move_by should give feedback on whether the requested position is reached (or thought to be reached).

[hello-robot-shehab]

In /stretch_mujoco_simulator.py, the move_by command is a non-blocking function. When the user sends a move_by command, there is no blocking call or feedback whether the robot has moved.

We need either a timeout (similar to move_to's) to block until the robot reaches the position, or a different mechanism for the user to check if the desired position has been reached (without having to implement the logic themselves).

We also need to amend the docstrings since the timeout argument is not operational.

[hello-binit]

The blocking move_to() is actually a departure from the real robot's API. For Stretch Body, move_to() is non-blocking, and there's a wait_command() method if you want to wait til completion. As you've noted, move_by() is non-blocking, and therefore matches the real API better.