Provide the User Intuitive Controls to Navigate Between States

[amalnanavati]

Some of the buttons in the app are intuitive to use. For example, it is intuitive that when you click "banana" the robot will attempt to acquire the banana.

But other buttons are not intuitive. For example, the button during bite transfer "Cancel Bite" does not make it clear to the user what happens as a result of clicking on that button. Does it go back above the plate? Does it go back to the staging location? Does it immediately stop?

This task has the following components:

• Come up with a proposal that, for every mealState, specifies where the user can tell the robot to move next. For example, after bite initiation, the user can either have the robot move to the staging location or attempt bite acquisition again, but it doesn't make sense for the user to be able to tell the robot to move above the plate (since it is already there). As another example, when the user has finished taking a bite, they should be able to tell the robot to either move back to the staging location (e.g., in case they are half of what is on the fork and there is more) or to the above plate post (e.g., to get another bite).
• Come up with a proposal for what a simple UI would look like to give the users those controls.
• Implement that UI.

[amalnanavati]

This issue is mostly done with #30 . We realized that several challenging design decisions arise with the Pause/Back/Resume buttons specifically, so spun that out into a separate issue, #40 .