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The parameters you describe are a traditional way to represent cylinders of infinite length and I'm not sure how they could be misinterpreted.
The orientation of a moveit_msgs::CollisionObject is not just a direction, but a 3D transformation.
So the direction vector of the cylinder specifies the z axis of your cylinder, it does not specify x and y.
You have to choose the missing degree of freedom arbitrarily and apply standard geometric calculus to get the rotation quaternion (/ RPY / 3x3 rotation matrix).
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The parameters you describe are a traditional way to represent cylinders of infinite length and I'm not sure how they could be misinterpreted.
The orientation of a moveit_msgs::CollisionObject is not just a direction, but a 3D transformation.
So the direction vector of the cylinder specifies the z axis of your cylinder, it does not specify x and y.
You have to choose the missing degree of freedom arbitrarily and apply standard geometric calculus to get the rotation quaternion (/ RPY / 3x3 rotation matrix).matrix) of your CollisionObject.
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