-Robotiq gripper control

-Documentation
-gitignore .idea/ for PyCharm

README

@@ -4,7 +4,7 @@ It is published under the GPL license and comes with absolutely no
 guarantee, althoug it has been used in many application with several
 version of UR5 and UR10 robots.
 
-It is meaned as an easy to use module for pick and place operations, 
+It is meant as an easy to use module for pick and place operations,
 although it has been used for welding and other sensor based applications
  that do not require high update rate.
 
@@ -16,7 +16,7 @@ Both the 'secondary port' interface and the real-time/matlab interface of the
 urx was primarily developed by Olivier Roulet-Dubonnet for Sintef Raufoss Manufacturing
  and : http://www.sintef.no/manufacturing/
 
-Example use:
+#Example use:
 
 import urx
 
@@ -48,7 +48,7 @@ try:
 except RobotError, ex:
     print "Robot could not execute move (emergency stop for example), do something", ex
 
-Development using Transform objects from math3d library:
+#Development using Transform objects from math3d library:
 
 robot = Robot("192.168.1.1")
 robot.set_tcp((0,0,0.23,0,0,0)
@@ -65,4 +65,31 @@ o = robot.get_orientation()
 o.rotate_yb(pi)
 robot.set_orientation(o)
 
+#Robotiq Gripper
 
+urx can also control a Robotiq gripper attached to the UR robot.
+
+##Example use:
+
+import sys
+import urx
+from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
+
+if __name__ == '__main__':
+	rob = urx.Robot("192.168.0.100")
+	robotiqgrip = Robotiq_Two_Finger_Gripper()
+
+	if(len(sys.argv) != 2):
+		print "false"
+		sys.exit()
+
+	if(sys.argv[1] == "close") :
+		robotiqgrip.close_gripper()
+	if(sys.argv[1] == "open") :
+		robotiqgrip.open_gripper()
+
+	rob.send_program(robotiqgrip.ret_program_to_run())
+
+	rob.close()
+	print "true"
+	sys.exit()