On 2012-01-18 15:02, Thomas Moulard wrote: > On Fri, Jan 13, 2012 at 11:17 AM, Armin Hornung > wrote: >> Hi Thomas! >> >> I edited in the description of the base_footprint with some minor >> adjustments to keep it more general, and added a a rationale why this should >> be as described (I think this makes it easier to understand). I added >> another sentence to l/r_sole. What I don't fully understand are "It is >> recommended to choose the origin as the projection of the body center on the >> contact surface." for sole and toe. Is this the same as the sentence I added >> afterwards? Then I would suggest to change "body center" into "support body >> origin" or "support body link origin". > (I am posting your mail back to the ml so that anyone can take part in > the discussion) > > Yes this is right, I made the modification. Sounds good to me in the new form! I found the new formulation in the .txt attached to your mail but not in the online document, so I think it needs to be updated online as well. With the new sketch the gripper frames are much clearer! Is there a rationale in using x going "up" in this case (collinear) and y "towards" the object? With REP-103 I would say that x forward and z up is much more intuitive ("in relation to a body" would hereby relate to the gripper / end effector). Maybe someone familiar with the existing grapsing pipeline(s) can chime in here. Best regards, Armin -- Armin Hornung Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg Contact: http://www.informatik.uni-freiburg.de/~hornunga