stage: {
  name: "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_STOP"
  type: "TrafficLightUnprotectedRightTurnStageStop"
  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"
  }
  fallback_task: {
    name: "SMOOTH_STOP_TRAJECTORY_FALLBACK"
    type: "SmoothStopTrajectoryFallback"
  }
}
stage: {
  name: "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_CREEP"
  type: "TrafficLightUnprotectedRightTurnStageCreep"
  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"
  }
  fallback_task: {
    name: "SMOOTH_STOP_TRAJECTORY_FALLBACK"
    type: "SmoothStopTrajectoryFallback"
  }
}
stage: {
  name: "TRAFFIC_LIGHT_UNPROTECTED_RIGHT_TURN_INTERSECTION_CRUISE"
  type: "TrafficLightUnprotectedRightTurnStageIntersectionCruise"
  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"
  }
  fallback_task: {
    name: "SMOOTH_STOP_TRAJECTORY_FALLBACK"
    type: "SmoothStopTrajectoryFallback"
  }
}
