Thank you for starting the conversation on this.
It would be helpful to understand what type of behavior you’re looking to generate by using queued rather than preempting incremental moves. Perhaps you can share some pseudo code?
The currently available incremental move interface is designed with servoing applications in mind. In this case, an external ‘observer’ commands a series of small motions until a target is achieved. Preemption is desirable as it allows for dynamic response to changes in the servo target.
Your goals may be achievable with the current control interface. If not, we can extend the interface for you.
Also, the progress of the joint trajectory is available as motor.status['is_mg_moving']. On the other thread I just posted details on working with it.
Finally, we are about to release a significant upgrade to the Stretch Body Python SDK that introduces splined waypoint trajectories. This interface may be of interest depending on your use case.