### Install pyRobotiqGripper

Source: https://github.com/medra-ai/pyrobotiqgripper/blob/main/README.md

Install the pyRobotiqGripper Python package using pip. This command is used for system-wide installation.

```bash
python -m pip install pyRobotiqGripper
```

--------------------------------

### Get Gripper Position in Millimeters

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Returns the current gripper position in millimeters. Requires prior calibration using the calibrate() method. Provides a more intuitive measurement for many applications.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()
gripper.calibrate(closemm=0, openmm=85)

# Get current position in millimeters
position_mm = gripper.getPositionmm()
print(f"Current opening: {position_mm:.2f} mm")

# Example: move and verify position in mm
gripper.goTomm(40)
actual_mm = gripper.getPositionmm()
print(f"Requested: 40mm, Actual: {actual_mm:.2f}mm")
```

--------------------------------

### Get Gripper Position in Bits

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Returns the current gripper position in bits (0-255). Position 0 indicates fully open, and 255 indicates fully closed. Useful for direct control or when mm calibration is not available.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Get current position in bits
position = gripper.getPosition()
print(f"Current position: {position}/255")

# Example: move and verify position
gripper.goTo(128)
actual_position = gripper.getPosition()
print(f"Requested: 128, Actual: {actual_position}")
```

--------------------------------

### Control Gripper Movement and Get Position

Source: https://github.com/medra-ai/pyrobotiqgripper/blob/main/README.md

Perform basic gripper actions such as opening, closing, moving to a specific bit position, and retrieving the current position in bits or millimeters. The gripper finger position ranges from 0 to 255 (8 bits).

```python
gripper.open()
gripper.close()
gripper.goTo(100)
position_in_bit = gripper.getPosition()
print(position_in_bit)
gripper.goTomm(25)
position_in_mm = gripper.getPositionmm()
print(position_in_mm)
```

--------------------------------

### getPositionmm - Get Current Gripper Position in Millimeters

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Retrieves the current position of the gripper in millimeters. This method requires the gripper to have been calibrated previously using the calibrate() method.

```APIDOC
## getPositionmm()

### Description
Returns the current gripper position in millimeters. Requires prior calibration.

### Method
GET

### Endpoint
/gripper/position/mm

### Parameters
None

### Response
#### Success Response (200)
- **position_mm** (float) - The current gripper position in millimeters.

#### Response Example
```json
{
  "position_mm": 40.50
}
```
```

--------------------------------

### getPosition - Get Current Gripper Position in Bits

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Retrieves the current position of the gripper, represented in bits ranging from 0 (fully open) to 255 (fully closed).

```APIDOC
## getPosition()

### Description
Returns the current gripper position in bits (0-255).

### Method
GET

### Endpoint
/gripper/position/bits

### Parameters
None

### Response
#### Success Response (200)
- **position** (integer) - The current gripper position in bits (0-255).

#### Response Example
```json
{
  "position": 128
}
```
```

--------------------------------

### Complete Pick and Place Workflow

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Demonstrates a full pick-and-place operation including initialization, activation, calibration, picking, releasing, and error handling. Ensure the gripper is calibrated for your specific model (e.g., 2F85).

```python
import pyRobotiqGripper
import time

def pick_and_place_workflow():
    # Initialize gripper with auto-detection
    gripper = pyRobotiqGripper.RobotiqGripper()

    # Activate and calibrate
    gripper.activate()
    gripper.calibrate(closemm=0, openmm=85)  # For 2F85 gripper

    # Open gripper to prepare for picking
    print("Opening gripper...")
    gripper.open(speed=200, force=255)

    # Move robot to pick position (external robot control)
    # robot.move_to_pick_position()
    time.sleep(1)  # Simulate robot movement

    # Close gripper to pick object
    print("Picking object...")
    position, object_detected = gripper.goTo(255, speed=100, force=150)

    if object_detected:
        print(f"Object gripped at position {position}")

        # Get precise position in mm
        grip_mm = gripper.getPositionmm()
        print(f"Gripping at {grip_mm:.2f} mm opening")

        # Move robot to place position (external robot control)
        # robot.move_to_place_position()
        time.sleep(1)  # Simulate robot movement

        # Release object
        print("Releasing object...")
        gripper.open(speed=100, force=255)

        print("Pick and place complete!")
    else:
        print("No object detected, aborting operation")
        gripper.open()

    # Print final status
    gripper.printInfo()

if __name__ == "__main__":
    pick_and_place_workflow()
```

--------------------------------

### open(speed, force)

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Opens the gripper fully (position 0) with optional speed and force parameters. This is a convenience wrapper around goTo(0).

```APIDOC
## open(speed, force)

Opens the gripper fully (position 0) with optional speed and force parameters. This is a convenience wrapper around goTo(0).

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
- **speed** (int) - Optional - The speed of the gripper movement (default: 255).
- **force** (int) - Optional - The force applied by the gripper (default: 255).

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Open gripper with default speed and force
gripper.open()

# Open slowly with gentle force
gripper.open(speed=50, force=100)

# Open as fast as possible
gripper.open(speed=255, force=255)
```

### Response
#### Success Response (200)
- **status** (string) - Confirmation message of the open operation.

#### Response Example
```json
{
  "status": "Gripper opened successfully."
}
```
```

--------------------------------

### goTo(position, speed, force)

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Moves the gripper to a specified position (0-255 bits) with configurable speed and force. Returns the final position and whether an object was detected during the movement.

```APIDOC
## goTo(position, speed, force)

Moves the gripper to a specified position (0-255 bits) with configurable speed and force. Returns the final position and whether an object was detected during the movement. Position 0 is fully open, and 255 is fully closed.

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
- **position** (int) - Required - The target position of the gripper (0-255).
- **speed** (int) - Optional - The speed of the gripper movement (default: 255).
- **force** (int) - Optional - The force applied by the gripper (default: 255).

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Move to position 100 with default speed and force (255)
position, object_detected = gripper.goTo(100)
print(f"Final position: {position}, Object detected: {object_detected}")

# Move with custom speed (slow) and force (gentle)
position, object_detected = gripper.goTo(200, speed=50, force=100)

# Move to fully closed position
position, object_detected = gripper.goTo(255, speed=255, force=255)
if object_detected:
    print("Object gripped successfully!")
else:
    print("Gripper closed without detecting an object")
```

### Response
#### Success Response (200)
- **final_position** (int) - The final position of the gripper (0-255).
- **object_detected** (boolean) - True if an object was detected during movement, False otherwise.

#### Response Example
```json
{
  "final_position": 100,
  "object_detected": false
}
```
```

--------------------------------

### Open Gripper

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Opens the gripper fully (position 0) with optional speed and force parameters. This is a convenience wrapper around the `goTo(0)` method.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Open gripper with default speed and force
gripper.open()

# Open slowly with gentle force
gripper.open(speed=50, force=100)

# Open as fast as possible
gripper.open(speed=255, force=255)
```

--------------------------------

### RobotiqGripper Class Initialization

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Initializes the RobotiqGripper object. Supports automatic serial port detection or manual specification. Initializes internal register dictionaries for status monitoring.

```APIDOC
## RobotiqGripper Class Initialization

Creates a RobotiqGripper object for controlling Robotiq grippers via Modbus RTU protocol. The constructor supports automatic serial port detection or manual port specification, and initializes all internal register dictionaries for status monitoring.

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
import pyRobotiqGripper

# Auto-detect the gripper on any available serial port
gripper = pyRobotiqGripper.RobotiqGripper()

# Or specify the serial port manually
# Linux
gripper = pyRobotiqGripper.RobotiqGripper(portname="/dev/ttyUSB0", slaveAddress=9)

# Windows
gripper = pyRobotiqGripper.RobotiqGripper(portname="COM4", slaveAddress=9)

# macOS
gripper = pyRobotiqGripper.RobotiqGripper(portname="/dev/tty.usbserial", slaveAddress=9)
```

### Response
#### Success Response (200)
- **gripper** (RobotiqGripper) - An initialized RobotiqGripper object.

#### Response Example
```json
{
  "message": "Gripper initialized successfully"
}
```
```

--------------------------------

### Initialize RobotiqGripper

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Creates a RobotiqGripper object. Supports automatic serial port detection or manual specification of the port name and slave address. Initializes internal register dictionaries for status monitoring.

```python
import pyRobotiqGripper

# Auto-detect the gripper on any available serial port
gripper = pyRobotiqGripper.RobotiqGripper()
```

```python
# Linux
gripper = pyRobotiqGripper.RobotiqGripper(portname="/dev/ttyUSB0", slaveAddress=9)
```

```python
# Windows
gripper = pyRobotiqGripper.RobotiqGripper(portname="COM4", slaveAddress=9)
```

```python
# macOS
gripper = pyRobotiqGripper.RobotiqGripper(portname="/dev/tty.usbserial", slaveAddress=9)
```

--------------------------------

### Create and Activate Gripper Object

Source: https://github.com/medra-ai/pyrobotiqgripper/blob/main/README.md

Instantiate a Robotiq gripper object. The serial port is auto-detected by default. Activation involves a full open and close cycle; do not disturb this process.

```python
gripper = pyRobotiqGripper()
gripper.activate()
gripper.calibrate(0, 40)
```

--------------------------------

### activate()

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Activates the gripper if not already activated. Performs a full open and close cycle to calibrate internal encoders. Blocks until activation is complete or a timeout occurs.

```APIDOC
## activate()

Activates the gripper if not already activated. During activation, the gripper performs a full open and close cycle to calibrate its internal encoders. This method blocks until activation is complete or a timeout occurs.

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()

# Activate the gripper (will open and close automatically)
# WARNING: Ensure gripper can move freely during activation
gripper.activate()
# Output: Activation completed. Activation time : 2.3456

# Check if activation was successful
if gripper.isActivated():
    print("Gripper is ready to use")
```

### Response
#### Success Response (200)
- **activation_status** (string) - Confirmation message of activation completion.
- **activation_time** (float) - The time taken for activation in seconds.

#### Response Example
```json
{
  "activation_status": "Activation completed.",
  "activation_time": 2.3456
}
```
```

--------------------------------

### calibrate(closemm, openmm)

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Calibrates the gripper for millimeter-based positioning by mapping the bit range (0-255) to physical distances. After calibration, goTomm() and getPositionmm() methods can be used.

```APIDOC
## calibrate(closemm, openmm)

Calibrates the gripper for millimeter-based positioning by mapping the bit range (0-255) to physical distances. After calibration, you can use goTomm() and getPositionmm() methods.

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
- **closemm** (float) - Required - The distance in millimeters when the gripper is fully closed (e.g., 0mm).
- **openmm** (float) - Required - The distance in millimeters when the gripper is fully open (e.g., 85mm for 2F85).

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Calibrate for a 2F85 gripper
# closemm: distance between fingers when fully closed (e.g., 0mm)
# openmm: distance between fingers when fully open (e.g., 85mm for 2F85)
gripper.calibrate(closemm=0, openmm=85)

# For 2F140 gripper
# gripper.calibrate(closemm=0, openmm=140)

# Check calibration status
if gripper.isCalibrated():
    print("Gripper calibrated, mm positioning available")
```

### Response
#### Success Response (200)
- **calibration_status** (string) - Confirmation message of calibration completion.

#### Response Example
```json
{
  "calibration_status": "Gripper calibrated successfully."
}
```
```

--------------------------------

### Move Gripper to Position in Millimeters

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Moves the gripper to a position specified in millimeters. Requires prior calibration using the calibrate() method. Can specify custom speed and force.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Calibrate first (required for mm positioning)
gripper.calibrate(closemm=0, openmm=85)

# Move to 25mm opening
gripper.goTomm(25)

# Move to 50mm opening with custom speed and force
gripper.goTomm(50, speed=100, force=150)

# Move to nearly closed position
gripper.goTomm(5, speed=50, force=200)
```

--------------------------------

### Import pyRobotiqGripper Module

Source: https://github.com/medra-ai/pyrobotiqgripper/blob/main/README.md

Import the pyRobotiqGripper module to begin using its functionalities in your Python script.

```python
import pyRobotiqGripper
```

--------------------------------

### goTomm - Move Gripper to Position in Millimeters

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Moves the gripper to a specified opening or closing position defined in millimeters. This function requires the gripper to be calibrated first using the calibrate() method. You can also specify custom speed and force values.

```APIDOC
## goTomm(positionmm, speed, force)

### Description
Moves the gripper to a position specified in millimeters.

### Method
POST (or similar, depending on underlying implementation)

### Endpoint
/gripper/move/mm

### Parameters
#### Path Parameters
None

#### Query Parameters
- **positionmm** (integer) - Required - The target position in millimeters. 0 is fully open, maximum value is fully closed.
- **speed** (integer) - Optional - The speed at which to move the gripper (e.g., 0-100).
- **force** (integer) - Optional - The force to apply during the movement (e.g., 0-255).

### Request Example
```json
{
  "positionmm": 25
}
```

### Request Example with Speed and Force
```json
{
  "positionmm": 50,
  "speed": 100,
  "force": 150
}
```

### Response
#### Success Response (200)
- **status** (string) - Indicates the success of the operation.

#### Response Example
```json
{
  "status": "success"
}
```
```

--------------------------------

### printInfo - Print Gripper Information

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Prints detailed gripper register information to the console, including human-readable descriptions for each status value.

```APIDOC
## printInfo()

### Description
Prints comprehensive gripper register information to the console with descriptions.

### Method
GET

### Endpoint
/gripper/info

### Parameters
None

### Response
#### Success Response (200)
(No JSON response, output is printed to console)

### Console Output Example
```
gOBJ : 3
Fingers are at requested position. No object detected or object has been loss / dropped.
gSTA : 3
Activation is completed.
gGTO : 1
Go to Position Request.
gACT : 1
Gripper activation.
...
```
```

--------------------------------

### Check Gripper Activation Status

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Returns whether the gripper is currently activated and ready to receive motion commands. Essential for ensuring the gripper is operational before attempting movements.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()

# Check activation before attempting to move
if not gripper.isActivated():
    print("Activating gripper...")
    gripper.activate()

if gripper.isActivated():
    gripper.goTo(100)
```

--------------------------------

### readAll - Read All Gripper Registers

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Reads all available gripper registers to update the internal parameter dictionary. This includes information on object detection, gripper status, fault codes, position, and current draw.

```APIDOC
## readAll()

### Description
Reads all gripper registers and updates the internal parameter dictionary with current status information.

### Method
GET

### Endpoint
/gripper/registers/all

### Parameters
None

### Response
#### Success Response (200)
- **paramDic** (object) - A dictionary containing various gripper status parameters.
  - **gOBJ** (integer) - Object detection status.
  - **gSTA** (integer) - Gripper status.
  - **gFLT** (integer) - Fault status.
  - **gPO** (integer) - Current position in bits.
  - **gCU** (integer) - Current draw.

#### Response Example
```json
{
  "paramDic": {
    "gOBJ": 3,
    "gSTA": 3,
    "gFLT": 0,
    "gPO": 150,
    "gCU": 50
  }
}
```
```

--------------------------------

### Print Gripper Information

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Prints comprehensive gripper register information to the console, including human-readable descriptions of each status value. Provides a quick way to diagnose gripper status.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Print all register information with descriptions
gripper.printInfo()

# Example output:
# gOBJ : 3
# Fingers are at requested position. No object detected or object has been loss / dropped.
# gSTA : 3
# Activation is completed.
# gGTO : 1
# Go to Position Request.
# gACT : 1
# Gripper activation.
# ...
```

--------------------------------

### Read All Gripper Registers

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Reads all gripper registers and updates the internal parameter dictionary with current status information. Useful for detailed monitoring of gripper state, including object detection, status, faults, and current draw.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Read all registers
gripper.readAll()

# Access the parameter dictionary
print(f"Object detection (gOBJ): {gripper.paramDic['gOBJ']}")
print(f"Gripper status (gSTA): {gripper.paramDic['gSTA']}")
print(f"Fault status (gFLT): {gripper.paramDic['gFLT']}")
print(f"Position (gPO): {gripper.paramDic['gPO']}")
print(f"Current (gCU): {gripper.paramDic['gCU']} (approx {gripper.paramDic['gCU'] * 10} mA)")

# gOBJ values:
# 0 = Fingers in motion, no object
# 1 = Object detected while opening
# 2 = Object detected while closing
# 3 = At requested position, no object
```

--------------------------------

### reset()

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Resets the gripper by clearing the previous activation state. Useful for reinitializing the gripper, especially after a fault state.

```APIDOC
## reset()

Resets the gripper by clearing previous activation state. This is useful when the gripper enters a fault state or needs to be reinitialized.

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()

# Reset the gripper to clear any previous activation
gripper.reset()

# Common pattern: reset then activate
gripper.resetActivate()  # Convenience method that calls reset() then activate()
```

### Response
#### Success Response (200)
- **reset_status** (string) - Confirmation message of reset completion.

#### Response Example
```json
{
  "reset_status": "Gripper reset successfully."
}
```
```

--------------------------------

### Calibrate Gripper for Millimeter Positioning

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Calibrates the gripper to map the bit range (0-255) to physical distances in millimeters. After calibration, `goTomm()` and `getPositionmm()` methods become available. Specify the physical distance for fully closed and fully open states.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Calibrate for a 2F85 gripper
# closemm: distance between fingers when fully closed (e.g., 0mm)
# openmm: distance between fingers when fully open (e.g., 85mm for 2F85)
gripper.calibrate(closemm=0, openmm=85)

# For 2F140 gripper
# gripper.calibrate(closemm=0, openmm=140)

# Check calibration status
if gripper.isCalibrated():
    print("Gripper calibrated, mm positioning available")
```

--------------------------------

### isActivated - Check Gripper Activation Status

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Checks if the gripper is currently activated and ready to accept motion commands.

```APIDOC
## isActivated()

### Description
Returns whether the gripper is currently activated.

### Method
GET

### Endpoint
/gripper/status/activated

### Parameters
None

### Response
#### Success Response (200)
- **activated** (boolean) - True if the gripper is activated, false otherwise.

#### Response Example
```json
{
  "activated": true
}
```
```

--------------------------------

### close(speed, force)

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Closes the gripper fully (position 255) with optional speed and force parameters. This is a convenience wrapper around goTo(255).

```APIDOC
## close(speed, force)

Closes the gripper fully (position 255) with optional speed and force parameters. This is a convenience wrapper around goTo(255).

### Parameters

#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
- **speed** (int) - Optional - The speed of the gripper movement (default: 255).
- **force** (int) - Optional - The force applied by the gripper (default: 255).

### Request Example
```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Close gripper with default speed and force
gripper.close()

# Close slowly for delicate objects
gripper.close(speed=30, force=50)

# Close with maximum force for heavy objects
gripper.close(speed=255, force=255)
```

### Response
#### Success Response (200)
- **status** (string) - Confirmation message of the close operation.

#### Response Example
```json
{
  "status": "Gripper closed successfully."
}
```
```

--------------------------------

### Print Gripper Information

Source: https://github.com/medra-ai/pyrobotiqgripper/blob/main/README.md

Display the current status of the gripper registers by calling the printInfo method. This is useful for debugging and monitoring.

```python
gripper.printInfo()
```

--------------------------------

### Activate Gripper

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Activates the gripper if not already activated. This method blocks until activation is complete or a timeout occurs. Ensure the gripper can move freely during this process.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()

# Activate the gripper (will open and close automatically)
# WARNING: Ensure gripper can move freely during activation
gripper.activate()
# Output: Activation completed. Activation time : 2.3456

# Check if activation was successful
if gripper.isActivated():
    print("Gripper is ready to use")
```

--------------------------------

### Check Gripper Calibration Status

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Returns whether the gripper has been calibrated for millimeter-based positioning. Crucial for verifying that millimeter functions like goTomm() and getPositionmm() will work correctly.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Check calibration status before using mm functions
if not gripper.isCalibrated():
    print("Calibrating gripper for mm positioning...")
    gripper.calibrate(closemm=0, openmm=85)

if gripper.isCalibrated():
    gripper.goTomm(40)
    position_mm = gripper.getPositionmm()
    print(f"Position: {position_mm:.2f} mm")
```

--------------------------------

### Reset Gripper

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Resets the gripper by clearing its previous activation state. Useful for reinitializing the gripper, especially after a fault state. A convenience method `resetActivate()` is also available.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()

# Reset the gripper to clear any previous activation
gripper.reset()

# Common pattern: reset then activate
gripper.resetActivate()  # Convenience method that calls reset() then activate()
```

--------------------------------

### Move Gripper to Position

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Moves the gripper to a specified position (0-255 bits) with configurable speed and force. Returns the final position and a boolean indicating if an object was detected. Position 0 is fully open, 255 is fully closed.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Move to position 100 with default speed and force (255)
position, object_detected = gripper.goTo(100)
print(f"Final position: {position}, Object detected: {object_detected}")

# Move with custom speed (slow) and force (gentle)
position, object_detected = gripper.goTo(200, speed=50, force=100)

# Move to fully closed position
position, object_detected = gripper.goTo(255, speed=255, force=255)
if object_detected:
    print("Object gripped successfully!")
else:
    print("Gripper closed without detecting an object")
```

--------------------------------

### Close Gripper

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Closes the gripper fully (position 255) with optional speed and force parameters. This is a convenience wrapper around the `goTo(255)` method.

```python
import pyRobotiqGripper

gripper = pyRobotiqGripper.RobotiqGripper()
gripper.activate()

# Close gripper with default speed and force
gripper.close()

# Close slowly for delicate objects
gripper.close(speed=30, force=50)

# Close with maximum force for heavy objects
gripper.close(speed=255, force=255)
```

--------------------------------

### isCalibrated - Check Gripper Calibration Status

Source: https://context7.com/medra-ai/pyrobotiqgripper/llms.txt

Determines if the gripper has been calibrated for millimeter-based positioning.

```APIDOC
## isCalibrated()

### Description
Returns whether the gripper has been calibrated for millimeter-based positioning.

### Method
GET

### Endpoint
/gripper/status/calibrated

### Parameters
None

### Response
#### Success Response (200)
- **calibrated** (boolean) - True if the gripper is calibrated for mm positioning, false otherwise.

#### Response Example
```json
{
  "calibrated": true
}
```
```

=== COMPLETE CONTENT === This response contains all available snippets from this library. No additional content exists. Do not make further requests.