{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/248","repository_url":"https://api.github.com/repos/ros-industrial/universal_robot","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/248/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/248/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/248/events","html_url":"https://github.com/ros-industrial/universal_robot/pull/248","id":161523919,"number":248,"title":"Removed prefix code which prevented the plugin from being used for mu…","user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":26,"created_at":"2016-06-21T19:50:15Z","updated_at":"2016-07-12T19:29:39Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/248","html_url":"https://github.com/ros-industrial/universal_robot/pull/248","diff_url":"https://github.com/ros-industrial/universal_robot/pull/248.diff","patch_url":"https://github.com/ros-industrial/universal_robot/pull/248.patch"},"body":"…ltiple arms on one robot. The prefix code does nothing anyway, all it does is check/confirm that the chain contains links for a UR robot, which one can assume outside of this code that it is being used for a UR robot\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/232153553","html_url":"https://github.com/ros-industrial/universal_robot/pull/248#issuecomment-232153553","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/248","id":232153553,"user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"created_at":"2016-07-12T19:29:39Z","updated_at":"2016-07-12T19:29:39Z","body":"> The only thing I'd like to see is a mechanism to prevent user configuration errors from having actualy, real world consequences because the IK plugin is happily returning solutions for chains it doesn't know anything about, but is configured to solve for.\r\n\r\nWhich is exactly what every other IKFast plugin but this particular one does. The only problem I see with this PR is that it will bring this plugins behaviour inline with all of the rest and thus change the IK solutions given to existing programs. But maybe I misunderstand.\r\n\r\nIf I do understand, then how about looping over the looping over the link names from the move-group and finding the index of the first element in the chain of links that *ends with* the hard-coded names.\r\n\r\nThis ensures that:\r\n 1. We do some kind of check for the appropriate joints\r\n 2. We don't change the behaviour (as `ur_joint_inds_start_` will still be set)\r\n 3. and we don't have some stupid magical prefix parameter but rather infer it from the model"}}
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