Gripper commands

The commands that open, close and move the gripper, wait for it, read how its last move ended, and set how it is driven.

• Open, close and move are queued with the moves, in program order. The robot starts the jaws once it has sent the moves before them, so the jaws can move while the arm still moves.
• The settings run at once. GripperResult is what gripper_result() returns.

Command	What it does	Runs
GripperResult	One gripper command's outcome: why its jaws stopped.	In the client (a class)
open_gripper	Open the gripper's jaws fully, as a queued command.	Queued
close_gripper	Close the gripper's jaws fully, as a queued command.	Queued
move_gripper	Move the gripper's jaws to a position, as a queued command.	Queued
wait_gripper_move_complete	Wait until this client's last gripper command has settled.	In the client
wait_holding_part	Wait until the last gripper command has settled holding a part.	In the client
wait_released_part	Wait until the last gripper command has settled with the jaws clear.	In the client
gripper_result	Return the outcome of this client's last settled gripper command.	In the client
calibrate_gripper	Calibrate the gripper: find both ends of its jaws' travel.	At once
set_gripper_ctrl_mode	Switch the gripper between motor mode and firmware mode.	At once
set_gripper	Give the gripper a target at once, outside the queue.	At once

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