# Expected RMF behaviour when robot performing perform\_action task, get interrupted and moved manually (#311)

**URL:** <https://discourse.openrobotics.org/t/expected-rmf-behaviour-when-robot-performing-perform-action-task-get-interrupted-and-moved-manually-311/44831>\
**Category:** Open-RMF General\
**Tags:** rmf-github-discuss\
**Created:** [February 9, 2023, 4:49pm UTC](https://discourse.openrobotics.org/t/expected-rmf-behaviour-when-robot-performing-perform-action-task-get-interrupted-and-moved-manually-311/44831 "2023-02-09T16:49:36Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Archive-o-matic](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/archive-o-matic/32/26074_2.png) [@Archive-o-matic](https://discourse.openrobotics.org/u/Archive-o-matic)\
**Post date:** [February 9, 2023, 4:49pm UTC](https://discourse.openrobotics.org/t/expected-rmf-behaviour-when-robot-performing-perform-action-task-get-interrupted-and-moved-manually-311/44831/1 "2023-02-09T16:49:36Z")

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Posted by @cwrx777:

Hi,  
I’m no sure how RMF handle the following scenarios:

1. the robot is currently performing [perform\_action](https://github.com/open-rmf/rmf_ros2/blob/main/rmf_fleet_adapter/schemas/event_description__perform_action.json)task.
2. the fleet adapter calls the [interrupt](https://github.com/open-rmf/rmf_ros2/blob/84f96d17e40f8d452cd6c8d534cf319073711bbc/rmf_fleet_adapter_python/src/adapter.cpp#L222-L225)api.
3. the robot is manually moved to another location (e,g. using robot fleet manager, or pushed manually). after this, assume that the robot location is still correct.
4. fleet adapter perform [resume](https://github.com/open-rmf/rmf_ros2/blob/84f96d17e40f8d452cd6c8d534cf319073711bbc/rmf_fleet_adapter_python/src/adapter.cpp#L272).
5. fleet adapter receives ‘action\_execution\_notice’ topic with robot mode request = IDLE.

how can the fleet adapter know the current location?

and if the amr is not performing task, does calling interrupt has any effect? and must it resumed after that?

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Edited by @cwrx777 at 2023-02-09T23:32:01Z