So I have understood that when the command is prepared,the blending movement between this command and next command is not available. I wanted to use wait for signal command to block the first movement command into prepared state, but I have found that didn't work. Even the kinematics is blocked, the first movement command still goes into prepared state. Is there any other solution to block the command from 'CREATED' & 'INBUFFER' state into 'PREPARED'? In the real case, there are over 50 to 100 buffer commands to send, and every buffer command needs different logical check program to decide if to be sent or not. So we can not write the whole buffer commands in just one step(in one case).
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