diff --git a/stack/main/src/executor/executor/slider_control_config.yaml b/stack/main/src/executor/executor/slider_config.yaml
similarity index 86%
rename from stack/main/src/executor/executor/slider_control_config.yaml
rename to stack/main/src/executor/executor/slider_config.yaml
index d0ac551..e8d7189 100644
--- a/stack/main/src/executor/executor/slider_control_config.yaml
+++ b/stack/main/src/executor/executor/slider_config.yaml
@@ -30,3 +30,8 @@ all_motors_control:
         max: 0.45
         to: motors_control[5].value
         default: 0.0
+move_gripper:
+    type: interfaces/srv/GripperAction
+    gripper:
+        to: action
+        default: 'open'
diff --git a/stack/main/src/executor/executor/slider_node.py b/stack/main/src/executor/executor/slider_node.py
index 2443cc3..44f6b53 100755
--- a/stack/main/src/executor/executor/slider_node.py
+++ b/stack/main/src/executor/executor/slider_node.py
@@ -498,7 +498,7 @@ def main(args=None):
     # read passed param file
     filename = len(sys.argv) > 1 and sys.argv[1] or ''
     if not os.path.exists(filename):
-        filename ='slider_control_config.yaml'
+        filename ='slider_config.yaml'
         
     # build GUI
     full_namespace = '{}/{}'.format(node.get_namespace().strip('/'), node.get_name())