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

# Actuator & Sensor list

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

## Joints and Actuators

Head: HeadPitch - HeadYaw. RArm: RShoulderRoll - RShoulderPitch - RElbowYaw - RElbowRoll - RWristYaw - RHand. LArm: LShoulderRoll - LShoulderPitch - LElbowYaw - LElbowRoll - LWristYaw - LHand. Leg: HipPitch - HipRoll - KneePitch - Wheels: WheelFL - WheelFR - WheelB.

### 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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 Pe_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 LoLA 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 LoLA 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

### Head

Key | See ...
--- | ---
Device/SubDeviceList/Head/Touch/Front/Sensor/Value | Touch (ON/OFF)
Device/SubDeviceList/Head/Touch/Rear/Sensor/Value | Touch (ON/OFF)
Device/SubDeviceList/Head/Touch/Middle/Sensor/Value | Touch (ON/OFF)

See also: Head tactile sensor, and diagnosis keys on Pe_head_touch_sensor.

### LHand

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

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

### RHand

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

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

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 Pe_chestboard_button_sensor.

### 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 Pe_bumper.

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 Pe_dcm_gyrometer_base.

### 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 Pe_dcm_accelerometer_base.

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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

### 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 Pe_eyes_actuators.

#### 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 Pe_eyes_actuators.

### 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 Pe_chestboard_actuators.

### 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 LoLA 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 Pe_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 Pe_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 Pe_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.

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.

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