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.