Tech spec: e-stop module

E-stop module

Add a Rust latching e-stop. Any condition can be added to set it, and only a manual reset can clear it.

Current proposed conditions

1. Manual stop: trigger=true latches the e-stop.
2. Humanoid fall detection: unreadable IMU orientation or tilt above the configured limit latches the e-stop.

Each condition owns one typed input and one small check; adding one means adding its file, input handler, and physical config.

control/estop/
├── conditions/manual.rs
├── conditions/humanoid_fall.rs
└── rust/src/main.rs

Manual reset

reset=true clears the latch only when every condition is healthy, and leaves the robot disarmed until a separate start command.

Embodiment defaults

Each embodiment owns one EStop-default bundle, and every root blueprint for that embodiment composes it.

g1_estop_defaults = EStop.blueprint(max_tilt_deg=45.0)
g1_root = autoconnect(g1_hardware, g1_estop_defaults)

Derived blueprints inherit the bundle from their root. autoconnect links imu, and estop must reach ControlCoordinator.set_estop().

Not run on hardware yet.

Start by reading control/estop/conditions/manual.rs, control/estop/conditions/humanoid_fall.rs, and rust/src/main.rs to trace the existing control entry points. Then inspect EStop.blueprint, the embodiment root blueprints, autoconnect, and ControlCoordinator.set_estop(). Done means the proposed conditions, manual reset, defaults, blueprint inheritance, and estop connection are implemented and hardware validation is addressed.