Gripper Set Unit

SUMMARY

Set Unit configures the measurement unit used for position, speed, and force parameters in subsequent gripper commands.

Robotiq automatically sets default units after connect ("mm" for position, "percent" for speed and force). Call set_unit only when a different unit is needed.

SUPPORTED GRIPPERS

Available on Robotiq (full unit selection: device, normalized, percent, mm) and OnRobot grippers (only position=mm and force=N accepted).

The Skill

gripper.set_unit("position", "mm")
gripper.set_unit("speed", "percent")
gripper.set_unit("force", "percent")

The Code

Example: Confirm Default Units After Connecting

Robotiq sets these units automatically on connect. Calling them explicitly improves readability.

"""
Robotiq 2F-85 set position unit example for the Synapse SDK.

Switches the gripper position unit between normalized (0..1) and mm.

Usage:
    python set_unit.py --ip <ROBOT_IP>
"""

import argparse
from loguru import logger

from telekinesis.synapse.tools.parallel_grippers import robotiq


def main(ip: str):
    """Switch the gripper position unit to normalized (0..1)."""

    # Create and connect to the gripper
    gripper = robotiq.Robotiq2F85()
    gripper.connect(ip=ip)

    try:
        gripper.set_unit(parameter='position', unit='normalized')
        logger.success("Position unit set to 'normalized'.")
    finally:
        gripper.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Robotiq gripper set_unit example")
    parser.add_argument("--ip", type=str, required=True, help="UR robot IP address")
    args = parser.parse_args()

    main(ip=args.ip)

Parameter Configuration

Robotiq 2F-85

Parameter	Type	Default	Description
parameter	str	required	The parameter to configure: "position", "speed", or "force".
unit	str	required	Position: "mm", "device" (0-255), "normalized" (0.0-1.0), "percent" (0-100). Speed / force: "device", "normalized", "percent".

OnRobot RG2 / RG6

Parameter	Type	Default	Description
parameter	str	required	"position" or "force" only. "speed" is not accepted.
unit	str	required	Position: "mm" only. Force: "N" only.

Returns

This skill returns nothing (None).

Raises

Robotiq 2F-85

Exception	Condition
ValueError	parameter is not "position", "speed", or "force"; or unit is not supported for the given parameter
RuntimeError	The gripper is not connected

OnRobot RG2 / RG6

Exception	Condition
TypeError	parameter or unit is not a string
ValueError	The (parameter, unit) combination is not supported

How to Tune the Parameters

Prefer "mm" for position in production scripts - physical units are self-documenting and easy to validate against the gripper's datasheet.

Where to Use the Skill

• Session initialization - Call once after connect when a non-default unit is needed
• Unit switching - Re-call mid-session to switch between units for a specific subroutine

When Not to Use the Skill

Do not call set_unit when:

• The default units are sufficient - after connect, position is already "mm" and speed/force are already "percent"