#!/usr/bin/env python3

import rospy
import actionlib
from gripper_action_server.msg import GripperControlAction, GripperControlGoal, GripperControlResult

# HOST = "192.168.56.2"
# PORT = 54321
#
# hand = RobotiqHand()
#
# hand.connect(HOST, PORT)
# print("Connected")
#
# hand.move(255, 255, 0)
#
# hand.wait_move_complete()
#
# hand.disconnect()
# print("Disconnected")

if __name__ == '__main__':

    rospy.init_node('gripper_close')

    client = actionlib.SimpleActionClient('/gripper_action_server', GripperControlAction)
    client.wait_for_server()
    goal = GripperControlGoal(goal="open", speed=255)
    client.send_goal(goal)