world.proto

syntax = "proto3";

message Object {

    message Position {
        float x = 1; // in m
        float y = 2; // in m
        float z = 3; // height in m
    }
    message Size {
        float length = 1; // in m
        float width = 2;  // in m
        float height = 3; // in m
    }
    message Orientation {
        float x = 1; // normalized quaternion
        float y = 2;
        float z = 3;
        float w = 4;
    }
    message Color {
        float r = 1; // 0..1
        float g = 2; // 0..1
        float b = 3; // 0..1
    }
    enum Type {
        UNKNOWN = 0;
        BOX = 1;
        BIN = 2;
        ARM = 3;
    }

    string id = 1;
    Type type = 2;
    Position pos = 3;
    Size size = 4;
    Orientation orientation = 5;
    Color color = 6;
}

// the scene is stored within the ROS side and sent to the CGV framework
message Scene {
    repeated Object objects = 1;
}

// the selection is done by the CGV framework and sent to ROS
message Selection {
    string id = 1; // the id corresponds to an id of an Object in a Scene
}