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WorldPosition

A pose variable that contains the current shift in position of the robot’s base frame with regard to the lifting column’s current elevated position.

Possible values

• Initialized to: p[0, 0, 0, 0, 0, 0]

  • If no lifting column is used, the WorldPosition variable will always be p[0, 0, 0, 0, 0, 0]

• Can take any other pose variable: p[0, 0, -lifting_column_pos, 0, 0, 0] where lifting_column_pos is updated based on the current elevation of the lifting column.

  • Review the more detailed explanation to see why the z-direction is negative.

Example

If a lifting column is used in Pally, then the WorldPosition variable will be updated each time the lifting column is moved. If the lifting column is set to a position of 0.25 meters, then the WorldPosition will be set to:

• WorldPosition = p[0, 0, -0.25, 0, 0, 0]