Naoqi
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For V6 NAO 2.8.7 (Dark Gray color robot) https://www.robotlab.com/hubfs/2.8.7.4_20210820_094013.opn and save to your desktop or a convenient location.
For V6 NAO 2.8.6 (Dark Gray color robot) nao-x86-2.8.6.23_20191127_221232 and save to your desktop or a convenient location.
For V5 NAO (Red or Blue color robot) https://www.robotlab.com/hubfs/Choregraphe_Files/opennao-atom-system-image-2.1.4.13_2015-08-27.opn and save to your desktop or a convenient location.
For V4 NAO (Orange or Light Blue color robot) https://www.robotlab.com/hubfs/Choregraphe_Files/opennao-atom-system-image-2.1.4.13_2015-08-27.opn and save to your desktop or a convenient location.
Sources:
https://www.robotlab.com/support/factory-reset-nao-robot-flasher
