srs_interaction_primitives/GetObject Service

string name                             # object's name
--- 
string name                             # object's name
string frame_id                         # Fixed Frame
uint8 pose_type                     # way to set the pose
geometry_msgs/Pose pose                 # position and orientation of the object 
geometry_msgs/Point bounding_box_lwh    # object's bounding box
string description                      # object's description
std_msgs/ColorRGBA color            # color of the object and bounding box 
arm_navigation_msgs/Shape shape     # shape of the model
string resource                     # resource file with model
bool use_material                   # usage of material (or color)