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Hi,

The result of the tabletop object segmentation is in TabletopDetectionResult.msg. If you look at this message, you'll see that you get a list of potential models. Each of them has a PoseStamped associated.

So to get the object position, once you've got the result, you can access the poses for each of your detected models:

result.models[i].model_list[j].pose

Hope this helps.

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