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

# Lasers

## Specification

The robot is equipped with 6 laser line generators.

Wavelength | 808 nm |
Mode of operation | pulsed
Global shutter camera
Framerate | 6.25Hz per laser
Auto-exposure control

## Location

### Laser Sensors

See the URDF files.

Part | Name | VFOV | HFOV
--- | --- | --- | ---
1 | LaserSensor/Front | 40 ° | 60 °
2 | LaserSensor/Left
3 | LaserSensor/Right

### Laser Actuators - front ground evaluation

Part | X(m) | Y(m) | Z(m) | WX(deg) | WY(deg) | WZ(deg) | Beam angle
--- | --- | --- | --- | --- | --- | --- | ---
A | 0.11290 | 0.00000 | -0.17550 | 0.0000 | 14.15000 | 0.0000 | 60 °
B | 0.14020 | -0.03050 | -0.21380 | -32.5300 | 16.27000 | 30.2100
C | 0.14020 | 0.03050 | -0.21380 | 32.5300 | 16.27000 | -30.2100

To access values by using ALMemory key names, see: Shovel data (A), Vertical right data (B), Vertical left data (C).

Note

The Laser located on the front right (B) projects its line on the left side of the robot’s center (seen from a robot’s point of view).

The Laser located on the front left (C) projects its line to the right side of the robot’s center (seen from a robot’s point of view).

### Laser Actuators – surroundings

Part | X(m) | Y(m) | Z(m) | WX(deg) | WY(deg) | WZ(deg) | Beam angle
--- | --- | --- | --- | --- | --- | --- | ---
D | 0.12960 | -0.02700 | -0.30010 | 0.00000 | 1.00000 | 0.00000 | 60 °
E | -0.08600 | 0.10100 | -0.30000 | -1.00000 | 0.00000 | 90.0000
F | -0.08600 | -0.10100 | -0.30000 | 1.00000 | 0.00000 | -90.0000

To access values by using ALMemory key names, see: Front (D), Left (E), Right (F).

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