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Hi @alib ,

There are no URCaps developed for the 3-Finger Gripper. There is however a
package developed that allows the integration over UR. It has been configured to control the gripper via Modbus TCP/IP. Thus, the gripper will have to be configured with this communication protocol. It will also have to be connected to the UR controller with the provided Ethernet cable. 

The installation process and the required instructions are within the downloadable package.

Post below if you have further questions.