From e6e116bf54c7c29d91b8b7222344aebb26b01a82 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 14:10:32 +0100
Subject: [PATCH] Open the gripper before each trial

---
 scripts/hw_node.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/scripts/hw_node.py b/scripts/hw_node.py
index 0daba1d..439f09d 100755
--- a/scripts/hw_node.py
+++ b/scripts/hw_node.py
@@ -25,6 +25,7 @@ class HwNode:
         self.scene_config = load_yaml(cfg["scene_file"])
 
     def init_robot_connection(self):
+        self.gripper = PandaGripperClient()
         self.switch_to_joint_trajectory_controller = rospy.ServiceProxy(
             "controller_manager/switch_controller", SwitchController
         )
@@ -39,6 +40,8 @@ class HwNode:
         return SeedResponse()
 
     def reset(self, req):
+        self.gripper.move(0.04)
+
         # Move to the initial configuration
         self.switch_to_joint_trajectory_controller()
         self.moveit.goto(self.scene_config["q0"])