{"action":"closed","issue":{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/43","labels_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/43/labels{/name}","comments_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/43/comments","events_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/43/events","html_url":"https://github.com/robotology/mex-wholebodymodel/issues/43","id":112628132,"number":43,"title":"[Interface] Remove wbm_setWorldLink ? ","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/labels/Component:%20Interface","name":"Component: Interface","color":"d4c5f9"}],"state":"closed","locked":false,"assignee":{"login":"naveenoid","id":3089530,"avatar_url":"https://avatars.githubusercontent.com/u/3089530?v=3","gravatar_id":"","url":"https://api.github.com/users/naveenoid","html_url":"https://github.com/naveenoid","followers_url":"https://api.github.com/users/naveenoid/followers","following_url":"https://api.github.com/users/naveenoid/following{/other_user}","gists_url":"https://api.github.com/users/naveenoid/gists{/gist_id}","starred_url":"https://api.github.com/users/naveenoid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveenoid/subscriptions","organizations_url":"https://api.github.com/users/naveenoid/orgs","repos_url":"https://api.github.com/users/naveenoid/repos","events_url":"https://api.github.com/users/naveenoid/events{/privacy}","received_events_url":"https://api.github.com/users/naveenoid/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/milestones/1","html_url":"https://github.com/robotology/mex-wholebodymodel/milestones/Cleanup","labels_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/milestones/1/labels","id":1368372,"number":1,"title":"Cleanup","description":"Cleaning up the repo. ","creator":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"open_issues":7,"closed_issues":1,"state":"open","created_at":"2015-10-21T14:30:50Z","updated_at":"2015-11-03T15:30:34Z","due_on":null,"closed_at":null},"comments":8,"created_at":"2015-10-21T16:26:13Z","updated_at":"2015-11-03T15:30:34Z","closed_at":"2015-11-03T15:30:34Z","body":"A lot of users have been confused by the semantics of the `setWorldLink` function https://github.com/robotology/mex-wholebodymodel/issues/26 and now it is possible to use all the functions by directly passing the complete state https://github.com/robotology/mex-wholebodymodel/issues/27 . \r\n\r\nIf no code it is supposed to use this function, perhaps it is a better idea to just remove it from the interface, to avoid confusion/misuse by the users? \r\n\r\nAfter that, for symmetry with all existing calls, it could make sense to have an updateState in which you pass all the state, with also the base position (basically a combination of setWorldFrame + updateState ). \r\n\r\nIn this way we would be more consistent with all the existing interfaces. "}}