Safer grip and add ungrip

[ykyohei]

Description

• Add some documentations
• Make grip safer
• Add ungrip

Motivation and Context

https://github.com/simonsobs/chwp-discussions/discussions/17

How Has This Been Tested?

We need to test

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist:

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.

[BrianJKoopman]

A few comments from me related to documentation and the handling of session data in the new ungrip code. I'm also wondering if this has been tested yet.

[ykyohei]

I finished incorporating the comments from @BrianJKoopman and testing grip and ungrip in satp3.
I will ask @bbixler500 to review again because I changed the grip function little bit.

• Move warm-grip-distance from -5 mm in the first step
• Move in by 0.1 mm step, until warm-limit switch trigger, warm-grip-distance +1 mm at maximum
• Changed (and hopefully simplified) the method to detect warm-limit switch triggering.
• Added adjustment process. I would like to implement this process because satp3 limit switches are known to be slightly mis-aligned from ideal location little bit. You can do adjustment-distance = [0, 0, 0] if you do not need adjustment.

[bbixler500]

Yep looks good to me

[BrianJKoopman]

Changes related to my comments look good. @jlashner, did you still want to take a look at this?

[jlashner]

Hi Kyohei, I read this through and think it looks great, so I approve to merge as long as its been tested!

[ykyohei]

Thanks! Yes, I tested this in satp3.