syntax = "proto3";
package aimdk.protocol;

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

message EnvObjectInfo {
  enum GeometryType {
    UNKNOWN = 0;
    BOX = 1;
    CYLINDER = 2;
    SPHERE = 3;
  }

  string name = 1;
  SE3Pose pose = 2;
  GeometryType type = 3;
  string parent_frame = 4;
  Vec3 dims = 5;     // 长宽高
  int32 disable_collision_arm_name = 6; // 0 left arm; 1 right arm;
}

message EnvObjectArrayInfoReq {
  // 请求头
  RequestHeader header = 1;
  repeated EnvObjectInfo objects = 2;
}

