Open Gripper

SUMMARY

Open Gripper commands a parallel gripper to move to its fully open position.

This skill is used to release a grasped object or prepare the gripper for approach before a pick operation.

The Skill

status = gripper.open(speed=100.0, force=100.0, asynchronous=False)

The Code

Example: Open to Release an Object

from telekinesis.synapse.tools.parallel_grippers import robotiq

gripper = robotiq.Robotiq2F85()
# Connect
gripper.connect(ip="192.168.1.1", protocol="RTDE")
# Open fully
status = gripper.open(speed=100.0, force=100.0, asynchronous=False)
print(status)
# Disconnect
gripper.disconnect()

The Explanation of the Code

open commands the gripper to move its fingers to the fully open position (the stroke set by set_position_range_mm, default 85 mm for the 2F-85). The call blocks until the gripper stops when asynchronous=False, or returns "MOVING" immediately when asynchronous=True.

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

Force. Expressed 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 fully open 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
speed	float	100.0	Motion speed in percent (0–100). Pass -1.0 to use the session default.
force	float	100.0	Opening 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
force	float	—	Opening 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

• Release after place — Open the gripper after depositing an object
• Pre-approach clearance — Open fully before descending onto a pick target
• Reset state — Open at script start to ensure a known initial position

When Not to Use the Skill

Do not use Open Gripper when:

• Partial opening is required — use Tool Move to move to a specific intermediate position
• 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!