> Documentation index: https://nao-rs.lukaloehr.com/llms.txt, a list of every page in this documentation.

# Home

> A Rust software stack for the NAO6 robot. Its own drivers for the chest board, the head and the fan replace Aldebaran's HAL and LoLA and HULKs' HULA, and a death switch stops the motors whatever the rest of the software does.

nao-rs runs on the NAO6's head computer in place of Aldebaran's hardware
layer. One real-time process talks USB to the chest board and I2C to the head.
A second process, the guard, watches it and takes the chest board over when
it hangs. Every part is ported 1:1 on the wire from the software the robot
ships with, and each one is checked against recordings of the real robot.

> **Warning:** Status: the motors don't move yet
>
> nao-rs reads every body and head sensor, drives the LEDs and the fan, and
> runs the death switch on a real NAO6. It does not command the motors yet: the
> robot's motor boards report configuration version 11, and nao-rs accepts them
> only after the motor session on the robot. Until then every motor stays limp
> under nao-rs. [Status](https://nao-rs.lukaloehr.com/get-started.md#status) lists what works today.

- [What nao-rs is](https://nao-rs.lukaloehr.com/get-started.md): What it replaces, why, and what works today.
- [Quick start](https://nao-rs.lukaloehr.com/get-started/quickstart.md): From a NAO6 on HULKs-OS to nao-rs in a few commands.
- [Install, flash and rollback](https://nao-rs.lukaloehr.com/get-started/install.md): The installer, its health check and how to go back.
- [Safety model](https://nao-rs.lukaloehr.com/safety.md): The death switch: latch, guard, triggers and the hard power-off.
- [Temperatures and the fan](https://nao-rs.lukaloehr.com/safety/thermal.md): Fan curve, alerts, halt and the motor stop.
- [The brain](https://nao-rs.lukaloehr.com/brain.md): Voice, eyes and memory on your Mac; connect any ElevenLabs agent.
- [Party mode](https://nao-rs.lukaloehr.com/brain/party-mode.md): The robot as a speaker in a Downbeat room, in step with the phones.
- [Architecture](https://nao-rs.lukaloehr.com/architecture.md): Crates, threads and the cycle in HAL's order.
- [Hardware reference](https://nao-rs.lukaloehr.com/hardware.md): Chest board, body sensors, head devices and fan.
- [LEDs](https://nao-rs.lukaloehr.com/hardware/leds.md): Every LED group, every index and its colour order.
- [REST API](https://nao-rs.lukaloehr.com/reference/rest-api.md): HTTP/JSON on port 7702: state, LEDs, audio, cameras, the stop.
- [Robot API](https://nao-rs.lukaloehr.com/reference/api.md): The MessagePack API on port 7700 the brain uses.
- [Command-line tools](https://nao-rs.lukaloehr.com/reference/cli.md): naoctl on the robot and nao-rs on your computer.
- [Verification](https://nao-rs.lukaloehr.com/verification.md): How each part is proven equal to the original.
- [Troubleshooting](https://nao-rs.lukaloehr.com/help/troubleshooting.md): What to check when something does not work.

## Related topics

- [Verification and parity](https://nao-rs.lukaloehr.com/verification.md)
- Next: [What nao-rs is](https://nao-rs.lukaloehr.com/get-started.md)