> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# OnRobotRG6

## OnRobotRG6

Inherits from: [`ParallelJawGripper`](/robot-api/reference/robot/arm/end_effector/ur5e/parallel_jaw_gripper/ParallelJawGripper)

*No class docstring.*

### **init**

```python theme={null}
OnRobotRG6.__init__(rtde_c: rtde_control.RTDEControlInterface = None, rtde_r: rtde_receive.RTDEReceiveInterface = None, rtde_i: rtde_io.RTDEIOInterface = None)
```

Initialize the OnRobotRG6.

<ResponseField name="Arguments">
  <ParamField query="rtde_c (rtde_control.RTDEControlInterface)" type="rtde_control.RTDEControlInterface">
    *No description provided.*
  </ParamField>

  <ParamField query="rtde_r (rtde_receive.RTDEReceiveInterface)" type="rtde_receive.RTDEReceiveInterface">
    *No description provided.*
  </ParamField>

  <ParamField query="rtde_i (rtde_io.RTDEIOInterface)" type="rtde_io.RTDEIOInterface">
    *No description provided.*
  </ParamField>
</ResponseField>

### initialize

```python theme={null}
OnRobotRG6.initialize(rtde_c: rtde_control.RTDEControlInterface, rtde_r: rtde_receive.RTDEReceiveInterface, rtde_i: rtde_io.RTDEIOInterface)
```

Setup the RTDE interfaces for the OnRobotRG6.

<ResponseField name="Arguments">
  <ParamField query="rtde_c (rtde_control.RTDEControlInterface)" type="rtde_control.RTDEControlInterface" required>
    *No description provided.*
  </ParamField>

  <ParamField query="rtde_r (rtde_receive.RTDEReceiveInterface)" type="rtde_receive.RTDEReceiveInterface" required>
    *No description provided.*
  </ParamField>

  <ParamField query="rtde_i (rtde_io.RTDEIOInterface)" type="rtde_io.RTDEIOInterface" required>
    *No description provided.*
  </ParamField>
</ResponseField>

### open

```python theme={null}
OnRobotRG6.open(force: int = 120, **kwargs)
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="force (int)" type="int">
    *No description provided.*
  </ParamField>

  <ParamField query="kwargs" type="">
    *No description provided.*
  </ParamField>
</ResponseField>

### close

```python theme={null}
OnRobotRG6.close(force: int = 120, **kwargs)
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="force (int)" type="int">
    *No description provided.*
  </ParamField>

  <ParamField query="kwargs" type="">
    *No description provided.*
  </ParamField>
</ResponseField>

### get\_grip\_detected

```python theme={null}
OnRobotRG6.get_grip_detected()
```

*No docstring provided.*

### get\_tool\_center\_wrt\_arm

```python theme={null}
OnRobotRG6.get_tool_center_wrt_arm()
```

*No docstring provided.*