CoppeliaSim forums

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

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