Get Current Position

SUMMARY

Get Current Position reads the current finger separation of the gripper in the configured position unit (default: millimeters).

The Skill

position = gripper.get_current_position()

The Code

Example: Read Position After a Move

from telekinesis.synapse.tools.parallel_grippers import robotiq

gripper = robotiq.Robotiq2F85()
# Connect
gripper.connect(ip="192.168.1.1", protocol="RTDE")
# Move then read position
gripper.move(position=42.5, speed=50.0, force=60.0, asynchronous=False)
position = gripper.get_current_position()
print(f"Current position: {position:.1f} mm")
# Disconnect
gripper.disconnect()

The Explanation of the Code

get_current_position queries the gripper backend for the current finger separation and returns it in the active position unit set by set_unit. The default after connect is "mm".

Position unit. The returned value follows whichever unit was last configured via set_unit("position", ...). Call set_unit("position", "mm") before reading if millimeters are expected.

Grasp detection. After close, a returned position significantly above zero indicates the fingers stopped against an object. A value near zero means the gripper closed fully without contact.

Return Value

Type	Description
float	Current finger separation in the configured position unit.

How to Tune the Parameters

No parameters.

TIP

Compare the returned position against a threshold rather than an exact value — hardware-level variation means the reading will vary slightly between calls.

WARNING

get_current_position raises a RuntimeError if the gripper is not connected. Always call connect before reading position.

Where to Use the Skill

• Grasp verification — Confirm an object is held before transporting
• State inspection — Read gripper position at any point in a workflow for logging or branching logic
• Closed-loop control — Combine with move to implement position-feedback loops

When Not to Use the Skill

Do not use Get Current Position when:

• The gripper is not connected — always call connect before issuing gripper commands
• High-frequency polling is required — repeated queries add latency; use asynchronous motion and a single readback instead

Supported Grippers

Gripper	Supported
OnRobot RG2	✅ (always returns mm)
OnRobot RG6	✅ (always returns mm)
Robotiq 2F-85	✅ (returns in configured position unit)
Schunk EGU-50	Coming Soon!