srs_interaction_primitives/AddUnknownObject Service

string frame_id                     # Fixed Frame
string name                         # Unknown Object name
string description                  # Unknown Object name description
uint8 pose_type                     # way to set the pose
geometry_msgs/Pose pose             # position and orientation of the Unknown Object name 
geometry_msgs/Vector3 scale         # scale of the Unknown Object name
bool disable_material               # usage of predefined material (or just color)
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