Today we worked on the pneumatic solenoid system used to control the gripper. We found that the alternative solenoid setup we had planned on using still would not work because the solenoids we had available were only designed for controlling a pressure source and not a vacuum.  However, we were able to find a manually controlled air valve that worked with our system. We will need to actuate the valve using a servo. We have started 3D printing a new case to hold the pump, valve, and servo.