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

# Romeo - Chain & Effector definitions

See also

Romeo - Developer guide

## Chains

A Chain may contain:

- the Joints of a limb (Trunk, Head, LLeg, RLeg) or
- the Joints + the Actuators of a limb (LArm, RArm).

The table below lists the chains and all the Joints and Actuators included in each:

Body is ... | Trunk + Head + LEye + REye + LArm + LLeg + RLeg + RArm

The chain ... | Trunk | Head | LEye | REye
--- | --- | --- | --- | ---
involves ... | TrunkYaw | NeckYaw | LEyeYaw | REyeYaw
| NeckPitch | LEyePitch | REyePitch
| HeadPitch |  |
| HeadRoll |  |

The chain ... | LArm | LLeg | RLeg | RArm
--- | --- | --- | --- | ---
involves ... | LShoulderPitch | LHipYaw | RHipYaw | RShoulderPitch
LShoulderYaw | LHipRoll | RHipRoll | RShoulderYaw
LElbowRoll | LHipPitch | RHipPitch | RElbowRoll
LElbowYaw | LKneePitch | RKneePitch | RElbowYaw
LWristRoll | LAnklePitch | RAnklePitch | RWristRoll
LWristYaw | LAnkleRoll | RAnkleRoll | RWristYaw
LWristPitch |  |  | RWristPitch
LHand |  |  | RHand

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