// Copyright (c) 2022 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api;

option java_outer_classname = "ArmSurfaceContactServiceProto";

import "bosdyn/api/header.proto";
import "bosdyn/api/lease.proto";
import "bosdyn/api/arm_surface_contact.proto";

service ArmSurfaceContactService {
    rpc ArmSurfaceContact(ArmSurfaceContactCommand) returns (ArmSurfaceContactResponse) {}
}

message ArmSurfaceContactCommand {
    RequestHeader header = 1;  // Common request header.

    // The Lease to show ownership of the robot.
    Lease lease = 2;

    ArmSurfaceContact.Request request = 4;
}

message ArmSurfaceContactResponse {
    // Common response header.
    ResponseHeader header = 1;
}