From cbde10c69ef2f2cbfad1ebfcb819c5d9a112c1f6 Mon Sep 17 00:00:00 2001
From: Tim Corbly <tcorbly@kipr.org>
Date: Thu, 22 Feb 2024 12:18:56 -0700
Subject: [PATCH] Create 2 rotation changes

---
 src/simulator/babylonBindings/RobotBinding.ts | 2 +-
 src/simulator/definitions/robots/createbot.ts | 2 +-
 src/simulator/definitions/scenes/jbcBase.ts   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/simulator/babylonBindings/RobotBinding.ts b/src/simulator/babylonBindings/RobotBinding.ts
index d59e8bac..eaa90ecb 100644
--- a/src/simulator/babylonBindings/RobotBinding.ts
+++ b/src/simulator/babylonBindings/RobotBinding.ts
@@ -530,7 +530,7 @@ class RobotBinding {
     const newOriginE = RawEuler.fromQuaternion(rawOrigin.orientation);
     const Robot_OriginE = RawEuler.fromQuaternion(rawInternalOrigin.orientation);
 
-    const default_offset = -1 * Math.PI / 2;
+    const default_offset = 0; // -1 * Math.PI / 2;
 
 
     const UpdatedEulerOrigin = RawEuler.create(
diff --git a/src/simulator/definitions/robots/createbot.ts b/src/simulator/definitions/robots/createbot.ts
index f13c1d8c..a8cb9710 100644
--- a/src/simulator/definitions/robots/createbot.ts
+++ b/src/simulator/definitions/robots/createbot.ts
@@ -138,6 +138,6 @@ export const CREATEBOT: Robot = {
   },
   origin: {
     position: Vector3wUnits.meters(0, 0.5, 0),
-    orientation: RotationwUnits.eulerDegrees(0, 0, 90),
+    orientation: RotationwUnits.eulerDegrees(0, 0, 45),
   }
 };
\ No newline at end of file
diff --git a/src/simulator/definitions/scenes/jbcBase.ts b/src/simulator/definitions/scenes/jbcBase.ts
index ed10f58f..8e0055e6 100644
--- a/src/simulator/definitions/scenes/jbcBase.ts
+++ b/src/simulator/definitions/scenes/jbcBase.ts
@@ -13,7 +13,7 @@ import Dict from '../../../util/objectOps/Dict';
 
 const ROBOT_ORIGIN: ReferenceFramewUnits = {
   position: Vector3wUnits.centimeters(0, 0, 0),
-  orientation: RotationwUnits.eulerDegrees(0, 0, 0),
+  orientation: RotationwUnits.eulerDegrees(0, -45, 0),
 };
 
 const ROBOT: Node.Robot = {