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feat(goal_planner): cherry pick #1362

feat(goal_planner): cherry pick

feat(goal_planner): cherry pick #1362

name: cancel-previous-workflows
on:
pull_request_target:
jobs:
cancel-previous-workflows:
runs-on: ubuntu-latest
steps:
- name: Cancel previous runs
uses: styfle/cancel-workflow-action@0.12.0
with:
workflow_id: all
all_but_latest: true