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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
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Please note: The name of the file MUST BE gripper.json |
Example
The following diagram is an example of a 4-channel suction-cup gripper with its corresponding gripper.json file. The different colors indicate different groups of suction cups that can be controlled together.
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Copy the above code and use as a template. Name the created file “gripper.json“ |
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Please note: TCP settings are optional and may not be included in older gripper.json files. If your gripper is mounted with a position/rotation offset, make sure that the TCP offset is properly set. |
Read more about how to import a gripper.json file.
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