From df47962b0b1cda243d5ec470a283cbb448ae1b8a Mon Sep 17 00:00:00 2001
From: hello-vinitha <145490650+hello-vinitha@users.noreply.github.com>
Date: Thu, 18 Jul 2024 12:14:22 -0700
Subject: [PATCH] Cancel Autonomous Behaviors when Joints are Moved (#66)

* stop any action being executed when joints are moved

* don't stop the trajectory client for incremental move to prevent jerky movements

* fixes from pre-commit

---------

Co-authored-by: hello-amal <amaln@hello-robot.com>
---
 src/pages/robot/tsx/robot.tsx | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/pages/robot/tsx/robot.tsx b/src/pages/robot/tsx/robot.tsx
index ed18b44c..990196b1 100644
--- a/src/pages/robot/tsx/robot.tsx
+++ b/src/pages/robot/tsx/robot.tsx
@@ -864,12 +864,14 @@ export class Robot extends React.Component {
 
   executePoseGoal(pose: RobotPose) {
     this.switchToPositionMode();
+    this.stopExecution();
     this.poseGoal = this.makePoseGoal(pose);
     this.trajectoryClient.createClient(this.poseGoal);
   }
 
   async executePoseGoals(poses: RobotPose[], index: number) {
     this.switchToPositionMode();
+    this.stopExecution();
     this.poseGoal = this.makePoseGoals(poses);
     this.trajectoryClient.createClient(this.poseGoal);
   }
@@ -885,6 +887,7 @@ export class Robot extends React.Component {
 
   executeIncrementalMove(jointName: ValidJoints, increment: number) {
     this.switchToPositionMode();
+    this.stopAutonomousClients();
     this.poseGoal = this.makeIncrementalMoveGoal(jointName, increment);
     this.trajectoryClient.createClient(this.poseGoal);
   }
@@ -895,6 +898,11 @@ export class Robot extends React.Component {
     this.stopMoveToPregraspClient();
   }
 
+  stopAutonomousClients() {
+    this.stopMoveBaseClient();
+    this.stopMoveToPregraspClient();
+  }
+
   stopTrajectoryClient() {
     if (!this.trajectoryClient) throw "trajectoryClient is undefined";
     if (this.poseGoal) {