UFactory XARM User Manual page 90

Version].
4. When "TCP payload compensation" is turned on, the default TCP
payload will be changed to the TCP payload parameter of the gripper.
⚫ When installing other end effectors (not officially provided) at the
end of the robotic arm, please choose 【other】.
1. You can choose a 3D model (cylinder/cuboid) that can wrap the end
effector and use it as the self-collision prevention model of the end
effector.
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