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The graspable objects in the pick_and_place_manager contain the point clusters, which have RGB information. These webpages will hopefully make it clear how to access that information: https://kforge.ros.org/Sushi/trac/wiki/Perception/PointCloud2InPython https://kforge.ros.org/Sushi/trac/wiki/Perception/PointCloud2MessageStructure

if you just take the average r and b values for the points in each object, you should be able to tell red from blue.

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