Published Sept 13, 2023

Shim paper

By Roger Almaas

Pally supports inserting shim papers between any layers.

However, Pally provides only the entry point for the shim paper routine, and will not generate a trajectory for the robot motion. Depending on the actual project, a suitable function has to be define in the main robot program.

Read here for more information and shim paper examples.

 

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