diff --git a/extensions/rcs_robotiq2f85/pyproject.toml b/extensions/rcs_robotiq2f85/pyproject.toml
index 7e17d803..835dfe02 100644
--- a/extensions/rcs_robotiq2f85/pyproject.toml
+++ b/extensions/rcs_robotiq2f85/pyproject.toml
@@ -8,7 +8,7 @@ version = "0.6.3"
 description="RCS RobotiQ module"
 dependencies = [
     "rcs>=0.6.3",
-    "2f85-python-driver @ git+https://github.com/PhilNad/2f85-python-driver.git",
+    "2f85-python-driver @ git+https://github.com/RobotControlStack/2f85-python-driver.git",
 ]
 readme = "README.md"
 maintainers = [
diff --git a/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/hw.py b/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/hw.py
index 0e256899..5e5ee766 100644
--- a/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/hw.py
+++ b/extensions/rcs_robotiq2f85/src/rcs_robotiq2f85/hw.py
@@ -1,10 +1,36 @@
-from rcs._core.common import Gripper
-from Robotiq2F85Driver.Robotiq2F85Driver import Robotiq2F85Driver
+from dataclasses import dataclass
 
+from rcs._core.common import Gripper, GripperConfig, GripperState
+from Robotiq2F85Driver.Robotiq2F85Driver import GripperStatus, Robotiq2F85Driver
 
-class RobotiQGripper(Gripper):
-    def __init__(self, serial_number):
+
+@dataclass
+class RobotiQ2F85GripperConfig(GripperConfig):
+    speed: float = 100
+    """Speed in mm/s. Must be between 20 and 150 mm/s."""
+    force: float = 50
+    """Force in N. Must be between 20 and 235 N."""
+    async_control: bool = True
+    """If True, gripper commands return immediately without waiting for the movement to complete.
+    A new command interrupts any ongoing movement."""
+
+
+@dataclass(kw_only=True)
+class RobotiQ2F85GripperState(GripperState):
+    state: GripperStatus
+
+    def __post_init__(self):
+        super().__init__()
+
+
+class RobotiQ2F85Gripper(Gripper):
+    def __init__(self, serial_number: str, cfg: RobotiQ2F85GripperConfig):
+        """
+        serial_number:
+            Get the serial number with `udevadm info -a -n /dev/ttyUSB0 | grep serial`, make sure you have read/write permissions to the port.
+        """
         super().__init__()
+        self._cfg: RobotiQ2F85GripperConfig = cfg
         self.gripper = Robotiq2F85Driver(serial_number=serial_number)
 
     def get_normalized_width(self) -> float:
@@ -15,7 +41,7 @@ def grasp(self) -> None:
         """
         Close the gripper to grasp an object.
         """
-        self.set_normalized_width(0.0)
+        self.set_normalized_width(0.0, force=self._cfg.force)
 
     def open(self) -> None:
         """
@@ -26,7 +52,7 @@ def open(self) -> None:
     def reset(self) -> None:
         self.gripper.reset()
 
-    def set_normalized_width(self, width: float, _: float = 0) -> None:
+    def set_normalized_width(self, width: float, force: float = 0) -> None:
         """
         Set the gripper width to a normalized value between 0 and 1.
         """
@@ -34,10 +60,27 @@ def set_normalized_width(self, width: float, _: float = 0) -> None:
             msg = f"Width must be between 0 and 1, got {width}."
             raise ValueError(msg)
         abs_width = width * 85
-        self.gripper.go_to(opening=float(abs_width), speed=150.0, force=30.0)
+        self.gripper.go_to(
+            opening=float(abs_width),
+            speed=self._cfg.speed,
+            force=force if force != 0 else self._cfg.force,
+            blocking_call=not self._cfg.async_control,
+        )
 
     def shut(self) -> None:
         """
         Close the gripper.
         """
         self.set_normalized_width(0.0)
+
+    def close(self) -> None:
+        self.gripper.client.serial.close()
+
+    def get_config(self) -> GripperConfig:
+        return self._cfg
+
+    def set_config(self, cfg: RobotiQ2F85GripperConfig) -> None:
+        self._cfg = cfg
+
+    def get_state(self) -> GripperState:
+        return RobotiQ2F85GripperState(state=self.gripper.read_status())
diff --git a/python/rcs/_core/common.pyi b/python/rcs/_core/common.pyi
index 0e51534d..a120cd07 100644
--- a/python/rcs/_core/common.pyi
+++ b/python/rcs/_core/common.pyi
@@ -105,10 +105,10 @@ class Gripper:
     def shut(self) -> None: ...
 
 class GripperConfig:
-    pass
+    def __init__(self) -> None: ...
 
 class GripperState:
-    pass
+    def __init__(self) -> None: ...
 
 class Hand:
     def __init__(self) -> None: ...
@@ -276,7 +276,7 @@ class RobotPlatform:
     def value(self) -> int: ...
 
 class RobotState:
-    pass
+    def __init__(self) -> None: ...
 
 class RobotType:
     """
diff --git a/src/pybind/rcs.cpp b/src/pybind/rcs.cpp
index 6496ee1f..f4491802 100644
--- a/src/pybind/rcs.cpp
+++ b/src/pybind/rcs.cpp
@@ -372,9 +372,11 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("tcp_offset", &rcs::sim::SimRobotConfig::tcp_offset)
       .def_readwrite("robot_platform",
                      &rcs::common::RobotConfig::robot_platform);
-  py::class_<rcs::common::RobotState>(common, "RobotState");
-  py::class_<rcs::common::GripperConfig>(common, "GripperConfig");
-  py::class_<rcs::common::GripperState>(common, "GripperState");
+  py::class_<rcs::common::RobotState>(common, "RobotState").def(py::init<>());
+  py::class_<rcs::common::GripperConfig>(common, "GripperConfig")
+      .def(py::init<>());
+  py::class_<rcs::common::GripperState>(common, "GripperState")
+      .def(py::init<>());
   py::enum_<rcs::common::GraspType>(common, "GraspType")
       .value("POWER_GRASP", rcs::common::GraspType::POWER_GRASP)
       .value("PRECISION_GRASP", rcs::common::GraspType::PRECISION_GRASP)