diff --git a/ur5_control.py b/ur5_control.py
index cf9c683..189accf 100755
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -681,8 +681,11 @@ def camera_to_holder(robot, pos_updates, holder_index, verbose=False):
 
 def open_gripper():
     fprint("Opening gripper")
-    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
-    
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+    c.open()
+    while not c.is_open():
+        time.sleep(0.01)
+
     c.write_single_register(112, 0b0)
     c.write_single_register(435, 0b10000000)
     time.sleep(0.5)
@@ -695,7 +698,11 @@ def open_gripper():
 
 def close_gripper():
     fprint("Closing gripper")
-    c = ModbusClient(host="192.168.1.21", port=502, auto_open=True, auto_close=False)
+    c = ModbusClient(host="192.168.1.21", port=502, auto_open=False, auto_close=False)
+    c.open()
+    while not c.is_open():
+        time.sleep(0.01)
+    
     c.write_single_register(435, 0b00000000)
     c.write_single_register(112, 0b1)
     time.sleep(0.5)
@@ -703,6 +710,7 @@ def close_gripper():
     c.write_single_register(112, 0b1)
     time.sleep(0.5)
     c.close()
+    time.sleep(0.2)
     #
 
 def get_position_thread(robot, pos_updates):