# SoftBank Robotics documentation What's new in NAOqi 2.8?

# LEDs

Part | Name | Qty | Description
--- | --- | --- | ---
A | Head tactile sensor | 2x6 | 16 White levels
B | Eye | 2x8 | RGB FullColor
C | Ear | 2x10 | 16 Blue levels
D | Foot | 2 | RGB FullColor

Cannot be tested on a simulated robot.

## Head tactile sensor LED locations

Right

Short Name | Name
--- | ---
Brain0 | Head/Led/Front/Right/1/Actuator/Value
Brain1 | Head/Led/Front/Right/0/Actuator/Value
Brain2 | Head/Led/Middle/Right/0/Actuator/Value
Brain3 | Head/Led/Rear/Right/0/Actuator/Value
Brain4 | Head/Led/Rear/Right/1/Actuator/Value
Brain5 | Head/Led/Rear/Right/2/Actuator/Value

Left

Short Name | Name
--- | ---
Brain6 | Head/Led/Rear/Left/2/Actuator/Value
Brain7 | Head/Led/Rear/Left/1/Actuator/Value
Brain8 | Head/Led/Rear/Left/0/Actuator/Value
Brain9 | Head/Led/Middle/Left/0/Actuator/Value
Brain10 | Head/Led/Front/Left/0/Actuator/Value
Brain11 | Head/Led/Front/Left/1/Actuator/Value

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

## Eye LED locations

Right

Part | Group Name | Short Name | Actuator Value
--- | --- | --- | ---
R 0 | FaceLedRight0 | RightFaceLed8 | Face/Led/[Color]/Right/315Deg
R 1 | FaceLedRight1 | RightFaceLed7 | Face/Led/[Color]/Right/270Deg
R 2 | FaceLedRight2 | RightFaceLed6 | Face/Led/[Color]/Right/225Deg
R 3 | FaceLedRight3 | RightFaceLed5 | Face/Led/[Color]/Right/180Deg
R 4 | FaceLedRight4 | RightFaceLed4 | Face/Led/[Color]/Right/135Deg
R 5 | FaceLedRight5 | RightFaceLed3 | Face/Led/[Color]/Right/90Deg
R 6 | FaceLedRight6 | RightFaceLed2 | Face/Led/[Color]/Right/45Deg
R 7 | FaceLedRight7 | RightFaceLed1 | Face/Led/[Color]/Right/0Deg

Left

Part | Group Name | Short Name | Actuator Value
--- | --- | --- | ---
L 0 | FaceLedLeft0 | LeftFaceLed1 | Face/Led/[Color]/Left/0Deg
L 1 | FaceLedLeft1 | LeftFaceLed2 | Face/Led/[Color]/Left/45Deg
L 2 | FaceLedLeft2 | LeftFaceLed3 | Face/Led/[Color]/Left/90Deg
L 3 | FaceLedLeft3 | LeftFaceLed4 | Face/Led/[Color]/Left/135Deg
L 4 | FaceLedLeft4 | LeftFaceLed5 | Face/Led/[Color]/Left/180Deg
L 5 | FaceLedLeft5 | LeftFaceLed6 | Face/Led/[Color]/Left/225Deg
L 6 | FaceLedLeft6 | LeftFaceLed7 | Face/Led/[Color]/Left/270Deg
L 7 | FaceLedLeft7 | LeftFaceLed8 | Face/Led/[Color]/Left/315Deg

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

## Ear LED locations

### Right ear

Led Ref | Short Name | Actuator Value
--- | --- | ---
R 0 | RightEarLed1 | Ears/Led/Right/0Deg/Actuator/Value
R 1 | RightEarLed2 | Ears/Led/Right/36Deg/Actuator/Value
R 2 | RightEarLed3 | Ears/Led/Right/72Deg/Actuator/Value
R 3 | RightEarLed4 | Ears/Led/Right/108Deg/Actuator/Value
R 4 | RightEarLed5 | Ears/Led/Right/144Deg/Actuator/Value
R 5 | RightEarLed6 | Ears/Led/Right/180Deg/Actuator/Value
R 6 | RightEarLed7 | Ears/Led/Right/216Deg/Actuator/Value
R 7 | RightEarLed8 | Ears/Led/Right/252Deg/Actuator/Value
R 8 | RightEarLed9 | Ears/Led/Right/288Deg/Actuator/Value
R 9 | RightEarLed10 | Ears/Led/Right/324Deg/Actuator/Value

See also: Ear Actuators.

### Left ear

Led Ref | Short Name | Actuator Value
--- | --- | ---
L 0 | LeftEarLed1 | Ears/Led/Left/0Deg/Actuator/Value
L 1 | LeftEarLed2 | Ears/Led/Left/36Deg/Actuator/Value
L 2 | LeftEarLed3 | Ears/Led/Left/72Deg/Actuator/Value
L 3 | LeftEarLed4 | Ears/Led/Left/108Deg/Actuator/Value
L 4 | LeftEarLed5 | Ears/Led/Left/144Deg/Actuator/Value
L 5 | LeftEarLed6 | Ears/Led/Left/180Deg/Actuator/Value
L 6 | LeftEarLed7 | Ears/Led/Left/216Deg/Actuator/Value
L 7 | LeftEarLed8 | Ears/Led/Left/252Deg/Actuator/Value
L 8 | LeftEarLed9 | Ears/Led/Left/288Deg/Actuator/Value
L 9 | LeftEarLed10 | Ears/Led/Left/324Deg/Actuator/Value

See also: Ear Actuators.

## Foot LED locations

Led Ref | Group Name | Short Name | Actuator Value
--- | --- | --- | ---
Foot Right | RightFootLeds | RightFootLedsBlue RightFootLedsGreen RightFootLedsRed | RFoot/Led/Blue/Actuator/Value RFoot/Led/Green/Actuator/Value RFoot/Led/Red/Actuator/Value
Foot Left | 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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