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Documentation
Nao's URDF description contains all joints and links according to the documentation by Aldebaran Robotics for V3 and V4 Naos. In accordance with REP-105 (Coordinate Frames for Mobile Platforms) and REP-120 (Coordinate Frames for Humanoid Robots) the root link is base_link, directly connected to torso. The camera frames are CameraBottom_frame and CameraTop_frame. nao_remote publishes the odom -> base_link transform and a base_footprint frame, projected between the feet on the ground. The defined links for the end effectors are [l|r]_gripper for the arms and [l|r]_sole for the feet.
