On Mon, Jan 23, 2012 at 8:01 AM, Armin Hornung wrote: > On 2012-01-18 15:02, Thomas Moulard wrote: >> >> On Fri, Jan 13, 2012 at 11:17 AM, Armin Hornung >>  wrote: > 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. I like that sketch, but agree with Armin that the coordinate axes shown there are quite surprising. REP-0103 says: "In relation to a body the standard is: x forward, y left, z up". While "up" may seem arbitrary for a gripper, "forward" suggests the direction to which it is extended. --  joq