaceLed8

For the related ALMemory keys, see: Eye LED Sensors.

Ear LED locations

Right ear

Led Ref	X(m)	Y(m)	Z(m)	Short Name	Actuator Value
R 0	0.0121	-0.0490	0.0249	RightEarLed1	Ears/Led/Right/0Deg/Actuator/Value
R 1	-0.0068	-0.0490	0.0247	RightEarLed2	Ears/Led/Right/36Deg/Actuator/Value
R 2	-0.0227	-0.0490	0.0360	RightEarLed3	Ears/Led/Right/72Deg/Actuator/Value
R 3	-0.0272	-0.0490	0.0560	RightEarLed4	Ears/Led/Right/108Deg/Actuator/Value
R 4	-0.0205	-0.0490	0.0729	RightEarLed5	Ears/Led/Right/144Deg/Actuator/Value
R 5	-0.0043	-0.0490	0.0827	RightEarLed6	Ears/Led/Right/180Deg/Actuator/Value
R 6	0.0142	-0.0490	0.0820	RightEarLed7	Ears/Led/Right/216Deg/Actuator/Value
R 7	0.0304	-0.0490	0.0716	RightEarLed8	Ears/Led/Right/252Deg/Actuator/Value
R 8	0.0349	-0.0490	0.0532	RightEarLed9	Ears/Led/Right/288Deg/Actuator/Value
R 9	0.0298	-0.0490	0.0334	RightEarLed10	Ears/Led/Right/324Deg/Actuator/Value

See also: Ear Actuators.

Left ear

Led Ref	X(m)	Y(m)	Z(m)	Short Name	Actuator Value
L 0	0.0346	-0.0490	0.0499	LeftEarLed1	Ears/Led/Left/0Deg/Actuator/Value
L 1	0.0276	-0.0490	0.0323	LeftEarLed2	Ears/Led/Left/36Deg/Actuator/Value
L 2	0.0100	-0.0490	0.0244	LeftEarLed3	Ears/Led/Left/72Deg/Actuator/Value
L 3	-0.0084	-0.0490	0.0264	LeftEarLed4	Ears/Led/Left/108Deg/Actuator/Value
L 4	-0.0230	-0.0490	0.0384	LeftEarLed5	Ears/Led/Left/144Deg/Actuator/Value
L 5	-0.0272	-0.0490	0.0562	LeftEarLed6	Ears/Led/Left/180Deg/Actuator/Value
L 6	-0.0198	-0.0490	0.0753	LeftEarLed7	Ears/Led/Left/216Deg/Actuator/Value
L 7	-0.0024	-0.0490	0.0841	LeftEarLed8	Ears/Led/Left/252Deg/Actuator/Value
L 8	0.0162	-0.0490	0.0811	LeftEarLed9	Ears/Led/Left/288Deg/Actuator/Value
L 9	0.0325	-0.0490	0.0702	LeftEarLed10	Ears/Led/Left/324Deg/Actuator/Value

See also: Ear Actuators.

Foot LED locations

Led Ref	X(m)	Y(m)	Z(m)	Group Name	Short Name	Actuator Value
Foot Right	0.0690	-0.0051	-0.0317	RightFootLeds	RightFootLedsBlue RightFootLedsGreen RightFootLedsRed	RFoot/Led/Blue/Actuator/Value RFoot/Led/Green/Actuator/Value RFoot/Led/Red/Actuator/Value
Foot Left	0.0692	0.0	-0.0317	LeftFootLeds	LeftFootLedsBlue LeftFootLedsGreen LeftFootLedsRed	LFoot/Led/Blue/Actuator/Value LFoot/Led/Green/Actuator/Value LFoot/Led/Red/Actuator/Value

See also: Left foot Actuators and Right foot Actuators.

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