Set arm constraints based on useCollision flag
Set arm constraints based on useCollision flag

If using collision, the arm constraint for a reach defaults to orbit, otherwise
it defaults to ee fixed.

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro