control_loop_for_gripper(port_handler, ...)
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pre_process(robot)
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read_encoder(port_handler, packet_handler, ...)
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read_operation_mode(port_handler, ...)
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send_current(port_handler, packet_handler, ...)
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send_goal_position(port_handler, ...)
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send_operation_mode(port_handler, ...)
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send_torque_enable(port_handler, ...)
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