Motion Planning - Picking Angle Change

[alix]

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]

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