openrave | Open Robotics Automation Virtual Environment | Robotics library

I assume that your end-effector controller also implements a similar IsDone() method with a similar logic (i.e is waiting for the end-effector to reach its goal to return true, otherwise is returning false).

Since you are using a MultiController the WaitForController(0) in your Python script is not looking only to the arm controller but to all of the controllers attached to the MultiController.

From bool OpenRAVE::MultiController::IsDone() virtual

returns true only if all controllers return true.

Since you said that one of the controllers (the end-effector controller) is not in use, the IsDone of this controller returns false and hence the WaitForController(0) of the MultiController is blocked not on the arm controller you are suspecting, but instead is waiting for this not-in-use end-effector controller IsDone to evaluate to true, which will never do because you have it disconnected from the system; hence the blocking.

You have I think three options:

• You either make sure that the end-effector is also connected to the system and hence the end-effector controller is working as expected (i.e the IsDone is returning True).
• You are not attaching the end-effector controller to the multi-controller in your Python script (comment it out).
• You change the logic of the IsDone method of the end-effector controller such that if is not connected, will return true.

Here is a quick solution: