diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 9a7908a6066af4add6177116ecfa59f66034543e..c6df9934788ecb644865673882c5fb9756ca3f09 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -399,9 +399,7 @@ class RobotManager:
                 self.gripper.connect(args.robot_ip, 63352)
                 self.gripper.activate()
             if self.args.gripper == "onrobot":
-                device = OnRobotDevice()
-                device.getCB()
-                self.gripper = TWOFG(device)
+                self.gripper = TWOFG()
 
         # also TODO: figure out how to best solve the gripper_velocity problem
         # NOTE: you need to initialize differently for other types of joints
@@ -426,11 +424,11 @@ class RobotManager:
             # and you need to minus them to have usable readings.
             # we provide this with calibrateFT
             self.wrench_offset = self.calibrateFT()
-            if self.args.gripper == "robotiq":
-                self.gripper.connect("192.168.1.102", 63352)
-                # this is a blocking call
-                # this isn't actually needed and it's annoying
-                # TODO: test after rebooting the robot
+#            if self.args.gripper == "robotiq":
+#                self.gripper.connect("192.168.1.102", 63352)
+#                # this is a blocking call
+#                # this isn't actually needed and it's annoying
+#                # TODO: test after rebooting the robot
 #                self.gripper.activate()
         elif not args.pinocchio_only:
             self.rtde_control = RTDEControlInterface("127.0.0.1")
@@ -572,6 +570,7 @@ class RobotManager:
         of the robot, so we add or remove 2 items to the joint list.
         also, the gripper is controlled separately so we'd need to do this somehow anyway 
         NOTE: this gripper_past_pos thing is not working atm, but i'll keep it here as a TODO
+        TODO: make work for new gripper
         """
         if not self.pinocchio_only:
             q = self.rtde_receive.getActualQ()
@@ -744,13 +743,13 @@ class RobotManager:
 
     def openGripper(self):
         if (not self.args.simulation) and (not self.args.pinocchio_only):
-            self.gripper.move(0,255,255)
+            self.gripper.open()
         else:
             print("not implemented yet, so nothing is going to happen!")
 
     def closeGripper(self):
         if (not self.args.simulation) and (not self.args.pinocchio_only):
-            self.gripper.move(255,255,255)
+            self.gripper.close()
         else:
             print("not implemented yet, so nothing is going to happen!")