Try this:
gremlin> Grape.grab([group:"com.tinkerpop",module:"frames",version:"2.4.0"])
==>null
gremlin> graph = TinkerGraphFactory.createTinkerGraph()
==>tinkergraph[vertices:6 edges:6]
gremlin> import com.tinkerpop.frames.*
==>import com.tinkerpop.gremlin.*
==>import com.tinkerpop.gremlin.java.*
==>import com.tinkerpop.gremlin.pipes.filter.*
...
==>import groovy.grape.Grape
==>import com.tinkerpop.frames.*
gremlin> import com.tinkerpop.frames.modules.gremlingroovy.*
==>import com.tinkerpop.gremlin.*
==>import com.tinkerpop.gremlin.java.*
==>import com.tinkerpop.gremlin.pipes.filter.*
==>import com.tinkerpop.gremlin.pipes.sideeffect.*
...
gremlin> factory = new FramedGraphFactory(new GremlinGroovyModule());
==>com.tinkerpop.frames.FramedGraphFactory@645c1312
Omit the use of Grape
at the start if you already have the jar copied, though if you copy make sure you have all the Frames dependencies and not just the Frames jar itself (Grape hides such things from you).