syntax = "proto3";
package aimdk.protocol;

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

/**
 * @brief manipulator service
   backend : http
   port: 39110
 */
service ManipulationService {
  rpc Manipulate (ManipulationRequest) returns (ManipulationResponse);

  rpc Control (ManipulationControlRequest) returns (ManipulationResponse);

  rpc Select (ManipulationSelectRequest) returns (ManipulationResponse);

  rpc GetState (CommonRequest) returns (ManipulationStateResponse);

  rpc UpdateConfig(ManipulationConfigRequest) returns (ManipulationConfigResponse);

  rpc GetHandState(CommonRequest) returns (ManipulationHandStateResponse);

  rpc GetHandPickState(CommonRequest) returns (ManipulationHandStateResponse);

  rpc GetServoPickEEPose(CommonRequest) returns (ServoPickEEPoseResponse);
}