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 .

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_thoraxmass_v6.png

Neck

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_neckmass_3.3.png

Left Shoulder

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rshouldermass_3.3.png

Left Biceps

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rbicepmass_3.3.png

Left Elbow

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_relbowmass_3.3.png

Left ForeArm

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rmotorizedforearmmass_3.3.png

Left Hand

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rmotorizedhandmass_3.3.png

Left Pelvis

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rpelvismass_3.3.png

Left Hip

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rhipmass_3.3.png

Left Thigh

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rthighmass_3.3.png

Left Tibia

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rtibiamass_3.3.png

Left Ankle

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_ranklemass_3.3.png

Left Foot

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rfootmass_3.3.png

Right Shoulder

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rshouldermass_3.3.png

Right Biceps

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rbicepmass_3.3.png

Right Elbow

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_relbowmass_3.3.png

Right ForeArm

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rmotorizedforearmmass_3.3.png

Right Hand

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rmotorizedhandmass_3.3.png

Right Pelvis

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rpelvismass_3.3.png

Right Hip

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rhipmass_3.3.png

Right Thigh

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rthighmass_3.3.png

Right Tibia

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rtibiamass_3.3.png

Right Ankle

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_ranklemass_3.3.png

Right Foot

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

https://developers.softbankrobotics.com/sites/default/files/repository/51_html_nao/_images/hardware_rfootmass_3.3.png