{"action":"opened","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1321","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1321/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1321/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1321/events","html_url":"https://github.com/RobotLocomotion/drake/issues/1321","id":105077902,"number":1321,"title":"magic number in TaskSpaceMotionPlanningTree","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":0,"created_at":"2015-09-06T07:56:48Z","updated_at":"2015-09-06T07:56:48Z","closed_at":null,"body":"@avalenzu , What's the reason for this magic number - 0.9?\r\n\r\nhttps://github.com/RobotLocomotion/drake/blame/master/drake/solvers/TaskSpaceMotionPlanningTree.m#L43\r\n\r\n    function obj = setMinDistance(obj, min_distance)\r\n      for i = 1:obj.num_trees\r\n        obj.trees{i}.min_distance = 0.9*min_distance;\r\n      end\r\n    end"}}