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Cancellation phase #107

Merged
merged 3 commits into from
Mar 1, 2024
Merged

Cancellation phase #107

merged 3 commits into from
Mar 1, 2024

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mxgrey
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@mxgrey mxgrey commented Feb 27, 2024

It came to our attention that users get understandably confused when a robot enters a cancellation sequence after a task has been canceled because the task status makes it appear as though the cancellation had no effect.

This PR adds a new type of phase called a "cancellation phase" which simply gets wrapped around any phase that belongs to a cancellation sequence. This cancellation phase will give clear indications to users that the task has been successfully canceled and is undertaking a cancellation activity.

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
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Thanks for putting this together! Tests with demos work as expected too

@aaronchongth aaronchongth merged commit f7c5559 into main Mar 1, 2024
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@aaronchongth aaronchongth deleted the cancellation_phase branch March 1, 2024 04:56
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2 participants