syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/header.proto";
import "aimdk/protocol/manipulation/manipulation_msg.proto";
import "aimdk/protocol/manipulation/embodied_state.proto";

enum EmbodiedControlType {
  EmbodiedControlType_Unkonw = 0;
  EmbodiedControlType_Pause  = 1;
  EmbodiedControlType_Resume = 2;
  EmbodiedControlType_Cancel = 3;
}

enum GetEmbodiedMsgType {
  GetEmbodiedMsgType_Unkonw = 0;
  GetEmbodiedMsgType_Corner = 1;
}

message ChessBoardCorner {
  message Position {
    int32 x = 1;
    int32 y = 2;
  }
  repeated Position position = 1;
}

// topic: /embodied_agent/pick_state
message EmbodiedPickStateMsg {
  EmbodiedResType state       = 1;
  AutoPickTaskFinishedMsg msg    = 2;
}

message DetectedGraspObj {
  int32 obj_num = 1;
}

message SkuPoint{
  string sku_name       = 1;
}