refactor: move_joint in thread

gello.py

@@ -34,6 +34,7 @@ class RobotControllerNode(Node):
         self.robot_client = RobotClient(HOST, PORT)
         self.get_logger().info("Robot client connected")
         self.waiting_for_gripper = False
+        self.wait_for_move_joint = False
 
         self.robot_client.set_end_max_line_velc(0.6)
         self.robot_client.set_end_max_line_acc(0.8)
@@ -112,9 +113,22 @@ class RobotControllerNode(Node):
         except Exception as e:
             self.get_logger().error(f"Exception in gripper thread: {str(e)}")
 
+    def handle_move_joint(self, target: list[float]):
+        successed =self.robot_client.move_joint(target)
+        if successed:
+            self.wait_for_move_joint = not successed
+            self.get_logger().info("Move joint successed")
+
     def run_sequence(self):
         print(f"STEP #{self.sequence_step}")
-        self.robot_client.move_joint(list(self.last_gello.position[:-1]))
+        if not self.wait_for_move_joint:
+            self.wait_for_move_joint = True
+            threading.Thread(
+                target=self.handle_move_joint,
+                args=(list(self.last_gello.position[:-1])),
+                daemon=True
+            )
+            self.sequence_step += 1
         if not self.waiting_for_gripper:
             self.waiting_for_gripper = True
             threading.Thread(