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

# Romeo - Links

See also

Romeo - Developer guide

## Dimensions overview

## Link definition

Links are defined using:

- Joint names and,
- a point called Torso, located at the trunk of the robot.

Check Romeo - Masses to visualize them.

Axis definition

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

## Head

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | NeckYaw | 0 | 0 | 93.5
NeckYaw | NeckPitch | 0 | 0 | 0
NeckPitch | HeadPitch | 0 | 0 | 95.11
HeadPitch | HeadRoll | 0 | 0 | 0

## Arms

Left

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | LShoulderPitch | 5 | 188.75 | 0
LShoulderPitch | LShoulderYaw | 0 | 0 | 0
LShoulderYaw | LElbowRoll | 215.5 | 0 | 0
LElbowRoll | LElbowYaw | 0 | 0 | 0
LElbowYaw | LWristRoll | 190.6 | 0 | 0
LWristRoll | LWristYaw | 0 | 0 | 0
LWristYaw | LWristPitch | 0 | 0 | 0

Right

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | RShoulderPitch | 5 | -188.75 | 0
RShoulderPitch | RShoulderYaw | 0 | 0 | 0
RShoulderYaw | RElbowRoll | 215.5 | 0 | 0
RElbowRoll | RElbowYaw | 0 | 0 | 0
RElbowYaw | RWristRoll | 190.6 | 0 | 0
RWristRoll | RWristYaw | 0 | 0 | 0
RWristYaw | RWristPitch | 0 | 0 | 0

## Trunk

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
Torso | TrunkYaw | 0 | 0 | -71.7

## Legs

Left

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
TrunkYaw | LHipYaw | 0 | 96 | -344.3
LHipYaw | LHipRoll | 0 | 0 | 0
LHipRoll | LHipPitch | 0 | 0 | 0
LHipPitch | LKneePitch | 0 | 0 | -321.1
LKneePitch | LAnklePitch | 0 | 0 | -290.1
LAnklePitch | LAnkleRoll | 0 | 0 | 0
LAnkleRoll | LToePitch | 118.0 | 0 | -41.4

Right

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
TrunkYaw | RHipYaw | 0 | -96 | -344.3
RHipYaw | RHipRoll | 0 | 0 | 0
RHipRoll | RHipPitch | 0 | 0 | 0
RHipPitch | RKneePitch | 0 | 0 | -321.1
RKneePitch | RAnklePitch | 0 | 0 | -290.1
RAnklePitch | RAnkleRoll | 0 | 0 | 0
RAnkleRoll | RToePitch | 118.0 | 0 | -41.4

## Hands

From ... | To ... | X (mm) | Y (mm) | Z (mm)
--- | --- | --- | --- | ---
LWristPitch | LFinger1 | 109.37 | 24.68 | 3.29
LWristPitch | LFinger2 | 115.25 | 0.00 | 3.29
LWristPitch | LFinger3 | 99.36 | -24.78 | 3.29
LWristPitch | LThumb | 71.15 | 24.65 | -12.33

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