> ## 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.

# SuctionGripper

## SuctionGripper

Inherits from: `ABC`

*No class docstring.*

### **init**

```python theme={null}
SuctionGripper.__init__(*args, **kwargs)
```

*No docstring provided.*

<ResponseField name="Arguments">
  <ParamField query="args" type="">
    *No description provided.*
  </ParamField>

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

### initialize

```python theme={null}
SuctionGripper.initialize(*args, **kwargs)
```

Connect to the IP/port of the gripper and set it to an active state.

<ResponseField name="Arguments">
  <ParamField query="args" type="">
    *No description provided.*
  </ParamField>

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

### open

```python theme={null}
SuctionGripper.open(*args, **kwargs)
```

Turns on the suction gripper (blocking).

<ResponseField name="Arguments">
  <ParamField query="args" type="">
    *No description provided.*
  </ParamField>

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

### close

```python theme={null}
SuctionGripper.close(*args, **kwargs)
```

Turns off the suction gripper (blocking).

<ResponseField name="Arguments">
  <ParamField query="args" type="">
    *No description provided.*
  </ParamField>

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

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

```python theme={null}
SuctionGripper.get_tool_center_wrt_arm() -> Pose
```

Get the Pose of the tool center with respect to the base of the gripper (attached to the arm).

<ResponseField name="Returns">
  <ResponseField name="returns" type="Pose" />
</ResponseField>