## Motion Planning - Picking Angle Change

Typically: "How do I... ", "How can I... " questions
alix
Posts: 61
Joined: 17 Sep 2019, 14:48

### Motion Planning - Picking Angle Change

Hi,
I have seen MotionPlaningandGrasping.ttt Scene. I am using Jaco with that code. It approaches the target from side . I wanted to know that how can i make it reach the target from the top angle. Like how this baxter is picking : https://imgur.com/ShgxfhN
where and what changing will be required ???
for now my picking angle is same as it picks the glass in the given scene.
Thanks

fferri
Posts: 556
Joined: 09 Sep 2013, 19:28

### Re: Motion Planning - Picking Angle Change

Change the second argument (localShift) of getShiftedMatrix() to something else (i.e. in lines 429, 447, 507, 527).