first commit

gripper_control/hardware.py

@@ -35,6 +35,11 @@ class GripperClient:
                 f"accel={accel}, decel={decel}"
             )
             return
+        if self.motor is None:
+            raise RuntimeError(
+                "gripper motor is not connected; check serial port, conda environment, "
+                "and changingtek_p_rtu_Servo.py"
+            )
 
         self.motor.temp_move(
             position_mm=int(position),
@@ -95,6 +100,8 @@ class GripperClient:
     def final_open_if_needed(self):
         if not self.config.open_at_end:
             return
+        if not self.config.dry_run and self.motor is None:
+            return
         final_force = int(clamp(
             self.config.initial_force,
             self.config.force_min,