RSDK-806 - add extra params to gripper

[stuqdog]

Adds extra params to gripper. Relies on viamrobotics/api#96; tests will fail until that is merged.

[cheukt]

would be good to test that we are passing the extra arg through the client and server like https://github.com/viamrobotics/rdk/pull/1545/files#diff-45b6db493935132fd510c7908cfbaa8d0ed3b0a6fe56e16281c692e17b8a5b8d and https://github.com/viamrobotics/rdk/pull/1545/files#diff-cb596d6d9d4b0bd2ad903c58b7c464690d348c2655e22b3eeff64b97acfdef00

[github-actions]

Package	Line Rate	Delta	Health
go.viam.com/rdk/components/arm	59%	0.00%	➖
go.viam.com/rdk/components/arm/universalrobots	12%	0.00%	❌
go.viam.com/rdk/components/arm/xarm	2%	0.00%	❌
go.viam.com/rdk/components/arm/yahboom	7%	0.00%	❌
go.viam.com/rdk/components/audioinput	55%	+0.34%	➖
go.viam.com/rdk/components/base	68%	0.00%	➖
go.viam.com/rdk/components/base/agilex	62%	0.00%	➖
go.viam.com/rdk/components/base/boat	41%	0.00%	❌
go.viam.com/rdk/components/base/wheeled	76%	0.00%	✅
go.viam.com/rdk/components/board	69%	0.00%	➖
go.viam.com/rdk/components/board/arduino	10%	0.00%	❌
go.viam.com/rdk/components/board/commonsysfs	47%	0.00%	❌
go.viam.com/rdk/components/board/fake	39%	0.00%	❌
go.viam.com/rdk/components/board/numato	19%	0.00%	❌
go.viam.com/rdk/components/board/pi	50%	0.00%	➖
go.viam.com/rdk/components/camera	66%	0.00%	➖
go.viam.com/rdk/components/camera/fake	67%	0.00%	➖
go.viam.com/rdk/components/camera/ffmpeg	72%	0.00%	✅
go.viam.com/rdk/components/camera/transformpipeline	82%	+1.61%	✅
go.viam.com/rdk/components/camera/videosource	55%	0.00%	➖
go.viam.com/rdk/components/encoder/fake	77%	0.00%	✅
go.viam.com/rdk/components/gantry	68%	0.00%	➖
go.viam.com/rdk/components/gantry/multiaxis	84%	0.00%	✅
go.viam.com/rdk/components/gantry/oneaxis	86%	0.00%	✅
go.viam.com/rdk/components/generic	84%	0.00%	✅
go.viam.com/rdk/components/gripper	81%	-1.15%	✅
go.viam.com/rdk/components/input	86%	0.00%	✅
go.viam.com/rdk/components/input/gpio	83%	0.00%	✅
go.viam.com/rdk/components/motor	82%	0.00%	✅
go.viam.com/rdk/components/motor/dimensionengineering	63%	0.00%	➖
go.viam.com/rdk/components/motor/dmc4000	69%	0.00%	➖
go.viam.com/rdk/components/motor/fake	58%	0.00%	➖
go.viam.com/rdk/components/motor/gpio	64%	+0.43%	➖
go.viam.com/rdk/components/motor/gpiostepper	56%	0.00%	➖
go.viam.com/rdk/components/motor/tmcstepper	62%	0.00%	➖
go.viam.com/rdk/components/movementsensor	67%	0.00%	➖
go.viam.com/rdk/components/movementsensor/cameramono	40%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	37%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	0.00%	❌
go.viam.com/rdk/components/posetracker	87%	0.00%	✅
go.viam.com/rdk/components/sensor	88%	0.00%	✅
go.viam.com/rdk/components/sensor/ultrasonic	34%	0.00%	❌
go.viam.com/rdk/components/servo	77%	0.00%	✅
go.viam.com/rdk/config	76%	0.00%	✅
go.viam.com/rdk/control	57%	0.00%	➖
go.viam.com/rdk/data	77%	0.00%	✅
go.viam.com/rdk/grpc	25%	0.00%	❌
go.viam.com/rdk/ml	67%	0.00%	➖
go.viam.com/rdk/ml/inference	70%	0.00%	✅
go.viam.com/rdk/motionplan	71%	+0.11%	✅
go.viam.com/rdk/operation	81%	0.00%	✅
go.viam.com/rdk/pointcloud	71%	-0.09%	✅
go.viam.com/rdk/protoutils	62%	0.00%	➖
go.viam.com/rdk/referenceframe	78%	0.00%	✅
go.viam.com/rdk/registry	88%	0.00%	✅
go.viam.com/rdk/resource	85%	0.00%	✅
go.viam.com/rdk/rimage	78%	0.00%	✅
go.viam.com/rdk/rimage/depthadapter	94%	0.00%	✅
go.viam.com/rdk/rimage/transform	73%	0.00%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	0.00%	➖
go.viam.com/rdk/robot	93%	0.00%	✅
go.viam.com/rdk/robot/client	80%	0.00%	✅
go.viam.com/rdk/robot/framesystem	68%	0.00%	➖
go.viam.com/rdk/robot/impl	79%	+0.24%	✅
go.viam.com/rdk/robot/server	58%	-0.97%	➖
go.viam.com/rdk/robot/web	61%	0.00%	➖
go.viam.com/rdk/robot/web/stream	87%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol	75%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol/builtin	25%	0.00%	❌
go.viam.com/rdk/services/baseremotecontrol	75%	0.00%	✅
go.viam.com/rdk/services/baseremotecontrol/builtin	71%	0.00%	✅
go.viam.com/rdk/services/datamanager	66%	0.00%	➖
go.viam.com/rdk/services/datamanager/builtin	78%	0.00%	✅
go.viam.com/rdk/services/datamanager/datacapture	21%	0.00%	❌
go.viam.com/rdk/services/datamanager/datasync	72%	0.00%	✅
go.viam.com/rdk/services/motion	68%	0.00%	➖
go.viam.com/rdk/services/motion/builtin	89%	0.00%	✅
go.viam.com/rdk/services/navigation	54%	0.00%	➖
go.viam.com/rdk/services/sensors	78%	0.00%	✅
go.viam.com/rdk/services/sensors/builtin	97%	0.00%	✅
go.viam.com/rdk/services/shell	14%	0.00%	❌
go.viam.com/rdk/services/slam	85%	0.00%	✅
go.viam.com/rdk/services/slam/builtin	72%	0.00%	✅
go.viam.com/rdk/services/vision	80%	0.00%	✅
go.viam.com/rdk/services/vision/builtin	74%	0.00%	✅
go.viam.com/rdk/spatialmath	85%	0.00%	✅
go.viam.com/rdk/subtype	96%	0.00%	✅
go.viam.com/rdk/utils	71%	0.00%	✅
go.viam.com/rdk/vision	26%	0.00%	❌
go.viam.com/rdk/vision/chess	80%	0.00%	✅
go.viam.com/rdk/vision/delaunay	87%	0.00%	✅
go.viam.com/rdk/vision/keypoints	92%	0.00%	✅
go.viam.com/rdk/vision/objectdetection	82%	0.00%	✅
go.viam.com/rdk/vision/odometry	60%	0.00%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	0.00%	❌
go.viam.com/rdk/vision/segmentation	49%	0.00%	❌
go.viam.com/rdk/web/server	26%	0.00%	❌
Summary	66% (19337 / 29256)	+0.03%	➖