Changing the upstream controller's goal status in chained controllers

[samialperen]

Imagine a chained controller: JTC (upstream) + admittance (downstream)

Is there a way that the downstream chained controller (admittance controller) can set upstream goal (JTC's goal) as successful? Otherwise, admittance might want to do nothing, however that is not going to affect JTC's goal which will eventually timeout that is undesired.