# 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.

## Torso

(o, R) is located on: Torso.

## Neck

(o, R) is located on: HeadYaw.

## Head

(o, R) is located on: HeadPitch.

## Left Shoulder

(o, R) is located on: LShoulderPitch.

## Left Bicep

(o, R) is located on: LShoulderRoll.

## Left Elbow

(o, R) is located on: LElbowYaw.

## Left ForeArm

(o, R) is located on: LElbowRoll.

## Left Hand with fingers

(o, R) is located on: LWristYaw.

## Hip

(o, R) is located on: HipRoll.

## Thighs

(o, R) is located on: HipPitch.

## Base

(o, R) is located on: KneePitch.

## Wheel - Front Left

(o, R) is located on: WheelFL.

## Wheel - Front Right

(o, R) is located on: WheelFR.

## Wheel - Back

(o, R) is located on: WheelB.

## Right Shoulder

(o, R) is located on: RShoulderPitch.

## Right Bicep

(o, R) is located on: RShoulderRoll.

## Right Elbow

(o, R) is located on: RElbowYaw.

## Right ForeArm

(o, R) is located on: RElbowRoll.

## Right Hand with fingers

(o, R) is located on: RWristYaw.

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