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

# NAOqi API & SDKs - 2.8

## Former DCM replaced by LoLA

DCM has been completely redesigned. The new version is now called LoLA.

## Motion

### Sensor feedback more deterministic and reliable

Thanks to the introduction of LoLA, the motor control and sensor feedback are more deterministic and reliable.

### NAO V6 kinematic model

A new model, with NAO V6 masses is now supported.

For further details, see: URDF file.

### New Diagnosis reflexes

ALDiagnosis now take in account:

- motor board passive diagnosis errors, and
- motor board temperature errors.

As a result, the following new behaviors are introduced on NAO:

- Put life in safeguard state when a critical error happen.
- Go to rest when leg joints are too hot.

For further details, see: ALDiagnosis and Diagnosis effect.

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