syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/se3_pose.proto";
import public "aimdk/protocol/common/vec3.proto";

// 定义 grasp_obj 数据结构
message GraspObject {
    string object_id = 1;           // 物体唯一标识，例如 "box_1"
    Vec3 dims = 2;                  // 物体长宽高
    SE3Pose pose = 3;               // 物体pose
    string frame_id = 4;           // 所属坐标系，例如 "left_arm_link07"
}

// 请求更新多个 grasp_obj
message UpdateGraspObjectsRequest {
    repeated GraspObject grasp_objs = 1;
}

// 响应更新 grasp_obj
message UpdateGraspObjectsResponse {
    bool success = 1;
}

// 定义 RPC 服务
service GraspObjService {
    rpc UpdateGraspObjects (UpdateGraspObjectsRequest) returns (UpdateGraspObjectsResponse);
}
