diff --git a/ctrlgui/ctrlgui_node.py b/ctrlgui/ctrlgui_node.py
index 8870ab4..8e22963 100644
--- a/ctrlgui/ctrlgui_node.py
+++ b/ctrlgui/ctrlgui_node.py
@@ -304,6 +304,21 @@ def build_ui(node: CtrlGuiNode) -> None:
             ui.element().style('height: 40px')
             ui.button('车 -> 滚筒线', on_click=lambda: show_confirm_dialog('把箱子从车上搬到滚筒线上?', rebuild_out)).classes('self-end')
 
+        with ui.column():
+            with ui.row():
+                pass
+            def rebuild_cancel() -> None:
+                try:
+                    node.file_logger.info('Running rebuild_now...')
+                    print("CancelBTTask")
+                    rebuild_now("Trigger", "CancelBTTask", "")
+                except Exception as e:
+                    node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
+                    print(f"CancelBTTask: {str(e)}")
+
+            ui.element().style('height: 40px')
+            ui.button('取消任务', on_click=lambda: show_confirm_dialog('取消任务?', rebuild_cancel)).classes('self-end')
+
         #move home
         with ui.column():
             with ui.row():
@@ -451,15 +466,15 @@ def build_ui(node: CtrlGuiNode) -> None:
                 if arm_mode_select.value == 'MoveJ':
                     with arm_inputs_container:
                         with ui.row():
-                            arm_inputs['left'] = ui.input('LEFT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-110, -78, 0, 0, -100, -65').style('width: 550px')
+                            arm_inputs['left'] = ui.input('LEFT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-110, -78, 0, 0, -100, -65').style('width: 250px')
                         with ui.row():
-                            arm_inputs['right'] = ui.input('RIGHT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-70, 78, 0, 0, 100, -115').style('width: 550px')
+                            arm_inputs['right'] = ui.input('RIGHT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-70, 78, 0, 0, 100, -115').style('width: 250px')
                 elif arm_mode_select.value == 'MoveP':
                     with arm_inputs_container:
                         with ui.row():
-                            arm_inputs['left'] = ui.input('LEFT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')
+                            arm_inputs['left'] = ui.input('LEFT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 250px')
                         with ui.row():
-                            arm_inputs['right'] = ui.input('RIGHT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 550px')
+                            arm_inputs['right'] = ui.input('RIGHT_ARM_POSE: x, y, z, rx, ry, rz, w', value='0, 0, 0, 0, 0, 0, 0').style('width: 250px')
 
             # Initial update
             update_arm_inputs()