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

# Body frames

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

## Torso

(o, R) is located on: Torso.

## Neck

(o, R) is located on the joint: HeadYaw.

## Head

(o, R) is located on the joint: HeadPitch.

## Left Shoulder

(o, R) is located on the joint: LShoulderPitch.

## Left Biceps

(o, R) is located on the joint: LShoulderRoll.

## Left Elbow

(o, R) is located on the joint: LElbowYaw.

## Left ForeArm

(o, R) is located on the joint: LElbowRoll.

## Left Hand

(o, R) is located on the joint: LWristYaw.

## Left Pelvis

(o, R) is located on the joint: LHipYawPitch.

## Left Hip

(o, R) is located on the joint: LHipRoll.

## Left Thigh

(o, R) is located on the joint: LHipPitch.

## Left Tibia

(o, R) is located on the joint: LKneePitch.

## Left Ankle

(o, R) is located on the joint: LAnklePitch.

## Left Foot

(o, R) is located on the joint: LAnkleRoll.

## Right Shoulder

(o, R) is located on the joint: RShoulderPitch.

## Right Biceps

(o, R) is located on the joint: RShoulderRoll.

## Right Elbow

(o, R) is located on the joint: RElbowYaw.

## Right ForeArm

(o, R) is located on the joint: RElbowRoll.

## Right Hand

(o, R) is located on the joint: RWristYaw.

## Right Pelvis

(o, R) is located on the joint: RHipYawPitch.

## Right Hip

(o, R) is located on the joint: RHipRoll.

## Right Thigh

(o, R) is located on the joint: RHipPitch.

## Right Tibia

(o, R) is located on the joint: RKneePitch.

## Right Ankle

(o, R) is located on the joint: RAnklePitch.

## Right Foot

(o, R) is located on the joint: RAnkleRoll.

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