Robotics Systems Types

package rst.geometry;

import "rst/geometry/Pose.proto";

option java_outer_classname = "PickAndPlaceActionType";

/**

 * PickAndPlaceAction data consisting of two Poses, a pick-Pose and a place-Pose,

 * for picking and placing objects. Both poses are expressed world coordinates.

 *

 * @author Christian Emmerich <cemmeric@techfak.uni-bielefeld.de>

 */

message PickAndPlaceAction {

    /**

     * A rst.geometry.Pose representing a grip-Pose to grip an object

     */

    required Pose pickPose = 1;

    /**

     * A rst.geometry.Pose where to place the object

     */

    required Pose placePose = 2;

}