SoftBank Robotics documentation What's new in NAOqi 2.5? [For Partners only]

Actuator & Sensor list

Battery - Inertial Sensor - Infra-red - Joints and Actuators - Lasers - LEDs - Power hatch - Sonars - Switches - Touch sensor

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, and diagnosis keys on HeadYaw.

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, and and diagnosis keys on HeadPitch.

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, and diagnosis keys on LElbowYaw.

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, and diagnosis keys on LElbowRoll.

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, and diagnosis keys on RElbowYaw.

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, and diagnosis keys on RElbowRoll.

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, and diagnosis keys on LHand.

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, and diagnosis keys on LWristYaw.

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, and diagnosis keys on RHand.

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, and diagnosis keys on RWristYaw.

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, and diagnosis keys on LShoulderPitch.

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, and diagnosis keys on LShoulderRoll.

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, and diagnosis keys on RShoulderPitch.

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, and diagnosis keys on RShoulderRoll.

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, and diagnosis keys on HipRoll.

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, and diagnosis keys on HipPitch.

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, and diagnosis keys on KneePitch.

WheelFL

Key See ...
Device/SubDeviceList/WheelFL/Speed/Actuator/Value Speed/Actuator (rad/s)
Device/SubDeviceList/WheelFL/Speed/Sensor/Value Speed/Sensor (rad/s)
Device/SubDeviceList/WheelFL/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/WheelFL/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/WheelFL/Stiffness/Actuator/Value Stiffness (%)
Device/SubDeviceList/WheelFL/Temperature/Sensor/Status Temperature status

WheelFR

Key See ...
Device/SubDeviceList/WheelFR/Speed/Actuator/Value Speed/Actuator (rad/s)
Device/SubDeviceList/WheelFR/Speed/Sensor/Value Speed/Sensor (rad/s)
Device/SubDeviceList/WheelFR/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/WheelFR/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/WheelFR/Stiffness/Actuator/Value Stiffness (%)
Device/SubDeviceList/WheelFR/Temperature/Sensor/Status Temperature status

WheelB

Key See ...
Device/SubDeviceList/WheelB/Speed/Actuator/Value Speed/Actuator (rad/s)
Device/SubDeviceList/WheelB/Speed/Sensor/Value Speed/Sensor (rad/s)
Device/SubDeviceList/WheelB/ElectricCurrent/Sensor/Value Current (A)
Device/SubDeviceList/WheelB/Temperature/Sensor/Value Temperature (°C)
Device/SubDeviceList/WheelB/Stiffness/Actuator/Value Stiffness (%)
Device/SubDeviceList/WheelB/Temperature/Sensor/Status Temperature status

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.

Speed/Actuator (rad/s)

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

Content update:

  • if Stiffness > 0: the last speed requested by a timed command.
  • if Stiffness <= 0: the same value as the Speed/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: 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: MRE.

Speed/Sensor (rad/s)

Rotation speed (rad/s) of the wheels.

Content update:

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

For further details, see: 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.

Touch sensor

LHand

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

See also: Tactile Hands, and diagnosis keys on LHand.

RHand

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

See also: Tactile Hands, and diagnosis keys on RHand.

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: Buttons, and diagnosis keys on ChestBoard.

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: Bumpers, and diagnosis keys on Bumpers.

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 Sensor

Gyroscope

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

See also: Inertial unit specifications, and diagnosis keys on Gyroscope.

Angle

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

Accelerometer

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

See also: Inertial unit specifications, and diagnosis keys on Accelerometer.

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

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

Ears

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, and diagnosis keys on Eyes.

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, and diagnosis keys on Eyes.

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, and diagnosis keys on ChestBoard.

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 different 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, and diagnosis keys on Sonars.

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: Battery specifications, and diagnosis keys on Battery.

Power hatch

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

See also: Power entries.

Infra-red

Key  
Device/SubDeviceList/Platform/InfraredSpot/Left/Sensor/Value Obstacle
Device/SubDeviceList/Platform/InfraredSpot/Right/Sensor/Value Obstacle

See also: Infra-Red.

Obstacle

Boolean: 1 if an obstacle is detected, 0 otherwise.

Lasers

Front ground evaluation: Shovel data (A) | Vertical right data (B) | Vertical left data (C) | Surrounding: Front (D) | Left (E) | Right (F)

Front ground evaluation

Shovel data (A)

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

See also: Laser specifications, and diagnosis keys on Lasers.

Vertical right data (B)

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

Vertical left data (C)

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

Surrounding

Front (D)

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

Horizontal obstacle data

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

Horizontal uncertain obstacle data

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

Horizontal annoying reflection data

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

Left (E)

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

Horizontal obstacle data

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

Horizontal uncertain obstacle data

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

Horizontal annoying reflection data

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

Right (F)

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

Horizontal obstacle data

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

Horizontal uncertain obstacle data

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

Horizontal annoying reflection data

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

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.