This is a program just to open and close a hand. I tried using the "Robolab2.9" to programming (for whatever reason, education in the field as in many cases using the Robolab than the NXT software).

Processing steps are as follows.
・(1) "Start": Let's start with the program.
・(2) "Turn motor C on": the motor C forward. This will open the hand.
・(3) "Wait for the NXT rotation": Wait for the processing of the program until the desired angle there. In this case, wait until the 45-degree angle.
・(4) "Turn motor C off": stopping the rotation of the motor.
・(5) "Wait a second:" for one second, then stop the process.
・(6) "Turn motor C on ": reverses the motor C. Rotational direction is reversed and the processing time of 2. This will close the hand.
・(7) "Wait for the rotation NXT": Wait for the processing of the program until the desired angle there. In this case, wait until the 45-degree angle.
・(8) "Turn motor C off ": Stop the rotation of the motor C.
・(9) "End": Stop the program.
[DOWNLOAD] Program was created (for Robolab2.9)