syntax = "proto3";
package aimdk.protocol;

import "aimdk/protocol/common/header.proto";

/**
 * @brief ...
 */
message PredictGraspPoseRequest {
  RequestHeader header = 1;

  int32 height = 2;
  int32 width = 3;

  bytes image = 4;
  bytes depth = 5;

  // extra info
  map<string, string> extra = 255;
}

/**
 * @brief ...
 */
message PredictGraspPoseResponse {
  ResponseHeader header = 1;

  repeated int32 results = 5;

  // extra info
  map<string, string> extra = 255;
}

/**
 * @brief ...
 */
service GraspPoseService {
  /**
   * @brief ...
   * @param  PredictGraspPoseRequest  ...
   * @return PredictGraspPoseResponse ...
   */
  rpc PredictGraspPose(PredictGraspPoseRequest) returns (PredictGraspPoseResponse);
}
