...
Lengths are specified in millimeters, weight in kilograms.
Every time you make changes in the gripper json file, make sure to:
verify the correct syntax in a online tool like https://jsonformatter.org/
upload the file again with the same name (must be gripper.json)
select another gripper type e.g. custom gripper, and then
select “import from gripper.json” again
check the timestamp of last import has changed under the drop-down menu
make sure there is no other (probably older) gripper.json file in the “patterns” folder.
The current Pally URCap reads both locations for compatibility reasons:
/programs/patterns
/programs
The gripper.json file
| Code Block |
|---|
{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes",
"dimensions": {
"width": 100,
"length": 200,
"height": 100,
"weight": 1.85,
"foamHeight": 15
},
"properties": {
"coveragePercent": 40,
"edgeAlignment": false
},
"tcp": [0, 0, 100, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": -50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": 0,
"y": 50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
}
],
"configurations": [
[1,2], [1], [2]
]
} |
...