Struct ObjectRef 

pub struct ObjectRef {
    pub object_id: Option<String>,
    pub item_id: Option<String>,
    pub object_type: Option<String>,
    pub object_class: Option<String>,
    pub tracking_id: Option<String>,
    pub dimensions_m: Option<Dimensions>,
    pub mass_kg: Option<f64>,
    pub pose: Option<Pose>,
    pub frame_id: Option<String>,
}

Reference to an object in the world or payload.

Used for consistent object identification across domains (perception, manipulation, payload, etc.). Supports multiple ID schemes for different use cases.

Fields

object_id: Option<String>

Session-stable object identifier (assigned by perception system)

item_id: Option<String>

External business system ID (WMS, ERP, etc.)

object_type: Option<String>

Object type classification (package, pallet, tool, person, etc.)

object_class: Option<String>

Specific object class (e.g., “cardboard_box”, “metal_pallet”)

tracking_id: Option<String>

Perception system tracking ID

dimensions_m: Option<Dimensions>

Object dimensions

mass_kg: Option<f64>

Object mass in kilograms

pose: Option<Pose>

Object pose (position and orientation)

frame_id: Option<String>

Reference frame for the pose

Trait Implementations

impl Clone for ObjectRef

fn clone(&self) -> ObjectRef

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ObjectRef

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for ObjectRef

fn default() -> ObjectRef

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ObjectRef

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ObjectRef

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for ObjectRef

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for ObjectRef

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>