Publishing gripper commands quickly causes lag

[bsaund]

Publishing gripper commands at ~100Hz causes noticeable (~1s) lag for the arm and grippers.
Publishing gripper commands at ~10Hz does not cause the arm to lag, but causes the gripper to jitter.

In LCMRobotInterface.java currently when a gripper command is received it is immediately executed.
The gripper command structure should follow the rest of the arm structure, where commands are stored and periodically executed.
While the arm period is 10ms, the gripper period should be much lower, ~200ms=5Hz.

[bsaund]

As the workaround we've all been using for years, just don't publish too quickly to the grippers (e.g. from your python code)