diff --git a/config/gello/xarm7_gello_record_config.yaml b/config/gello/xarm7_gello_record_config.yaml
index 94c4bf6..0d86b14 100644
--- a/config/gello/xarm7_gello_record_config.yaml
+++ b/config/gello/xarm7_gello_record_config.yaml
@@ -12,6 +12,19 @@ robot:
   min_tcp_z_mm: -2.0
   # Append gripper initialization/read/write failures here.
   gripper_error_log_path: "logs/xarm7_gripper_errors.log"
+  cameras:
+    camera:
+      type: intelrealsense
+      serial_number_or_name: "242622070583"
+      width: 640
+      height: 480
+      fps: 30
+    camera2:
+      type: intelrealsense
+      serial_number_or_name: "148522072685"
+      width: 640
+      height: 480
+      fps: 30
   # Redundant args, indicating the initial pose of xarm7. Set by 192.168.1.245:18333
   # start_joints: [0, -30, 0, 0, 0, 30, 0]
 
diff --git a/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py b/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py
index 5166696..fd49895 100644
--- a/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py
+++ b/src/lerobot_robot_ufactory/robots/uf_robot/uf_robot.py
@@ -22,7 +22,7 @@ logger = logging.getLogger(__name__)
 
 ## Configurations:
 INIT_SYNC_JOINT_VELOCITY_RAD = 0.2
-ROBOT_RESET_SPEED_DEG = 60
+ROBOT_RESET_SPEED_DEG = 20
 TCP_Z_CLAMP_TOLERANCE_MM = 1e-3
 TCP_Z_LOG_INTERVAL_S = 1.0
 TCP_Z_MAX_IK_JOINT_STEP_RAD = math.radians(10.0)
@@ -519,7 +519,10 @@ class UFRobot(Robot, Thread):
                 if move_to_open:
                     self._check_gripper_code(
                         "set_gripper_position",
-                        self.real_arm.set_gripper_position(self._gripper_param.open_pos),
+                        self.real_arm.set_gripper_position(
+                            self._gripper_param.open_pos,
+                            wait=True,
+                        ),
                     )
             elif self._gripper_type == GripperType.xArmGripperG2:
                 self.real_arm.set_gripper_enable(True)
@@ -553,6 +556,7 @@ class UFRobot(Robot, Thread):
         if move_to_open:
             self._gripper_param.grippos = self._gripper_param.open_pos
             self._gripper_param.gripper_norm = 0.0
+            self._last_gripper_command = 0.0
 
     def calibrate(self) -> None:
         self._is_calibrated = True
diff --git a/tests/test_manual_mode.py b/tests/test_manual_mode.py
index 9ac7d82..cf29dbb 100644
--- a/tests/test_manual_mode.py
+++ b/tests/test_manual_mode.py
@@ -131,7 +131,7 @@ def test_manual_mode_robot_enters_teaching_mode_without_sending_actions(monkeypa
             "set_servo_angle",
             {
                 "angle": arm.initial_point,
-                "speed": 60,
+                "speed": 20,
                 "is_radian": False,
                 "wait": True,
             },
@@ -177,7 +177,7 @@ def test_robot_reset_uses_sdk_initial_point_in_normal_mode(monkeypatch, tmp_path
             "set_servo_angle",
             {
                 "angle": arm.initial_point,
-                "speed": 60,
+                "speed": 20,
                 "is_radian": False,
                 "wait": True,
             },
@@ -187,6 +187,41 @@ def test_robot_reset_uses_sdk_initial_point_in_normal_mode(monkeypatch, tmp_path
     robot.disconnect()
 
 
+def test_normal_mode_waits_for_gripper_to_open_before_control(monkeypatch, tmp_path):
+    from lerobot_robot_ufactory.robots.uf_robot import uf_robot as uf_robot_module
+
+    arm = FakeXArm("192.168.1.245")
+    arm.gripper_position = 400
+    monkeypatch.setattr(uf_robot_module, "XArmAPI", lambda robot_ip: arm)
+    monkeypatch.setattr(uf_robot_module.time, "sleep", lambda _: None)
+
+    config = UFRobotConfig(
+        id="test_wait_for_gripper",
+        calibration_dir=tmp_path,
+        robot_ip=arm.robot_ip,
+        robot_dof=6,
+        control_space="joint",
+        gripper_type=1,
+    )
+    robot = uf_robot_module.UFRobot(config)
+    robot.connect()
+
+    open_calls = [call for call in arm.calls if call[0] == "set_gripper_position"]
+    assert open_calls == [("set_gripper_position", 800, {"wait": True})]
+    assert robot._last_gripper_command == 0.0
+
+    before_writes = len(
+        [call for call in arm.calls if call[0] == "getset_tgpio_modbus_data"]
+    )
+    robot._send_gripper_action(0.0)
+    after_writes = len(
+        [call for call in arm.calls if call[0] == "getset_tgpio_modbus_data"]
+    )
+    assert after_writes == before_writes
+
+    robot.disconnect()
+
+
 def test_manual_mode_config_rejects_cartesian_control(tmp_path):
     with pytest.raises(ValueError, match="control_space='joint'"):
         UFRobotConfig(