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ADVRHumanoids / ROSEndEffector

ROS End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-effectors in an agnostic fashion
Apache License 2.0
27 stars 6 forks source link

Change primitive name of PinchStrong and PinchWeak #33

Closed torydebra closed 4 years ago

torydebra commented 4 years ago

One of the most difficult part in programming: names. As Nikos suggested, Strong and Weak can make think about forces, and it is not the case. Should we change the names? If so, we need some adjectives to indicate a pinch where the tips collide (so, I called it "strong" because it was a "better" pinch") and do not collide (previously "weak").

torydebra commented 4 years ago

Some ideas: PinchCollision and PinchDistance, which gives also the idea of how these are defined Tight and Loose Close, Near and distant, far, away

liesrock commented 4 years ago

Did you find something in the literature on this? I am not super convinced...

torydebra commented 4 years ago

Did you find something in the literature on this? I am not super convinced...

No, but I think it is not so easy find something, these subdivision of pinches is a lot specific for our purpose... I will check anyway

torydebra commented 4 years ago

In literature, the famous [Cutkosky 1989] the pinch is called :

precision grasp – a grasp where the object is held with the tips of fingers

Other works speaks about palmar pinch, tip pinch but they are related to the object grasped, while in out work the object is not considered

liesrock commented 4 years ago

I see: since in the taxonomy (https://www.is.mpg.de/uploads_file/attachment/attachment/256/grasp_taxonomy.pdf) there is only what you reported in the SoA, I would go for what Nikos suggested:

Since we are not referring to the target object to grasp, I think the above is the best choice we have.

torydebra commented 4 years ago

Changed name in tight and loose in another branch. As soon the other pull request #39 is solved, I will merge devel into this branch and force push it into devel

ntsagarakis commented 4 years ago

Indeed not easy. Even tight and loose do not self explain what we mean but I cannot think anything better.

torydebra commented 4 years ago

Ahah naming is one of the most diffcult part to do always. However, I changed in 5617a56af6213e91078b08d469558422d4039949, I can change again in future if some better names come us in mind.