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.
36 lines
915 B
Plaintext
36 lines
915 B
Plaintext
ume_teleop {
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id: "ume_teleop"
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# Deliberately left empty. The TaskManager entry is disabled by default, and
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# init fails closed if it is enabled before a robot endpoint is configured.
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server_address: ""
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# M6 implements explicit insecure transport for isolated development only.
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# Production deployment must add and configure channel credentials first.
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allow_insecure: false
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open_session {
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protocol_major: 1
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protocol_minor: 0
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client_instance_id: "ume-controller"
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requested_command_rate_hz: 250
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requested_state_rate_hz: 250
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watchdog_timeout_ms: 100
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requested_lease_ms: 500
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# Replace with the manifest exported by the CMVR-ES robot instance.
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expected_robot {
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robot_id: ""
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position_unit: "rad"
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velocity_unit: "rad/s"
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effort_unit: "N*m"
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}
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}
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reconnect {
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initial_delay_ms: 100
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maximum_delay_ms: 5000
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multiplier: 2.0
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}
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}
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