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:

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.