did some cartesian control

script/imitator.py

@@ -1,7 +1,6 @@
 #! /usr/bin/env python
 import os
 import json
-from time import sleep
 from math import atan, asin, radians, sqrt
 
 import rospy
@@ -42,7 +41,7 @@ if __name__ == '__main__':
     arm = x['arm']
 
     while not rospy.is_shutdown():
-        sleep(0.1)
+        rospy.Rate(10).sleep()
         if not _inform_masterloop('imitate'):
             continue
         rospy.logdebug('IMITATOR: ACTIVE')