Body frames

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

juliet_xyz

Torso

(o, R) is located on: Torso .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_torso.png

Neck

(o, R) is located on: HeadYaw .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_headyaw.png

Left Shoulder

(o, R) is located on: LShoulderPitch .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_lshoulderpitch.png

Left Bicep

(o, R) is located on: LShoulderRoll .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_lshoulderroll.png

Left Elbow

(o, R) is located on: LElbowYaw .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_lelbowyaw.png

Left ForeArm

(o, R) is located on: LElbowRoll .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_lelbowroll.png

Left Hand with fingers

(o, R) is located on: LWristYaw .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_lwristyaw.png

Hip

(o, R) is located on: HipRoll .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_hiproll.png

Thighs

(o, R) is located on: HipPitch .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_hippitch.png

Base

(o, R) is located on: KneePitch .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_kneepitch.png

Wheel - Front Left

(o, R) is located on: WheelFL .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_wheelfl.png

Wheel - Front Right

(o, R) is located on: WheelFR .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_wheelfr.png

Wheel - Back

(o, R) is located on: WheelB .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_wheelb.png

Right Shoulder

(o, R) is located on: RShoulderPitch .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_rshoulderpitch.png

Right Bicep

(o, R) is located on: RShoulderRoll .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_rshoulderroll.png

Right Elbow

(o, R) is located on: RElbowYaw .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_relbowyaw.png

Right ForeArm

(o, R) is located on: RElbowRoll .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_relbowroll.png

Right Hand with fingers

(o, R) is located on: RWristYaw .

https://developers.softbankrobotics.com/sites/default/files/repository/56_html_nao/_images/mass_rwristyaw.png