Stop and continue with cartesian path

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Hello,

I would like to make a cartesian plan of lets say a circle. Then execute it asynchronously. After a while I would stop the execution and wait a little. Then I would like to continue with a trajectory I started at the beginig and finish the cirlce.

What I did:

1. Compute cartesian plan of a whole circle
2. Asynchronously execute a computed plan
3. rospy.sleep() to simulate a random input signal (waiting for a signal)
4. group.stop() to stop a plan
5. rospy.sleep() actually wait on the place a little
6. Extract all further points from the plan I need to execute
7. group.move() but this is very choppy

So I removed points from a plan by plan.joint_trajectory.poinst.pop(<indexes>) but this does not work. It fails during execution that there is no plan for moving group.