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

# Links

## Length overview

## Link definition

Links are defined using:

- Joint names (see Joints and Masses section to visualize them) and,
- a point called Torso, located at - 126.50 Z (mm) from HeadYaw.

Axis definition

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

## Head

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | HeadYaw | 0.00 | 0.00 | 126.50
HeadYaw | HeadPitch | 0.00 | 0.00 | 0.00

Main length (mm)
NeckOffsetZ | 126.50

## Arms

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | LShoulderPitch | 0.00 | 98.00 | 100.00
LShoulderPitch | LShoulderRoll | 0.00 | 0.00 | 0.00
LShoulderRoll | LElbowYaw | 105.00 | 15.00 | 0.00
LElbowYaw | LElbowRoll | 0.00 | 0.00 | 0.00
LElbowRoll | LWristYaw | 55.95 | 0.00 | 0.00

Main length (mm)
ShoulderOffsetY | 98.00
ElbowOffsetY | 15.00
UpperArmLength | 105.00
LowerArmLength | 55.95
ShoulderOffsetZ | 100.00
HandOffsetX | 57.75
HandOffsetZ | 12.31

## Fingers

Left

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
LWristYaw | LFinger11 | 69.07 | 11.57 | -3.04
LFinger11 | LFinger12 | 14.36 | 0.00 | 0.00
LFinger12 | LFinger13 | 14.36 | 0.00 | 0.00
LWristYaw | LFinger21 | 69.07 | -11.57 | -3.04
LFinger21 | LFinger22 | 14.36 | 0.00 | 0.00
LFinger22 | LFinger23 | 14.36 | 0.00 | 0.00
LWristYaw | LThumb1 | 48.95 | 0.00 | -26.38
LThumb1 | LThumb2 | 14.36 | 0.00 | 0.00

Right

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
RWristYaw | RFinger11 | 69.07 | 11.57 | -3.04
RFinger11 | RFinger12 | 14.36 | 0.00 | 0.00
RFinger12 | RFinger13 | 14.36 | 0.00 | 0.00
RWristYaw | RFinger21 | 69.07 | -11.57 | -3.04
RFinger21 | RFinger22 | 14.36 | 0.00 | 0.00
RFinger22 | RFinger23 | 14.36 | 0.00 | 0.00
RWristYaw | RThumb1 | 48.95 | 0.00 | -26.38
RThumb1 | RThumb2 | 14.36 | 0.00 | 0.00

Angles

Angle between two phalanges: 57.29 degrees

Left

“LFinger11”: RotX(10.0)

“LFinger21”: RotX(-10.0)

“LThumb1”: RotX(180.0)*RotY(-60.0)

Right

“RFinger11”: RotX(10.0)

“RFinger21”: RotX(-10.0)

“RThumb1”: RotX(180.0)*RotY(-60.0)

## Legs

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | LHipYawPitch | 0.00 | 50.00 | -85.00
LHipYawPitch | LHipRoll | 0.00 | 0.00 | 0.00
LHipRoll | LHipPitch | 0.00 | 0.00 | 0.00
LHipPitch | LKneePitch | 0.00 | 0.00 | -100.00
LKneePitch | LAnklePitch | 0.00 | 0.00 | -102.90
LAnklePitch | LAnkleRoll | 0.00 | 0.00 | 0.00

Main length (mm)
HipOffsetZ | 85.00
HipOffsetY | 50.00
ThighLength | 100.00
TibiaLength | 102.90
FootHeight | 45.19

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