FOXBOROUGH, Mass. -- New England Patriots tight end Rob Gronkowski returned to practice on Tuesday as the team intensified its preparations for Sunday's season-opening game against the Arizona Cardinals.

Gronkowski and linebacker Barkevious Mingo had been held out of Sunday's practice, but the club had perfect attendance for Tuesday's workout.

Reporters were present for warmups in practice and, during that time, Gronkowski lightly caught passes alongside fellow tight end Martellus Bennett. Before doing so, he had athletic trainer Jim Whalen secure the brace he practices and plays with over his left elbow.

A few other notes from practice:

• Practice squad running back Bishop Sankey was present for his first practice with the team, donning jersey No. 25. Likewise, practice squad receiver Devin Street is going through his first practice with the team and wearing No. 17.

• With two open spots on the practice squad, the club has apparently filled them with safety Vinnie Sunseri (No. 42) and cornerback Mike Hilton (35). Sunseri was with the team in training camp while Hilton, an undrafted free agent out of Mississippi, was with the Jaguars before being waived Aug. 30.

• Despite rain in the region earlier in the day and an indoor game on Sunday night at University of Phoenix Stadium, the Patriots practiced outside. Bill Belichick said earlier that unless there was lightning, the team would be outside.

• Although this was considered a Wednesday-type practice, as the first workout of the week specifically devoted to the Cardinals, it was notable that it wasn't held in full pads. That could come tomorrow, with a heavier focus on the running game.

• Cornerback/safety Eric Rowe, who was acquired from the Eagles in exchange for guard Josh Kline and a draft pick about an hour before practice, wasn't present.