Press the Show Layout button to get a graphical representation of how the robot program will use the gripper. This will help troubleshooting typical configuration mistakes in TCP and dimensions, especially when using a gripper.json file.
The calculated layout will appear in a new popup:
The overall size of the gripper will appear as a gray rectangle,
Each vacuum zone will appear as a colored rectangle,
Each rectangle will appear with an X showing the center point of the corresponding rectangle
The tool flange appears relative to the gripper with respect to the current TCP position/rotation offsets
Press the “Close and return to the main screen” button to close the popup and return to Polyscope.
The diagram shows the gripper and the tool flange from the underside.