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Make grip take in bool argument. Add resetGripper

Gowtham Garimella requested to merge temp_use_servo_branch into master

The resetGripper is needed for passive grippers to reset into gripping mode. The grip command then does not perform anything except checking if gripping happened. Ungrip, on the other hand, will move the gripper into a different state, which requires a resetGripper to put it back into gripping mode.

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