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

# Romeo - Masses

See also

Romeo - Developer guide

## Introduction

This page details the mass, center of mass and inertial matrix of each solid (S) on the right side of Romeo.

The center of mass position and the inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).

All solids (S) and local coordinate system are described relative to the zero posture: standing with straight legs and arms pointing forwards).

## Trunk

### Torso

(o, R) is located on: Torso.

### TrunkYaw

(o, R) is located on: TrunkYaw.

## Head

### NeckYaw

(o, R) is located on: NeckYaw.

### NeckPitch

(o, R) is located on: NeckPitch.

### HeadPitch

### HeadRoll

## Left Arm

### LShoulderPitch

### LShoulderYaw

### LElbowRoll

### LElbowYaw

### LWristRoll

### LWristYaw

### LWristPitch

## Right Arm

### RShoulderPitch

### RShoulderYaw

### RElbowRoll

### RElbowYaw

### RWristRoll

### RWristYaw

## RWristPitch

## Left Leg

### LHipYaw

### LHipRoll

### LHipPitch

### LKneePitch

### LAnklePitch

### LAnkleRoll

### LToePitch

### LAnkleRollBasic

It is the combination of LAnkleRoll and LToePitch.

## Right Leg

### RHipYaw

### RHipRoll

### RHipPitch

### RKneePitch

### RAnklePitch

### RAnkleRoll

### RToePitch

### RAnkleRollBasic

It is the combination of RAnkleRoll and RToePitch.

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