From 14e16cc6e8268a7adae1ff2d8c3db47390a4ec6f Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Thu, 22 May 2025 17:23:30 +0300
Subject: [PATCH] remove wait_until_stopped method

---
 utils.py | 18 ------------------
 1 file changed, 18 deletions(-)

diff --git a/utils.py b/utils.py
index dd9815c..ff29e67 100644
--- a/utils.py
+++ b/utils.py
@@ -103,24 +103,6 @@ class RobotClient:
 
         # 4. Выполняем линейное перемещение
         self.move_line(joint_target)
-        self.wait_until_stopped()
-
-    def wait_until_stopped(self, timeout=10.0, poll_interval=0.2):
-        start = time.time()
-        last_status = None
-        while time.time() - start < timeout:
-            try:
-                status = self.get_robot_state()
-                if status != last_status:
-                    print(f"DEBUG: Robot status changed to {status}")
-                    last_status = status
-                if status == RobotStatus.Stopped:
-                    print("DEBUG: Robot is stopped.")
-                    return
-            except Exception as e:
-                print(f"DEBUG: Failed to get robot status: {e}")
-            time.sleep(poll_interval)
-        raise TimeoutError("Timeout: Robot did not reach 'Stopped' status within timeout")
 
     def add_waypoint(self, joint_radian: list):
         cmd = {"command": "add_waypoint", "joint_radian": joint_radian}