File: object_manipulation_msgs/GraspableObject.msg
# an object that the object_manipulator can work on
# a graspable object can be represented in multiple ways. This message
# can contain all of them. Which one is actually used is up to the receiver
# of this message. When adding new representations, one must be careful that
# they have reasonable lightweight defaults indicating that that particular
# representation is not available.
# the tf frame to be used as a reference frame when combining information from
# the different representations below
string reference_frame_id
# potential recognition results from a database of models
# all poses are relative to the object reference pose
household_objects_database_msgs/DatabaseModelPose[] potential_models
# the point cloud itself
sensor_msgs/PointCloud cluster
# a region of a PointCloud2 of interest
object_manipulation_msgs/SceneRegion region
Expanded Definition