diff --git a/ambf_framework/afFramework.cpp b/ambf_framework/afFramework.cpp
index 3b0e6bccb..ed4ebf009 100644
--- a/ambf_framework/afFramework.cpp
+++ b/ambf_framework/afFramework.cpp
@@ -5152,11 +5152,39 @@ afRigidBodyPtr afObjectManager::getRootRigidBody(afRigidBodyPtr a_bodyPtr){
     return rootParentBody;
 }
 
+///
+/// \brief afObjectManager::getJoint
+/// \param a_name
+/// \param suppress_warning
+/// \return
+///
 afJointPtr afObjectManager::getJoint(string a_name, bool suppress_warning){
     return (afJointPtr)getBaseObject(a_name, getJointMap(), suppress_warning);
 }
 
 
+///
+/// \brief afObjectManager::getActuator
+/// \param a_name
+/// \param suppress_warning
+/// \return
+///
+afActuatorPtr afObjectManager::getActuator(string a_name, bool suppress_warning){
+    return (afActuatorPtr)getBaseObject(a_name, getActuatorMap(), suppress_warning);
+}
+
+///
+/// \brief afObjectManager::getSensor
+/// \param a_name
+/// \param suppress_warning
+/// \return
+///
+afSensorPtr afObjectManager::getSensor(string a_name, bool suppress_warning){
+    return (afSensorPtr)getBaseObject(a_name, getSensorMap(), suppress_warning);
+
+}
+
+
 ///
 /// \brief afObjectManager::getSoftBody
 /// \param a_name
diff --git a/ambf_framework/afFramework.h b/ambf_framework/afFramework.h
index cae362503..e4273d213 100644
--- a/ambf_framework/afFramework.h
+++ b/ambf_framework/afFramework.h
@@ -783,9 +783,9 @@ class afObjectManager{
 
     afJointPtr getJoint(string a_name, bool suppress_warning=false);
 
-    afActuatorPtr getActuator(string a_name);
+    afActuatorPtr getActuator(string a_name, bool suppress_warning=false);
 
-    afSensorPtr getSensor(string a_name);
+    afSensorPtr getSensor(string a_name, bool suppress_warning=false);
 
     afVehiclePtr getVehicle(string a_name, bool suppress_warning=false);
 
diff --git a/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp b/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp
index 95a4e3946..4be4a2611 100644
--- a/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp
+++ b/ambf_plugins/core/ros_comm_plugin/ObjectCommPlugin.cpp
@@ -75,6 +75,7 @@ int afObjectCommunicationPlugin::init(const afBaseObjectPtr a_afObjectPtr, const
 
     string objName = m_objectPtr->getName() + m_objectPtr->getGlobalRemapIdx();
     string objNamespace = m_objectPtr->getNamespace();
+    string objQualifiedIdentifier = m_objectPtr->getQualifiedIdentifier() + m_objectPtr->getGlobalRemapIdx();
     int minFreq = m_objectPtr->getMinPublishFrequency();
     int maxFreq = m_objectPtr->getMaxPublishFrequency();
     double timeOut = 0.5;
@@ -85,6 +86,7 @@ int afObjectCommunicationPlugin::init(const afBaseObjectPtr a_afObjectPtr, const
     case afType::ACTUATOR:
     {
         m_actuatorCommPtr.reset(new ambf_comm::Actuator(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_actuatorCommPtr->set_identifier(objQualifiedIdentifier);
         afActuatorPtr actPtr = (afActuatorPtr)m_objectPtr;
         switch (actPtr->m_actuatorType) {
         case afActuatorType::CONSTRAINT:
@@ -100,30 +102,35 @@ int afObjectCommunicationPlugin::init(const afBaseObjectPtr a_afObjectPtr, const
     case afType::CAMERA:
     {
         m_cameraCommPtr.reset(new ambf_comm::Camera(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_cameraCommPtr->set_identifier(objQualifiedIdentifier);
         success = true;
     }
         break;
     case afType::LIGHT:
     {
         m_lightCommPtr.reset(new ambf_comm::Light(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_lightCommPtr->set_identifier(objQualifiedIdentifier);
         success = true;
     }
         break;
     case afType::OBJECT:
     {
         m_objectCommPtr.reset(new ambf_comm::Object(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_objectCommPtr->set_identifier(objQualifiedIdentifier);
         success = true;
     }
         break;
     case afType::RIGID_BODY:
     {
         m_rigidBodyCommPtr.reset(new ambf_comm::RigidBody(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_rigidBodyCommPtr->set_identifier(objQualifiedIdentifier);
         success = true;
     }
         break;
     case afType::SENSOR:
     {
         m_sensorCommPtr.reset(new ambf_comm::Sensor(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_sensorCommPtr->set_identifier(objQualifiedIdentifier);
         afSensorPtr senPtr = (afSensorPtr) m_objectPtr;
         switch (senPtr->m_sensorType) {
         case afSensorType::RAYTRACER:
@@ -141,6 +148,7 @@ int afObjectCommunicationPlugin::init(const afBaseObjectPtr a_afObjectPtr, const
     case afType::VEHICLE:
     {
         m_vehicleCommPtr.reset(new ambf_comm::Vehicle(objName, objNamespace, minFreq, maxFreq, timeOut));
+        m_actuatorCommPtr->set_identifier(objQualifiedIdentifier);
         success = true;
     }
         break;
@@ -300,22 +308,35 @@ void afObjectCommunicationPlugin::actuatorFetchCommand(afActuatorPtr actPtr, dou
                 // Constraint is active. Ignore request
                 return;
             }
-            string body_name = cmd.body_name.data;
-            if (cmd.use_offset){
-                // Offset of constraint (joint) in sensed body (child)
-                btTransform T_jINc;
-                T_jINc.setOrigin(btVector3(cmd.body_offset.position.x,
-                                           cmd.body_offset.position.y,
-                                           cmd.body_offset.position.z));
-
-                T_jINc.setRotation(btQuaternion(cmd.body_offset.orientation.x,
-                                                cmd.body_offset.orientation.y,
-                                                cmd.body_offset.orientation.z,
-                                                cmd.body_offset.orientation.w));
-                castPtr->actuate(body_name, T_jINc);
+            else if (cmd.use_sensor_data){
+                std::string sensorName = cmd.sensor_identifier.data;
+                afSensorPtr senPtr = actPtr->m_afWorld->getSensor(sensorName);
+                if (senPtr){
+                    castPtr->actuate(senPtr);
+                }
+                else{
+                    cerr << "ERROR! IN ACTUATOR CALLBACK " << castPtr->getName() <<
+                            ", REQUESTED SENSOR NAME " << sensorName << " NOT FOUND. IGNORING!" << endl;
+                }
             }
             else{
-                castPtr->actuate(body_name);
+                string body_name = cmd.body_name.data;
+                if (cmd.use_offset){
+                    // Offset of constraint (joint) in sensed body (child)
+                    btTransform T_jINc;
+                    T_jINc.setOrigin(btVector3(cmd.body_offset.position.x,
+                                               cmd.body_offset.position.y,
+                                               cmd.body_offset.position.z));
+
+                    T_jINc.setRotation(btQuaternion(cmd.body_offset.orientation.x,
+                                                    cmd.body_offset.orientation.y,
+                                                    cmd.body_offset.orientation.z,
+                                                    cmd.body_offset.orientation.w));
+                    castPtr->actuate(body_name, T_jINc);
+                }
+                else{
+                    castPtr->actuate(body_name);
+                }
             }
         }
         else{
@@ -333,7 +354,6 @@ void afObjectCommunicationPlugin::actuatorUpdateState(afActuatorPtr actPtr, doub
 {
     m_actuatorCommPtr->m_writeMtx.lock();
     setTimeStamps(m_objectPtr->m_afWorld->getWallTime(), m_objectPtr->m_afWorld->getSimulationTime(), m_objectPtr->getCurrentTimeStamp());
-    m_actuatorCommPtr->set_name(actPtr->getName());
     m_actuatorCommPtr->set_parent_name(actPtr->m_parentName);
     m_actuatorCommPtr->m_writeMtx.unlock();
     m_actuatorCommPtr->enableComm();
@@ -809,7 +829,6 @@ void afObjectCommunicationPlugin::sensorUpdateState(afSensorPtr senPtr, double d
     {
         afRayTracerSensorPtr raySenPtr = (afRayTracerSensorPtr) senPtr;
         m_sensorCommPtr->set_count(raySenPtr->getCount());
-        m_sensorCommPtr->set_name(raySenPtr->getName());
         m_sensorCommPtr->set_parent_name(raySenPtr->m_parentName);
         m_sensorCommPtr->set_range(raySenPtr->m_range);
         cVector3d pos = raySenPtr->getLocalPos();
diff --git a/ambf_ros_modules/ambf_client/python/ambf_actuator.py b/ambf_ros_modules/ambf_client/python/ambf_actuator.py
index e066ab245..cd2eb9379 100755
--- a/ambf_ros_modules/ambf_client/python/ambf_actuator.py
+++ b/ambf_ros_modules/ambf_client/python/ambf_actuator.py
@@ -74,8 +74,19 @@ def actuate(self, obj_name, pose=None):
         self._cmd.body_name.data = obj_name
         self._cmd.actuate = True
 
+    def actuate_from_sensor_data(self, sensor_identifer):
+        """
+        :param sensor_name:
+        :return:
+        """
+        self._cmd.use_sensor_data = True
+        self._cmd.sensor_identifier.data = sensor_identifer
+        self._cmd.actuate = True
+
     def deactuate(self):
         """
         :return:
         """
         self._cmd.actuate = False
+        self._cmd.use_sensor_data = False
+        self._cmd.sensor_identifier.data = ''
diff --git a/ambf_ros_modules/ambf_client/python/ambf_base_object.py b/ambf_ros_modules/ambf_client/python/ambf_base_object.py
index ba842e71c..481d1e24f 100755
--- a/ambf_ros_modules/ambf_client/python/ambf_base_object.py
+++ b/ambf_ros_modules/ambf_client/python/ambf_base_object.py
@@ -172,6 +172,12 @@ def get_rot_command(self):
         else:
             return self._state.pose.orientation
 
+    def get_identifier(self):
+        """
+        :return:
+        """
+        return self._state.identifier.data
+
     def get_name(self):
         """
         Get the name of this object
diff --git a/ambf_ros_modules/ambf_msgs/msg/ActuatorCmd.msg b/ambf_ros_modules/ambf_msgs/msg/ActuatorCmd.msg
index 4c5812869..afd52e9ae 100644
--- a/ambf_ros_modules/ambf_msgs/msg/ActuatorCmd.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/ActuatorCmd.msg
@@ -3,3 +3,5 @@ bool actuate
 std_msgs/String body_name
 bool use_offset
 geometry_msgs/Pose body_offset
+bool use_sensor_data
+std_msgs/String sensor_identifier
diff --git a/ambf_ros_modules/ambf_msgs/msg/ActuatorState.msg b/ambf_ros_modules/ambf_msgs/msg/ActuatorState.msg
index 1ef448e6a..57a5068fd 100644
--- a/ambf_ros_modules/ambf_msgs/msg/ActuatorState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/ActuatorState.msg
@@ -2,6 +2,7 @@ Header header
 uint32 sim_step
 std_msgs/String type
 std_msgs/String parent_name
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/CameraState.msg b/ambf_ros_modules/ambf_msgs/msg/CameraState.msg
index 76b5b6b91..beb803464 100644
--- a/ambf_ros_modules/ambf_msgs/msg/CameraState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/CameraState.msg
@@ -1,6 +1,7 @@
 Header header
 uint32 sim_step
 std_msgs/String parent_name
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/LightState.msg b/ambf_ros_modules/ambf_msgs/msg/LightState.msg
index 76b5b6b91..beb803464 100644
--- a/ambf_ros_modules/ambf_msgs/msg/LightState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/LightState.msg
@@ -1,6 +1,7 @@
 Header header
 uint32 sim_step
 std_msgs/String parent_name
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/ObjectState.msg b/ambf_ros_modules/ambf_msgs/msg/ObjectState.msg
index 85fdfabac..f78dce31f 100644
--- a/ambf_ros_modules/ambf_msgs/msg/ObjectState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/ObjectState.msg
@@ -1,5 +1,6 @@
 Header header
 uint32 sim_step
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/RigidBodyState.msg b/ambf_ros_modules/ambf_msgs/msg/RigidBodyState.msg
index ef8fdb6b7..622e976a3 100644
--- a/ambf_ros_modules/ambf_msgs/msg/RigidBodyState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/RigidBodyState.msg
@@ -1,5 +1,6 @@
 Header header
 uint32 sim_step
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/SensorState.msg b/ambf_ros_modules/ambf_msgs/msg/SensorState.msg
index 78381906a..322cf735e 100644
--- a/ambf_ros_modules/ambf_msgs/msg/SensorState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/SensorState.msg
@@ -2,6 +2,7 @@ Header header
 uint32 sim_step
 std_msgs/String type
 std_msgs/String parent_name
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/SoftBodyState.msg b/ambf_ros_modules/ambf_msgs/msg/SoftBodyState.msg
index 85fdfabac..f78dce31f 100644
--- a/ambf_ros_modules/ambf_msgs/msg/SoftBodyState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/SoftBodyState.msg
@@ -1,5 +1,6 @@
 Header header
 uint32 sim_step
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_msgs/msg/VehicleState.msg b/ambf_ros_modules/ambf_msgs/msg/VehicleState.msg
index def25d043..8be9cd18c 100644
--- a/ambf_ros_modules/ambf_msgs/msg/VehicleState.msg
+++ b/ambf_ros_modules/ambf_msgs/msg/VehicleState.msg
@@ -1,5 +1,6 @@
 Header header
 uint32 sim_step
+std_msgs/String identifier
 std_msgs/String name
 float32 wall_time
 float32 sim_time
diff --git a/ambf_ros_modules/ambf_server/include/ambf_server/RosComBase.h b/ambf_ros_modules/ambf_server/include/ambf_server/RosComBase.h
index 994990725..0cf26b489 100644
--- a/ambf_ros_modules/ambf_server/include/ambf_server/RosComBase.h
+++ b/ambf_ros_modules/ambf_server/include/ambf_server/RosComBase.h
@@ -142,6 +142,10 @@ class RosComBase{
         m_State.name.data = name;
     }
 
+    inline void set_identifier(std::string identifier){
+        m_State.identifier.data = identifier;
+    }
+
     inline void set_time_stamp(double a_sec){
         m_State.header.stamp.fromSec(a_sec);
     }
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp1.png b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp1.png
new file mode 100644
index 000000000..b11c1ea3c
Binary files /dev/null and b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp1.png differ
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp2.png b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp2.png
new file mode 100644
index 000000000..7ae49e127
Binary files /dev/null and b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp2.png differ
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp3.png b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp3.png
new file mode 100644
index 000000000..72c55d74f
Binary files /dev/null and b/ambf_ros_modules/examples/sensors_actuators_example/Images/sb_grasp3.png differ
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/README.md b/ambf_ros_modules/examples/sensors_actuators_example/README.md
index 8b3d4fa43..68a899895 100644
--- a/ambf_ros_modules/examples/sensors_actuators_example/README.md
+++ b/ambf_ros_modules/examples/sensors_actuators_example/README.md
@@ -52,3 +52,32 @@ This is an example of what you should see:
 
 ### Note:
 If you accidentally drop or misplace the box, you can click the simulation window and hit `CRTL + R` to reset the object poses in the simulation.
+
+### SOFT-BODY GRASPING (Beta Feature):
+
+Run the simulation as follows:
+
+``` bash
+cd <ambf>/bin/lin-x86_64/
+./ambf_simulator --launch_file <ambf>/ambf_ros_modules/examples/sensors_actuators_example/launch.yaml -l 0,1,2,3,4
+```
+The last two ADF files represent a textured ground and a softbody box.
+
+Similar to before, run the GUI with joint sliders and the sensing_and_grasping.py script.
+
+```
+cd <ambf>/ambf_ros_modules/examples/sensors_actuators_example/
+python sensing_and_grasping.py
+```
+
+By moving the KUKA robot such that the visible sensors touch the softbody, one can press the grasp button (from sensing_and_grasping GUI) to grasp the softbody. Pressing the release button will release the softbody.
+
+This is what the demo should look like.
+
+<img src="Images/sb_grasp1.png" title="Pre Grasp" width="30%" >
+
+<img src="Images/sb_grasp2.png" title="Grasp" width="30%">
+
+<img src="Images/sb_grasp3.png" title="Grasp and lift" width="30%">
+
+Checkout the `sensing_and_grasping.py` script for understanding how to use the `constraint actuators` for grasping a softbody using the new beta API.
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/launch.yaml b/ambf_ros_modules/examples/sensors_actuators_example/launch.yaml
index aadba0fea..ae778b091 100644
--- a/ambf_ros_modules/examples/sensors_actuators_example/launch.yaml
+++ b/ambf_ros_modules/examples/sensors_actuators_example/launch.yaml
@@ -7,3 +7,5 @@ multibody configs:
   - "../../../ambf_models/descriptions/multi-bodies/robots/blender-kuka-lbr-med.yaml" #0
   - "./sensors_actuators.yaml" #1
   - "./box.yaml" #2
+  - "../../../ambf_models/descriptions/multi-bodies/environments/TexturedGround/env.yaml" #3
+  - "../../../ambf_models/descriptions/multi-bodies/sb/magic_box.yaml" #4
diff --git a/ambf_ros_modules/examples/sensors_actuators_example/sensing_and_grasping.py b/ambf_ros_modules/examples/sensors_actuators_example/sensing_and_grasping.py
index 72cb639a1..e89b97a33 100644
--- a/ambf_ros_modules/examples/sensors_actuators_example/sensing_and_grasping.py
+++ b/ambf_ros_modules/examples/sensors_actuators_example/sensing_and_grasping.py
@@ -1,4 +1,5 @@
 from ambf_client import Client
+import rospy
 import time
 import sys
 if sys.version_info[0] >= 3:
@@ -6,7 +7,11 @@
 else:
     from Tkinter import *
 
-global sensor_array, actuator_array, sensor_triggered, actuator_activated, grasp
+
+sensor_obj = None
+actuators = []
+actuators_activation_state = []
+grasp = False
 
 
 def grasp_button_cb():
@@ -21,40 +26,56 @@ def release_button_cb():
     print('RELEASE REQUESTED')
 
 
-def grasp_object(grasp):
-    global sensor_array, actuator_array, sensor_triggered, actuator_activated
+def print_sensors_state(sensor_obj):
+    print('Sensor Array Triggers: [', end=' ')
+    for i in range(sensor_obj.get_count()):
+        print(sensor_obj.is_triggered(i), end=' ')
 
-    sensor_count = sensor_array.get_count()
+    print(']')
 
-    for i in range(sensor_count):
-        if sensor_array.is_triggered(i):
-            sensor_triggered[i] = True
-        else:
-            sensor_triggered[i] = False
 
-    print('Sensor Array Triggers: ', sensor_triggered)
+def grasp_object(grasp):
+    sensor_count = sensor_obj.get_count()
 
     if grasp:
         for i in range(sensor_count):
-            if sensor_triggered[i] and actuator_activated[i] is False:
-                obj_name = sensor_array.get_sensed_object(i)
+            if sensor_obj.is_triggered(i) and actuators_activation_state[i] is False:
+                obj_name = sensor_obj.get_sensed_object(i)
                 print('Grasping ', obj_name, ' via actuator ', i)
-                actuator_array[i].actuate(obj_name)
-                actuator_activated[i] = True
+                actuators[i].actuate(obj_name)
+                actuators_activation_state[i] = True
+    else:
+        for i in range(sensor_count):
+            actuators[i].deactuate()
+            if actuators_activation_state[i] is True:
+                print('Releasing object from actuator ', i)
+            actuators_activation_state[i] = False
+
+
+def grasp_object_via_sensor_name(grasp):
+    global sensor_obj
+    sensor_count = sensor_obj.get_count()
+
+    if grasp:
+        for i in range(sensor_count):
+            if sensor_obj.is_triggered(i) and actuators_activation_state[i] is False:
+                actuators[i].actuate_from_sensor_data(sensor_obj.get_identifier())
+                actuators_activation_state[i] = True
+                print('Actuating actuator ', i, 'named: ', actuators[i].get_name())
     else:
         for i in range(sensor_count):
-            actuator_array[i].deactuate()
-            if actuator_activated[i] is True:
+            actuators[i].deactuate()
+            if actuators_activation_state[i] is True:
                 print('Releasing object from actuator ', i)
-            actuator_activated[i] = False
+            actuators_activation_state[i] = False
 
 
 def main():
-    global sensor_array, actuator_array, sensor_triggered, actuator_activated, grasp
+    global sensor_obj, actuators, actuators_activation_state, grasp
     c = Client('sensor_actuators_example')
     c.connect()
     # We have a sensor array (4 individual sensing elements)
-    sensor_array = c.get_obj_handle('tip_sensor_array')
+    sensor_obj = c.get_obj_handle('tip_sensor_array')
 
     # We have four corresponding constraint actuators, that we are going to actuate based on the trigger events from the
     # above sensors. Note that there is not explicit relation between a sensor and an actuator, it is we who are
@@ -64,15 +85,14 @@ def main():
     actuator2 = c.get_obj_handle('tip_actuator2')
     actuator3 = c.get_obj_handle('tip_actuator3')
 
-    actuator_array = [actuator0, actuator1, actuator2, actuator3]
-    sensor_triggered = [False, False, False, False]
-    actuator_activated = [False, False, False, False]
+    actuators = [actuator0, actuator1, actuator2, actuator3]
+    actuators_activation_state = [False, False, False, False]
     grasp = False
 
     time.sleep(1.0)
 
     tk = Tk()
-    tk.title("Attache Needle")
+    tk.title("Sensing and Grasping Example")
     tk.geometry("250x150")
     grasp_button = Button(
         tk, text="Grasp", command=grasp_button_cb, height=3, width=50, bg="red")
@@ -81,11 +101,17 @@ def main():
     grasp_button.pack()
     release_button.pack()
 
-    while True:
+    counter = 0
+    while not rospy.is_shutdown():
         try:
             tk.update()
-            grasp_object(grasp)
+            if not (counter % 50):
+                print_sensors_state(sensor_obj)
+                counter = 0
+            # grasp_object(grasp)
+            grasp_object_via_sensor_name(grasp)
             time.sleep(0.02)
+            counter = counter + 1
         except KeyboardInterrupt:
             print('Exiting Program')
             break