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

# Links

## Length overview

## Link definition

Links are defined using:

- Joint names and,
- a point called Torso, located at -38.00 X (mm) and 169.90 Z (mm) from HeadYaw.

See Body frames to visualize them.

Axis definition

The X axis is positive toward robot’s front, the Y from right to left and the Z is vertical.

## Head

NeckOffsetZ
  169.90

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | HeadYaw | -38.00 | 0.00 | 169.90
HeadYaw | HeadPitch | 0.00 | 0.00 | 0.00

## Arms

ShoulderOffsetY
  149.74
ElbowOffsetY
  15.00
UpperArmLength
  181.20
LowerArmLength
  150.0
ShoulderOffsetZ
  86.82
HandOffsetX
  69.5
HandOffsetZ
  30.3

Left

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | LShoulderPitch | -57.00 | 149.74 | 86.82
LShoulderPitch | LShoulderRoll | 0.00 | 0.00 | 0.00
LShoulderRoll | LElbowYaw | 181.20 | 15.00 | 0.13
LElbowYaw | LElbowRoll | 0.00 | 0.00 | 0.00
LElbowRoll | LWristYaw | 150.00 | 23.60 | 22.84
LWristYaw | LHandCenter | 69.5 | 0.00 | -30.30

Right

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | RShoulderPitch | -57.00 | -149.74 | 86.82
RShoulderPitch | RShoulderRoll | 0.00 | 0.00 | 0.00
RShoulderRoll | RElbowYaw | 181.20 | -15.00 | 0.13
RElbowYaw | RElbowRoll | 0.00 | 0.00 | 0.00
RElbowRoll | RWristYaw | 150.00 | 23.60 | 22.84
RWristYaw | RHandCenter | 69.5 | 0.00 | -30.30

## Fingers

Left

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
LWristYaw | LFinger11 | 72.10 | -26.80 | 4.00
LFinger11 | LFinger12 | 18.00 | 0.00 | 0.00
LFinger12 | LFinger13 | 18.00 | 0.00 | 0.00
LWristYaw | LFinger21 | 77.30 | -7.30 | 6.00
LFinger21 | LFinger22 | 18.00 | 0.00 | 0.00
LFinger22 | LFinger23 | 18.00 | 0.00 | 0.00
LWristYaw | LFinger31 | 73.30 | 12.30 | 4.00
LFinger31 | LFinger32 | 18.00 | 0.00 | 0.00
LFinger32 | LFinger33 | 18.00 | 0.00 | 0.00
LWristYaw | LFinger41 | 64.00 | 30.90 | 0.00
LFinger41 | LFinger42 | 18.00 | 0.00 | 0.00
LFinger42 | LFinger43 | 18.00 | 0.00 | 0.00
LWristYaw | LThumb1 | 38.20 | -35.70 | -19.90
LThumb1 | LThumb2 | 22.00 | 0.00 | 0.00

Right

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
RWristYaw | RFinger11 | 72.10 | 26.80 | 4.00
RFinger11 | RFinger12 | 18.00 | 0.00 | 0.00
RFinger12 | RFinger13 | 18.00 | 0.00 | 0.00
RWristYaw | RFinger21 | 77.30 | 7.30 | 6.00
RFinger21 | RFinger22 | 18.00 | 0.00 | 0.00
RFinger22 | RFinger23 | 18.00 | 0.00 | 0.00
RWristYaw | RFinger31 | 73.30 | -12.30 | 4.00
RFinger31 | RFinger32 | 18.00 | 0.00 | 0.00
RFinger32 | RFinger33 | 18.00 | 0.00 | 0.00
RWristYaw | RFinger41 | 64.00 | -30.90 | 0.00
RFinger41 | RFinger42 | 18.00 | 0.00 | 0.00
RFinger42 | RFinger43 | 18.00 | 0.00 | 0.00
RWristYaw | RThumb1 | 38.20 | 35.70 | -19.90
RThumb1 | RThumb2 | 22.00 | 0.00 | 0.00

Angle between two phalanges: 50 degrees.

Left

“LFinger11”: RotZ(-10.5)*RotX(5.0)

“LFinger21”: RotZ(-3.5)*RotX(0.0)

“LFinger31”: RotZ(3.5)*RotX(-3.0)

“LFinger41”: RotZ(12.5)*RotX(-5.0)

“LThumb1”: RotX(180.0)*RotZ(67.4)*RotY(-70.7)*RotX(-110.0)

Right

“RFinger11”: RotZ(10.5)*RotX(-5.0)

“RFinger21”: RotZ(3.5)*RotX(0.0)

“RFinger31”: RotZ(-3.5)*RotX(3.0)

“RFinger41”: RotZ(-12.5)*RotX(5.0)

“RThumb1”: RotX(180.0)*RotZ(-67.4)*RotY(-70.7)*RotX(110.0)

## Leg

WaistOffsetZ
  139.00 mm
HipOffsetZ
  79.00 mm
ThighLength
  268.00 mm
TibiaLength
  264.00 mm
WheelRadius
  70 mm
WheelCenterOffset
  6.20 mm

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | HipRoll | 0.02 | 0.00 | -139.00
HipRoll | HipPitch | 0.00 | 0.00 | -79.00
HipPitch | KneePitch | 0.00 | 0.00 | -268.00
KneePitch | WheelFL | 90.00 | 155.79 | -264.00
KneePitch | WheelFR | 90.00 | -155.79 | -264.00
KneePitch | WheelB | -170.00 | 0.00 | -264.00

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