On Thu, Feb 2, 2012 at 3:59 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:
> On Thu, Feb 2, 2012 at 8:06 AM, Thomas Moulard <thomas.moulard@gmail.com> wrote:
>> On Mon, Jan 23, 2012 at 4:06 PM, Jack O'Quin <jack.oquin@gmail.com> wrote:
>
>>> 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.
>>
>> Sorry for the delay.
>> What would be your proposition, removing the scheme and just adding that
>> the frames is oriented as X toward the object and Y the object main axis?
>
> Definitely, X toward the object.
>
> I propose Y to be the main dimension in which the "fingers" of the
> gripper move. Some hand-like or claw-like devices may not fit that
> notion very well, but it can probably be defined in a way that is at
> least understandable.
>
> Z would be the remaining dimension, orthogonal to X and Y.

Ok. I updated the REP to match the new orientation.
Is there any additional suggestions?
-- 
Thomas Moulard