pylabrobot.brooks.precise_flex.PreciseFlexGripper.move_to_jaw_position

async PreciseFlexGripper.move_to_jaw_position(width: float, force_sensing: bool = True)

Move the PreciseFlex gripper jaws.

A move that closes them limits its force (GraspPlate, at default_grasp_force and default_finger_speed_percent): the jaws stop on what they meet, and with nothing between them run past the width and are moved back to it. A move that opens them lifts that limit (ReleasePlate). With force_sensing=False it is a position move (MoveOneAxis) either way, with no limit on force: closed onto something rigid, the motor stalls (-3105).

A target is held half a unit inside the axis: the jaws settle up to 0.2 units past a target, and a target past the axis’s end left a bench arm in error -3104 until homed.

Parameters:

• width (float) – the jaw width to move to, in mm.

• force_sensing (bool) – False only to make a position move on purpose.

Not interruptible while GraspPlate runs: it blocks the controller’s command interpreter until the jaws stop.