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Modular estop#57

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heuristicus wants to merge 1 commit intobdaiinstitute:mainfrom
heuristicus:modular-estop
Draft

Modular estop#57
heuristicus wants to merge 1 commit intobdaiinstitute:mainfrom
heuristicus:modular-estop

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I did this while thinking about how to implement the try_claim improvements. I think it's possible to go overboard with modularity, but at the same time I think it's nice to have a strong separation of these things.

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