xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
27 lines
816 B
Plaintext
27 lines
816 B
Plaintext
grpc_server {
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id: "grpc_server"
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host: "0.0.0.0"
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port: "50052"
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enable_reflection: true
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camera_stream_max_pending_frames: 2
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camera_stream_max_frame_age_ms: 250
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# The RobotArm adapter is implemented, but remains explicitly closed until
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# the device itself enables teleop group servo, real hashes are provisioned,
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# and group-write timing and independent stop behavior pass hardware review.
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arm_teleop_backend {
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enable: false
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device_id: "right_arm"
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# Deliberately empty placeholders are invalid when enable=true.
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model_sha256: ""
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calibration_sha256: ""
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base_frame: "PELVIS_S"
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tool_frame: "R_FINGER_TIP_FIXED"
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servo_period_s: 0.001
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max_apply_duration_us: 800
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require_powered: true
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max_initial_position_step_rad: 0.02
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max_position_step_rad: 0.003
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}
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}
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