SoftBank Robotics documentation What's new in NAOqi 2.8?

Body frames

All solids (S) and local coordinate system are described relative to the zero posture: standing with straight leg and arms pointing forwards.

juliet_xyz

Torso

(o, R) is located on: Torso.

../../_images/mass_torso.png

Neck

(o, R) is located on: HeadYaw.

../../_images/mass_headyaw.png

Left Shoulder

(o, R) is located on: LShoulderPitch.

../../_images/mass_lshoulderpitch.png

Left Bicep

(o, R) is located on: LShoulderRoll.

../../_images/mass_lshoulderroll.png

Left Elbow

(o, R) is located on: LElbowYaw.

../../_images/mass_lelbowyaw.png

Left ForeArm

(o, R) is located on: LElbowRoll.

../../_images/mass_lelbowroll.png

Left Hand with fingers

(o, R) is located on: LWristYaw.

../../_images/mass_lwristyaw.png

Hip

(o, R) is located on: HipRoll.

../../_images/mass_hiproll.png

Thighs

(o, R) is located on: HipPitch.

../../_images/mass_hippitch.png

Base

(o, R) is located on: KneePitch.

../../_images/mass_kneepitch.png

Wheel - Front Left

(o, R) is located on: WheelFL.

../../_images/mass_wheelfl.png

Wheel - Front Right

(o, R) is located on: WheelFR.

../../_images/mass_wheelfr.png

Wheel - Back

(o, R) is located on: WheelB.

../../_images/mass_wheelb.png

Right Shoulder

(o, R) is located on: RShoulderPitch.

../../_images/mass_rshoulderpitch.png

Right Bicep

(o, R) is located on: RShoulderRoll.

../../_images/mass_rshoulderroll.png

Right Elbow

(o, R) is located on: RElbowYaw.

../../_images/mass_relbowyaw.png

Right ForeArm

(o, R) is located on: RElbowRoll.

../../_images/mass_relbowroll.png

Right Hand with fingers

(o, R) is located on: RWristYaw.

../../_images/mass_rwristyaw.png