feat: 先生成静物

model_mgr/manager.py

@@ -1,4 +1,5 @@
 import threading
+import time
 from typing import List
 
 from gazebo_ctrl import GazeboROSController
@@ -17,9 +18,16 @@ class ModelManager:
         self.rlock = threading.RLock()
 
     def load_models(self, pmodels: List[PreloadModel]):
+        static_types = [ModelType.TABLE, ModelType.TAG]
         with self.rlock:
+            # 性能平凡的机器上，需要先加载静物，再加载动物
             for pmod in pmodels:
-                self.add_model(pmod.model, pmod.gen)
+                if pmod.model.obj_type in static_types:
+                    self.add_model(pmod.model, pmod.gen)
+            time.sleep(5)
+            for pmod in pmodels:
+                if pmod.model.obj_type not in static_types:
+                    self.add_model(pmod.model, pmod.gen)
 
     def add_model(self, model: Model, add_sim: bool = True):
         with self.rlock: