H21 - LEDs

no-virtual Cannot be tested on a simulated robot.

See also

NAO H21 | LEDs


../../_images/naoh25_leds.png
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

../../_images/leds_tactil_head.png

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

../../_images/hardware_led_v3.3-v4.png

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

../../_images/hardware_led_v3.2-3plus.png
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

../../_images/hardware_led_right_ear.png
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

../../_images/hardware_led_left_ear.png
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

../../_images/hardware_led_foot.png
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.