Moveit! planning groups

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Hi,

I am working with a hexapod robot and moveit. I created 6 planning groups for each of the legs, and another group above it wrapping those 6 groups. I move my robot through robot->asyncExecute(plan). Now, I want to be able to stop the legs independently. What is the best way to do this? Is it posible to do something like robot->leg1->stop(), so one of the legs would stop and the rest would keep with the movement planned?

Thank you.