pylabrobot.brooks.precise_flex.PreciseFlex.move_gripper#

async PreciseFlex.move_gripper(width: float, force_sensing: bool = False)#

Move the PreciseFlex gripper jaws.

force_sensing=False drives to the open position (gripper 1); force_sensing=True drives to the close position (gripper 2). Both are position moves: gripper 2 limits the force it applies getting there, but it does not stop the jaws where they meet something. Command the width a held object wants, not a tighter one. Commanding past a held object leaves a standing position error the controller reports as an overheating motor (-3104).

Not interruptible: the gripper firmware command blocks the controller’s command interpreter until the jaws finish (hardware-verified, like waitForEom), so a user interrupt cannot halt it mid-travel - it is intentionally not wrapped by the motion-wait interrupt guard. The move is short and force-limited, so this is a documented limitation rather than a hazard.

Parameters: