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Info

After uploading a Gripper JSON file to Pally you can use the Gripper layout visualizer feature (Pally URcap 3.2 or newer) This will help you get the gripper settings correct.

Gripper layout visualizer

You can also use the Gripper and tcp check in the PAlly URcap to test if the Gripper is correct.

Gripper and TCP check

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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.