behaviours_base.py: method update on changing how the GeneralCommanderStates.ABORTED signal is handled, updated to enables the task trees to report pytree FAILURE but the task status can stay the same. This allows the task status is WORKING and so other parts of the behaviour tree may deal with the arm commander abort signal such as retry or trying another branch

Author: andrewluiqut

task_trees/behaviours_base.py

@@ -235,9 +235,12 @@ def update(self):
             return Status.SUCCESS
         elif self.commander_state == GeneralCommanderStates.ABORTED:
             logger.error(f'ConditionalCommanderBehaviour handles task aborted')
-            if self.the_blackboard.exists('task'):
-                self.the_blackboard.set('task.state', TaskStates.ABORTED)        
-            self.tidy_up()
+            # NOTE: the update enables the task trees to report pytree FAILURE but the task status can stay the same
+            # This allows the task status is WORKING and so other parts of the behaviour tree may deal with the arm commander abort signal 
+            # such as retry or trying another branch 
+            # if self.the_blackboard.exists('task'):
+            #     self.the_blackboard.set('task.state', TaskStates.ABORTED)        
+            # self.tidy_up()
             return Status.FAILURE
         elif self.commander_state == GeneralCommanderStates.ERROR:
             logger.error(f'ConditionalCommanderBehaviour handles task error')