task_manager {
  tasks {
    id: "touch_screen"
    type: TASK_TYPE_TOUCH_SCREEN
    run_mode: TASK_RUN_MODE_PERIODIC_STEP
    control_period_s: 0.001
    config_file: "tasks/touch_screen_task/touch_screen_task_mujoco.pb.txt"
    enable: true
  }
  tasks {
    id: "grpc_server"
    type: TASK_TYPE_GRPC_SERVER
    run_mode: TASK_RUN_MODE_BLOCKING_SERVICE
    config_file: "tasks/grpc_server_task/grpc_server_task.pb.txt"
    enable: true
  }
  tasks {
    id: "right_arm_self_collision"
    type: TASK_TYPE_SELF_COLLISION
    run_mode: TASK_RUN_MODE_PERIODIC_STEP
    control_period_s: 0.002
    config_file: "tasks/self_collision_task/self_collision_task.pb.txt"
    enable: false
  }
}