Add gripper to DP

Goal: Integrate gripper to the DP to allow us to do tasks like PCB handling

• Integrate gripper distance to input/output of DP
• Check that gripper is integrated teleop
• Minimal test trajectory w/ gripper collect
• Add gripper to twist_correct_controller in franka_ros_converging. We can execute the first gripper command in the DP trajectory, don't need to choose a point in the future
• Test integration
• Add a cancellation of goals of achieved the desired positions, so that the gripper motors don't work

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Ideas, not necessary to close issue

• check if 20ms is too fast for the interface?
• check how EE is handled in other papers e.g. https://github.com/real-stanford/diffusion_policy/tree/main/diffusion_policy