FR3 home CLI opens the gripper before Moving

[yblei]

Problem:

When the robot performs a reflex close to the table surface with a closed gripper, the current homing sequence causes an issue:

Opening the gripper during the Home procedure can immediately lead to a collision with the table.

This prevents the robot from completing its homing routine safely.

Suggested Solution

Modify the homing sequence as follows:

Close gripper (to avoid collisions near the surface)
Move to home position
Open gripper