A method for controlling a robotic tool of a robotic surgical system includes pivoting a first control arm of a controller of a user interface of the robotic surgical system with respect to a shaft of the controller and moving a first jaw of the robotic tool of the robotic surgical system a first distance in a first direction relative to a tool axis defined by the robotic tool and moving a second jaw of the robotic tool in response to the pivoting of the first control arm. The second jaw moves the first distance in a second direction opposite the first direction.
