{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/director/issues/95","labels_url":"https://api.github.com/repos/RobotLocomotion/director/issues/95/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/director/issues/95/comments","events_url":"https://api.github.com/repos/RobotLocomotion/director/issues/95/events","html_url":"https://github.com/RobotLocomotion/director/issues/95","id":112776932,"number":95,"title":"odd logic in teleoppannel.py","user":{"login":"mauricefallon","id":6404227,"avatar_url":"https://avatars.githubusercontent.com/u/6404227?v=3","gravatar_id":"","url":"https://api.github.com/users/mauricefallon","html_url":"https://github.com/mauricefallon","followers_url":"https://api.github.com/users/mauricefallon/followers","following_url":"https://api.github.com/users/mauricefallon/following{/other_user}","gists_url":"https://api.github.com/users/mauricefallon/gists{/gist_id}","starred_url":"https://api.github.com/users/mauricefallon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mauricefallon/subscriptions","organizations_url":"https://api.github.com/users/mauricefallon/orgs","repos_url":"https://api.github.com/users/mauricefallon/repos","events_url":"https://api.github.com/users/mauricefallon/events{/privacy}","received_events_url":"https://api.github.com/users/mauricefallon/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-10-22T10:48:26Z","updated_at":"2015-10-22T11:39:25Z","closed_at":null,"body":"When debugging https://github.com/RobotLocomotion/director/pull/90 I noticed that this doesn't do anything:\r\n\r\n          if self.panel.ikPlanner.defaultIkParameters.useCollision:\r\n            self.setLHandConstraint('ee fixed')\r\n          else:\r\n            self.setLHandConstraint('ee fixed')\r\n        elif side == 'right':\r\n          if self.panel.ikPlanner.defaultIkParameters.useCollision:\r\n            self.setRHandConstraint('ee fixed')\r\n          else:\r\n            self.setRHandConstraint('ee fixed')\r\n\r\n...In teleoppanel.py\r\n\r\nAny idea what the intention was? Andres added is some time ago"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/director/issues/comments/150193808","html_url":"https://github.com/RobotLocomotion/director/issues/95#issuecomment-150193808","issue_url":"https://api.github.com/repos/RobotLocomotion/director/issues/95","id":150193808,"user":{"login":"patmarion","id":90784,"avatar_url":"https://avatars.githubusercontent.com/u/90784?v=3","gravatar_id":"","url":"https://api.github.com/users/patmarion","html_url":"https://github.com/patmarion","followers_url":"https://api.github.com/users/patmarion/followers","following_url":"https://api.github.com/users/patmarion/following{/other_user}","gists_url":"https://api.github.com/users/patmarion/gists{/gist_id}","starred_url":"https://api.github.com/users/patmarion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/patmarion/subscriptions","organizations_url":"https://api.github.com/users/patmarion/orgs","repos_url":"https://api.github.com/users/patmarion/repos","events_url":"https://api.github.com/users/patmarion/events{/privacy}","received_events_url":"https://api.github.com/users/patmarion/received_events","type":"User","site_admin":false},"created_at":"2015-10-22T11:39:25Z","updated_at":"2015-10-22T11:39:25Z","body":"I think we can remove it now.  I think when Andres was testing he would set the constraint to something other than 'ee fixed' when collision was enabled (He'd set to 'orbit', which is a fancier reach constraint that only works for certain affordances).  But before merging into master he set it back to 'ee fixed', so it's just extra logic that doesn't do anything."}}