Cancel or stop goto function mid-execution for Reachy 2023

Users Reachy software
1

Hi Pollen Robotics team,

I was wondering if there is a way to cancel a “goto” call for Reachy 2023 in the ReachySDK, similar to what Reachy 2’s SDK can do with cancel_goto_by_id() or cancel_all_goto()? Essentially what I’d like to do is to stop the “goto” mid-execution if possible for Reachy 2023?

Thank you!

2

Hi @jyau !

Unfortunately, there is no equivalent function on Reachy2023 ; it was implemented starting with Reachy2.

In Reachy1 goto commands, the interpolations to create the trajectory are performed directly by the Client SDK, so the function is blocking.
You can use an asynchronous goto to perform a non-blocking movement, but apart from using turn_off_smoothly (which will make the robot compliant), there is no function implemented to stop a movement midway.

1 Like
3

Hi Claire,

Got it, thank you! I’ll use the goto_async functions.