DoF - a Robotiq Community
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You will find a section (3.5. Other Grippers) in the manual of the palletizing solution with details about how to use a custom gripper with the solution.

The palletizing solution URCAP use a collision model to prevent any collision during operation. What is important is that you make sure your custom gripper is contained within the collision model.
The most important would that the gripper should not be larger than the box.

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