[ros-users] Draft REP: Coordinate Frames for Humanoids Robots

[Florent Lamiraux]

On 01/18/2012 03:02 PM, Thomas Moulard wrote:
> On Fri, Jan 13, 2012 at 11:17 AM, Armin Hornung
> <HornungA at informatik.uni-freiburg.de>  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)
>
+1 perfect for me.
Florent