We might be able to pre-set the joint positions, if so then we can avoid having to wait for the arm to tuck itself before starting the simulation proper.
Have a look to see if its possible in the tiago docs/simualtion files
Add the needed steps to the launch file in hello_tiago
We might be able to pre-set the joint positions, if so then we can avoid having to wait for the arm to tuck itself before starting the simulation proper.