Added functions that allow you to just visualize the gripper. You can choose for the gripper to be open or closed
Put in small change that should hopefully allow you to open the gripper if you feed in an angles vector with more than 7 elements in it....Feed in 9 instead and set the 8th and 9th to non zero values.
Changed the mod to pviz so that it checks if there are 8 or 9 angles....this is untested
Fixed merge conflicts.