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-rw-r--r--host/simu/robots/apbirthday/model/gifts_arm.py4
1 files changed, 3 insertions, 1 deletions
diff --git a/host/simu/robots/apbirthday/model/gifts_arm.py b/host/simu/robots/apbirthday/model/gifts_arm.py
index 5bbcd817..0f43bc6a 100644
--- a/host/simu/robots/apbirthday/model/gifts_arm.py
+++ b/host/simu/robots/apbirthday/model/gifts_arm.py
@@ -24,6 +24,7 @@
"""APBirthday gifts arm model."""
from utils.observable import Observable
from simu.utils.vector import vector
+from math import pi
class GiftsArm (Observable):
@@ -37,7 +38,8 @@ class GiftsArm (Observable):
def __arm_notified (self):
if self.arm_cyl.pos > .9:
push_point = (vector (self.robot_position.pos)
- + vector.polar (self.robot_position.angle - 90, 140 + 70))
+ + vector.polar (self.robot_position.angle - pi / 2, 140 + 100)
+ - vector.polar (self.robot_position.angle, 100))
gift = self.table.nearest (push_point, level = 0, max = 150)
if gift is not None and hasattr (gift, 'state'):
gift.state = True