Annotation

Field	Type	Description
`annotation_id`	string	Example: "67305"
`created_time`	Timestamp
`display_name`	string	Example: "ITCT annotation A"
`obstacles`	Obstacle repeated	Areas on the map that the robot will try to avoid.
`parameter_zones`	ParameterZone	Areas on the map that have specific parameters.
`destinations`	Destination repeated	Destinations are used to define the single point of interest.
`preferred_paths`	PreferredPath repeated	Directional and bi-directional paths which robots will try to follow when nearby.
`queues`	Queue repeated	Queues are used to define the waiting area.

Field	Type	Description
`destination_id`	string
`display_name`	string
`destination_pose`	PointWithOrientation	Position on the map where the robot would try to navigate to and orient itself along that direction.
`type`	Type enum
`docking_param`	DockingParam	Docking parameters for specifying the docking process at the destination.
`default_type_data`	StringMapData	Data specific to the destination type, used by the robot to interact with the destination.

Field	Type	Description
`type`	Type enum
`reference`	Reference enum
`reference_id`	string
`tuning_params`	Point2D repeated	The tuning parameters used to define relative docking pose to the reference.

Name	Type	Description
`data`	`map<string, string>`

Field	Type	Description
`obstacle_id`	string
`points`	Point2D	Points that define a polygon where the robot should avoid entering. The minimum number of points is 3.
`type`	Type enum

Field	Type	Description
`preferred_path_id`	string
`graph_nodes`	GraphNode repeated	List of graph nodes that make up the preferred path.

Field	Type	Description
`queue_id`	string
`queue_poses`	GraphNode repeated	Represents a list of queuing points where the robot will wait.
`destination_ids`	string repeated	End destinations that a queue can dequeue the robot to.

Name	Number	Description
TYPE_UNKNOWN	0
TYPE_DEFAULT	1	The default destination type. The robot will try to navigate to this point.
TYPE_CONTACT_CHARGER	2	The contact-type charger. The robot can charge through docking.
TYPE_INDUCTIVE_CHARGER	3	The inductive-type charger. The robot can charge through docking without physical contact.

Name	Number	Description
TYPE_UNKNOWN	0
TYPE_DEFAULT	1	The robot will run the default docking process at the destination.

Name	Number	Description
REFERENCE_UNKNOWN	0
REFERENCE_DEFAULT	1	The default reference for each destination type.
REFERENCE_QR_CODE	2	The QR code reference is used to specify the docking position.
REFERENCE_VL_MARKER	3	The VL marker reference is used to specify the docking position.

Name	Number	Description
TYPE_UNKNOWN	0
TYPE_DEFAULT	1	The default type for obstacle references.
TYPE_QR_CODE	2	Specifies the QR code obstacle type.
TYPE_VL_MARKER	3	Specifies the VL marker obstacle type.