This page contains a short and a more detailed description of the global variable: PalletNr, that is reachable from the Pally URCap:
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In Short: PalletNr
PalletNrAn integer representing the current pallet, either left or right pallet, that is being palletized. Possible values
ExampleIf the right pallet is marked as ready for palletizing, and Pally starts placing boxes on it - then:
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In Detail: PalletNr
The PalletNr is used to represent if the right or left pallet is currently being palletized. The variable can only take one of two values:
PalletNr = 1: Right pallet is being palletizedPalletNr = 2: Left pallet is being palletized
This information can be useful in numerous circumstances, one such circumstance is if the robot is to complete custom movements that differ for the left and right pallets. Say pose_left and pose_right are pre-defined pose variables that contain the robot’s target pose for the left and right pallets respectively, then to move the robot to these positions in, for instance, the beforePallet callback; do the following:
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An example that shows how one can use the PalletNr variable to alter program behavior for the left and right pallet
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The example above is not something we recommend doing, it is simply an example to showcase how the |