pr2_create_object_model/ObjectInHand Message

string arm_name
sensor_msgs/PointCloud2 cluster
    Header header
        uint32 seq
        time stamp
        string frame_id
    uint32 height
    uint32 width
    sensor_msgs/PointField[] fields
        uint8 INT8=1
        uint8 UINT8=2
        uint8 INT16=3
        uint8 UINT16=4
        uint8 INT32=5
        uint8 UINT32=6
        uint8 FLOAT32=7
        uint8 FLOAT64=8
        string name
        uint32 offset
        uint8 datatype
        uint32 count
    bool is_bigendian
    uint32 point_step
    uint32 row_step
    uint8[] data
    bool is_dense
string collision_name