Hello, I want to move Pepper robot in an straight line by setting the exact distance (for example 4.2 meters). Is there a way of doing that?

I know that if I set the angular speed of the wheels and the distance, I could calculate the time I should "turn the wheels on" (which is not a very precise method). What I really want is to move the robot an exact distance, if possible. If someone have some helpful code, I would appreciate it.

Thanks.