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sheet_point = pose_trans(WorldPos, pose_trans(PalletCenter, p[X, Y, LayerAlt, 3.1415, 0, 0]))
where X and Y (The unit is meter) are the corresponding distances of the TCP from the center point of the shim paper (in the Cartesian coordinate system of the current TCP). Otherwise use 0, 0 so the paper center will exactly match the pallet center.
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