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

# Romeo - Joints

See also

Romeo - Developer guide

## Romeo in PoseZero

## Sign convention

Given a joint that links two body parts of the robot, the body part that is closer to the trunk is considered to be fixed and the body part that is farther from the trunk is the one that rotates around the joint axis. This criterion is valid for joint angles, rotational velocities and torques.

To perform the rotation of the body parts, we place a frame at each joint. When the robot is at the zero pose, all joint frames have the same orientation. Then, roll rotations take place around the X axis, pitch rotations around the Y axis and yaw rotations around the Z axis.

## Head

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
NeckYaw | Neck joint (Z) | -90.0 to 90.0 | -1.57079632 to 1.57079632
NeckPitch | Neck joint (Y) | -20.0 to 40.0 | -0.34906585 to 0.69813170
HeadPitch | Head joint (Y) | -20.0 to 16.0 | -0.34906585 to 0.27925268
HeadRoll | Head joint (X) | -20.0 to 20.0 | -0.34906585 to 0.34906585

## Arms

Left

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
LShoulderPitch | Left Shoulder joint (Y) | -82.7 to 127.2 | -1.44338729 to 2.22005880
LShoulderYaw | Left Shoulder joint (Z) | -24.7 to 65.3 | -0.43109632 to 1.13970000
LElbowRoll | Left Shoulder joint (X) | -120.0 to 120.0 | -2.09439510 to 2.09439510
LElbowYaw | Left Elbow joint (Z) | -90.0 to 0.0 | -1.57079633 to 0.00000000
LWristRoll | Left Elbow joint (X) | -210.0 to 30.0 | -3.66519143 to 0.52359878
LWristYaw | Left Wrist joint (Z) | -25.0 to 25.0 | -0.43633231 to 0.43633231
LWristPitch | Left Wrist joint (Y) | -56.0 to 56.0 | -0.97738438 to 0.97738438

Right

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
RShoulderPitch | Right Shoulder joint (Y) | -82.7 to 127.2 | -1.44338729 to 2.22005880
RShoulderYaw | Right Shoulder joint (Z) | -65.3 to 24.7 | -1.13970000 to 0.43109632
RElbowRoll | Right Shoulder joint (X) | -120.0 to 120.0 | -2.09439510 to 2.09439510
RElbowYaw | Right Elbow joint (Z) | 0.0 to 90.0 | 0.00000000 to 1.57079632
RWristRoll | Right Elbow joint (X) | -30.0 to 210.0 | -0.52359878 to 3.66519143
RWristYaw | Right Wrist joint (Z) | -25.0 to 25.0 | -0.43633231 to 0.43633231
RWristPitch | Right Wrist joint (Y) | -56.0 to 56.0 | -0.97738438 to 0.97738438

## Trunk

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
TrunkYaw | Trunk Yaw joint (Z) | -45.0 to 45.0 | -0.78539816 to 0.78539816

## Legs

Left

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
LHipYaw | Left Hip joint (Z) | -15.0 to 15.0 | -0.26179939 to 0.26179939
LHipRoll | Left Hip joint (X) | -15.0 to 30.0 | -0.26179939 to 0.52359878
LHipPitch | Left Hip joint (Y) | -98.0 to 23.0 | -1.71042267 to 0.40142572
LKneePitch | Left Knee joint (Y) | 0.0 to 115.0 | 0.00000000 to 2.00712863
LAnklePitch | Left Ankle joint (Y) | -30.0 to 45.0 | -0.52359878 to 0.78539816
LAnkleRoll | Left Ankle joint (X) | -20.0 to 20.0 | -0.34906585 to 0.34906585
LToePitch | Left Ankle joint (Y) | -45.0 to 0.0 | -0.78539816 to 0.00000000

Right

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
RHipYaw | Right Hip joint (Z) | -15.0 to 15.0 | -0.26179939 to 0.26179939
RHipRoll | Right Hip joint (X) | -30.0 to 15.0 | -0.52359878 to 0.26179939
RHipPitch | Right Hip joint (Y) | -98.0 to 23.0 | -1.71042267 to 0.40142572
RKneePitch | Right Knee joint (Y) | 0.0 to 115.0 | 0.00000000 to 2.00712863
RAnklePitch | Right Ankle joint (Y) | -30.0 to 45.0 | -0.52359878 to 0.78539816
RAnkleRoll | Right Ankle joint (X) | -20.0 to 20.0 | -0.34906585 to 0.34906585
RToePitch | Right Ankle joint (Y) | -45.0 to 0.0 | -0.78539816 to 0.00000000

## Eyes

Joint name | Motion | Range (degrees) | Range (radian)
--- | --- | --- | ---
LEyeYaw | Left Eye joint (Z) | -30 to 30 | -0.52359877 to 0.52359877
LEyePitch | Left Eye joint (Y) | -20 to 20 | -0.34906585 to 0.34906585
REyeYaw | Right Eye joint (Z) | -30 to 30 | -0.52359877 to 0.52359877
REyePitch | Right Eye joint (Y) | -20 to 20 | -0.34906585 to 0.34906585

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