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Hello. I'm currently working on a LD-105CT. Is it possible to change the location of the goal, when the robot failed going the specific goal? And is it possible to perform a new task when the robot received an error message/failed going to the goal? Ex: Pick up cart at location A, drives to location B(Location already has a cart in place) and then change goal to location C(which is available) and then release the cart at location C?