Re: [ros-users] Draft REP: Coordinate Frames for Humanoids R…

Top Page
Message as email
+ (text/plain)
Delete this message
Reply to this message
Author: User discussions
To: Jack O'Quin
CC: Olivier Stasse, Antonio El Khoury, Florent Lamiraux, User discussions
Subject: Re: [ros-users] Draft REP: Coordinate Frames for Humanoids Robots
On Mon, Jan 23, 2012 at 4:06 PM, Jack O'Quin <> wrote:
> 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.

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?
Thomas Moulard