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calculate the shim paper position on the pallet by using the global Pally variables "WorldPosition" (lifting column only), "PalletCenter", and "LayerAlt"
If shim paper is
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picked in the center
sheet_point = pose_trans(WorldPos, pose_trans(PalletCenter, p[0,0,LayerAlt, 3.1415, 0, 0]))
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In this simple example, the gripper is exactly at the center point of the shim paper.
If shim paper is NOT picked in the center
In order to have an offset from the center point, add nonzero values for the x and y coordinates in the transformation as shown below:
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