Fix naming of pregrasp constraints for handle. Add TODO

include/hpp/manipulation/axial-handle.hh

@@ -66,6 +66,8 @@ namespace hpp {
       /// \return the constraint of relative transformation between the handle and
       ///         the gripper.
       /// \note The translation along x-axis and the rotation around z-axis are not constrained.
+      /// \todo this function is never called. It should follow changes of
+      ///       Handle::createPreGrasp prototype.
       virtual NumericalConstraintPtr_t createPreGrasp
       (const GripperPtr_t& gripper) const;
 

src/handle.cc

@@ -111,7 +111,7 @@ namespace hpp {
         * Transform3f (fcl::Vec3f (shift,0,0));
       return NumericalConstraintPtr_t
 	(NumericalConstraint::create (RelativeTransformation::create
-				      ("Transformation_(0,1,1,1,1,1)_" + name ()
+				      ("Transformation_(1,1,1,1,1,1)_" + name ()
 				       + "_" + gripper->name (),
 				       gripper->joint()->robot(),
 				       gripper->joint (), joint (),