Stopping an asynchronous movement
wagenaartje opened this issue · comments
During an asynchronous moveTo
movement, I want to launch a synchronous movement. This gives the error:
pybullet.error: Already a moveTo asynchronous. Can't launch moveTo synchronous
However, is there a way to stop the current asynchronous movement so that a synchronous movement can be performed?
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Update: I found a work-around for now,
pepper_pos = pepper.getPosition();
pepper.moveTo(0, 0, 0, frame=PepperVirtual.FRAME_ROBOT, speed=1, _async=True)
time.sleep(0.5)
Basically, it preforms an asynchronous movement to the current position which is quickly stopped. I'm still curious if there is a cleaner way, for example some kind of pepper.stop()
function.
That's indeed the solution you should use for now. But that's a great point, a stopMove
method along the lines of the one defined in the ALMotion documentation would be a great add-on