From 571b3826547f04fae5f1ff194d058f80d9c7d0ce Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 14:48:51 +0100
Subject: [PATCH] Open gripper after each run

---
 scripts/hw_node.py             | 3 +--
 src/active_grasp/controller.py | 1 +
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/hw_node.py b/scripts/hw_node.py
index 439f09d..f8c161b 100755
--- a/scripts/hw_node.py
+++ b/scripts/hw_node.py
@@ -40,11 +40,10 @@ 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"])
+        self.gripper.move(0.04)
 
         # Construct bounding box
         bbox_min = self.T_base_roi.apply(self.scene_config["target"]["min"])
diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index 4a07829..9f8850c 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -87,6 +87,7 @@ class GraspController:
                 res = self.execute_grasp(grasp)
         else:
             res = "aborted"
+        self.gripper.move(0.04)
         return self.collect_info(res)
 
     def reset(self):