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refactor(sample-change): improve sample change tango device, action server & gripper control

Ahmad Najarequested to merge
tango-branch into main
  • Added/improved sample change functionality (device, action server)
  • Moved set_system_parameters up to ROS level
  • Introduced pytest tests
  • Refactored gripper controller & QR detector, removed unused utilities
  • Added a JSON file for system parameters (positions/workflows)
  • Added a SampleMagazine class
  • Improved gripper control and fixed sync issue
  • Added magazine scan feedback

Merge request reports

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