odd logic in teleoppannel.py

[mauricefallon]

When debugging https://github.com/RobotLocomotion/director/pull/90 I noticed that this doesn't do anything:

      if self.panel.ikPlanner.defaultIkParameters.useCollision:
        self.setLHandConstraint('ee fixed')
      else:
        self.setLHandConstraint('ee fixed')
    elif side == 'right':
      if self.panel.ikPlanner.defaultIkParameters.useCollision:
        self.setRHandConstraint('ee fixed')
      else:
        self.setRHandConstraint('ee fixed')

...In teleoppanel.py

Any idea what the intention was? Andres added is some time ago

[patmarion]

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.

[avalenzu]

That sounds about right, Pat. Sorry for the mysterious, do-nothing code!

On Thu, Oct 22, 2015 at 7:39 AM Pat Marion [email protected] wrote:

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.

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