Hi!

Thanks for your answer, Matei.

> household_objects_database_msgs/DatabaseModelPose
>
> # Informs that a specific model from the Model Database has been
> # identified at a certain location
>
> # the database id of the model
> int32 model_id
> # the pose that it can be found in
> geometry_msgs/PoseStamped pose

yes, that's precisely what I was thinking about. It's indeed quite 
simple, and I probably won't link to it, but it's good to know.

I *may* go for CollisionObject because, even if we don't use the shape 
information yet, it may prove useful in the future.

Cheers,
Severin

-- 
          Séverin Lemaignan - lemaigna@in.tum.de
  [00]    PhD student on Cognitive Robotics
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