stage: {
  name: "PARK_AND_GO_CHECK"
  type: "ParkAndGoStageCheck"
  enabled: true
  task {
    name: "OPEN_SPACE_REPLAN_DECIDER"
    type: "OpenSpaceReplanDecider"
  }
  task {
    name: "OPEN_SPACE_ROI_DECIDER"
    type: "OpenSpaceRoiDecider"
  }
  task {
    name: "OPEN_SPACE_PATH_PLANNING"
    type: "OpenSpacePathPlanning"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_OPTIMIZER_PARK"
    type: "OpenSpaceTrajectoryOptimizerPark"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_POST_PROCESS"
    type: "OpenSpaceTrajectoryPostProcess"
  }
  task {
    name: "OPEN_SPACE_FALLBACK_DECIDER_PARK"
    type: "OpenSpaceFallbackDeciderPark"
  }
}
stage: {
  name: "PARK_AND_GO_ADJUST"
  type: "ParkAndGoStageAdjust"
  enabled: true
  task {
    name: "OPEN_SPACE_REPLAN_DECIDER"
    type: "OpenSpaceReplanDecider"
  }
  task {
    name: "OPEN_SPACE_ROI_DECIDER"
    type: "OpenSpaceRoiDecider"
  }
  task {
    name: "OPEN_SPACE_PATH_PLANNING"
    type: "OpenSpacePathPlanning"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_OPTIMIZER_PARK"
    type: "OpenSpaceTrajectoryOptimizerPark"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_POST_PROCESS"
    type: "OpenSpaceTrajectoryPostProcess"
  }
  task {
    name: "OPEN_SPACE_FALLBACK_DECIDER_PARK"
    type: "OpenSpaceFallbackDeciderPark"
  }
}
stage: {
  name: "PARK_AND_GO_PRE_CRUISE"
  type: "ParkAndGoStagePreCruise"
  enabled: true
  task {
    name: "OPEN_SPACE_ROI_DECIDER"
    type: "OpenSpaceRoiDecider"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_PROVIDER"
    type: "OpenSpaceTrajectoryProvider"
  }
  task {
    name: "OPEN_SPACE_TRAJECTORY_PARTITION"
    type: "OpenSpaceTrajectoryPartition"
  }
  task {
    name: "OPEN_SPACE_FALLBACK_DECIDER"
    type: "OpenSpaceFallbackDecider"
  }
}
stage: {
  name: "PARK_AND_GO_CRUISE"
  type: "ParkAndGoStageCruise"
  enabled: true
  task {
    name: "LANE_FOLLOW_PATH"
    type: "LaneFollowPath"
  }
  task {
    name: "LANE_BORROW_PATH"
    type: "LaneBorrowPath"
  }
  task {
    name: "FALLBACK_PATH"
    type: "FallbackPath"
  }
  task {
    name: "PATH_DECIDER"
    type: "PathDecider"
  }
  task {
    name: "RULE_BASED_STOP_DECIDER"
    type: "RuleBasedStopDecider"
  }
  task {
    name: "ST_BOUNDS_DECIDER"
    type: "STBoundsDecider"
  }
  task {
    name: "SPEED_BOUNDS_PRIORI_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "SPEED_HEURISTIC_OPTIMIZER"
    type: "PathTimeHeuristicOptimizer"
  }
  task {
    name: "SPEED_DECIDER"
    type: "SpeedDecider"
  }
  task {
    name: "SPEED_BOUNDS_FINAL_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "PIECEWISE_JERK_SPEED"
    type: "PiecewiseJerkSpeedOptimizer"
  }
  task {
    name: "RSS_DECIDER"
    type: "RssDecider"
  }
  fallback_task: {
    name: "SMOOTH_STOP_TRAJECTORY_FALLBACK"
    type: "SmoothStopTrajectoryFallback"
  }
}
