Move Gripper

SUMMARY

Move Gripper commands a parallel gripper to move to a specific finger position.

This skill is used when precise intermediate positions are required, such as adapting grip width to a known object size.

The Skill

status = gripper.move(position=42.5, speed=50.0, force=60.0, asynchronous=False)

The Code

Example: Move to a Specific Width

from telekinesis.synapse.tools.parallel_grippers import robotiq

gripper = robotiq.Robotiq2F85()
# Connect
gripper.connect(ip="192.168.1.1", protocol="RTDE")
# Open fully
gripper.move(position=85.0, speed=100.0, force=100.0, asynchronous=False)
# Grasp
gripper.move(position=30.0, speed=50.0, force=60.0, asynchronous=False)
# Release
gripper.move(position=85.0, speed=100.0, force=100.0, asynchronous=False)
# Disconnect
gripper.disconnect()

The Explanation of the Code

move commands the gripper fingers to travel to the target position. The call blocks until the gripper stops when asynchronous=False.

Position. In the configured position unit (default: "mm" after connect). 0 is fully closed; the value set by set_position_range_mm (default 85 mm for the 2F-85) is fully open.

Speed. In the configured speed unit (default: percent, 0–100). Pass -1.0 to use the session default set by set_speed.

Force. In the configured force unit (default: percent, 0–100). Pass -1.0 to use the session default set by set_force.

Return Values

Status	Description
"MOVING"	Returned when asynchronous=True
"AT_DEST"	Fingers reached the target position
"STOPPED_OUTER_OBJECT"	Stopped against an external object
"STOPPED_INNER_OBJECT"	Stopped by internal contact
"UNKNOWN_STATUS_<code>"	Unexpected hardware status

How to Tune the Parameters

Robotiq 2F-85

Parameter	Type	Default	Description
position	float	—	Target position in mm. 0 = closed, 85 = fully open.
speed	float	100.0	Motion speed in percent (0–100). Pass -1.0 to use the session default.
force	float	100.0	Gripping force in percent (0–100). Pass -1.0 to use the session default.
asynchronous	bool	False	If True, returns "MOVING" immediately without waiting.

OnRobot RG2 / RG6

Parameter	Type	Default	Description
position	float	—	Target position in mm. 0 = closed, 110 = fully open (RG2), 160 = fully open (RG6).
force	float	—	Gripping force in Newtons. RG2 max 40 N, RG6 max 120 N.
asynchronous	bool	False	If True, returns "MOVING" immediately without waiting.

Where to Use the Skill

• Object-specific grip width — Pre-open to just above a known object dimension before approach
• Precise positioning — Move to an intermediate position where open and close are too coarse
• Overlapping motion — Use asynchronous=True to move the gripper concurrently with robot motion

When Not to Use the Skill

Do not use Move Gripper when:

• Full open or full close is all that is needed — use Tool Open or Tool Close for simplicity
• The gripper is not connected — always call connect before issuing motion commands

Supported Grippers

Gripper	Supported
OnRobot RG2	✅
OnRobot RG6	✅
Robotiq 2F-85	✅
Schunk EGU-50	Coming Soon!