You are right - this is probably the wrong place for this and the wrong way to implement this. The issue is the following: a Grasp contains an approach and retreat direction. However, there may be other retreat directions (for the pickup) and other approach directions (for the place) that could be useful in pick and place, e.g. straight up or down works pretty well a lot of times. It would be useful to specify these additional directions as well in the messages. I propose adding a vector of retreat directions into the PickAction and a vector of approach directions into the PlaceAction. These would be added to the current default directions provided by the grasping node.