async def METHOD_NAME(
    can_messenger: CanMessenger,
    group_id: int,
    seq_id: int,
    duty_cycle: int,
    encoder_position_um: int,
    stay_engaged: bool = False,
) -> None:
    """Start linear motion."""
    await can_messenger.send(
        node_id=NodeId.gripper,
        message=AddBrushedLinearMoveRequest(
            payload=payloads.GripperMoveRequestPayload(
                group_id=UInt8Field(group_id),
                seq_id=UInt8Field(seq_id),
                duration=UInt32Field(0),
                duty_cycle=UInt32Field(duty_cycle),
                encoder_position_um=Int32Field(encoder_position_um),
                stay_engaged=UInt8Field(int(stay_engaged)),
            )
        ),
    )