A downhole tool includes a tool body and an anchoring device integrated with the tool body. The anchoring device includes a contact pad that is at least partially external to the tool body, the contact pad having multiple stages with different thicknesses. The anchoring tool also includes a first linear actuator and a second linear actuator. The first linear actuator is configured to move the contact pad axially with respect to the tool body to align one of the multiple stages with the second linear actuator. The second linear actuator is configured to apply a radial force to the contact pad.