improve speed

facebookresearch · Nov 26, 2024 · 227301d · 227301d
1 parent ac4736c
commit 227301d
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/spot_rl_experiments/spot_rl/skills/atomic_skills.py b/spot_rl_experiments/spot_rl/skills/atomic_skills.py
@@ -613,7 +613,7 @@ def update_and_check_status(self, goal_dict: Dict[str, Any]) -> Tuple[bool, str]
             success_status_from_user_feedback = map_user_input_to_boolean(user_prompt)
 
         # Get the images from the env and check if the image is being block by the object
-        time.sleep(3.0)
+        time.sleep(1.5)
 
         # Get the hand depth images to test if the gripper is holding something
         hand_image_responses = self.spot.get_hand_image()

diff --git a/spot_rl_experiments/spot_rl/utils/search_table_location.py b/spot_rl_experiments/spot_rl/utils/search_table_location.py
@@ -478,7 +478,7 @@ def detect_place_point_by_pcd_method(
     spot.set_arm_joint_positions(np.deg2rad(gaze_arm_angles), 1)
 
     # Wait for a bit to stabalized the gripper
-    time.sleep(1.5)
+    time.sleep(1.0)
 
     (
         img,