A way to manually open super drive on G5 quad?

I want to boot from disc warrior but my G5 is freezing at the gray logo. I want to manually open the drive to insert the disc. and close it as well.

If you have a wired USB mouse, you should be able to get the CD tray to open at power-up by holding the mouse left button down.  You will still be getting the gray screen probably, but you can at least get the disc into the tray.
An actual timesaver, though, would be to boot into open firmware holding down the cmd-option-O-F keys until you get the white Open Firmware terminal screen.  Enter the following command:
eject  cd  <enter>
which should cause the drive to open.  Insert the DW disc in the tray, then repeat the command, which should cause the drive to close.  Then type the following command,
reset-all  <enter>
which will cause a reboot of the system,  then hold down the option key at or before the boot tone (chime) during that process to invoke the boot manager.  Select the icon for the DW disc and click the arrow button on the right and you should be able to boot to the DW disc and go from there.

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