# /api/perception/objects

## Status

- Latest Version: not released
- Method: reliable stream
- Data Type: [autoware\_adapi\_v1\_msgs/msg/DynamicObjectArray](<../../../../types/autoware_adapi_v1_msgs/msg/DynamicObjectArray/index.md>)

## Description

Get the array of recognized objects with their classes, shapes, current poses, and predicted paths. For details, see the [perception](<../../../../features/perception/index.md>).

## Message

| Name | Type | Description |
| --- | --- | --- |
| header | std\_msgs/msg/Header | Header with the timestamp and the frame ID of the poses. |
| objects.id | unique\_identifier\_msgs/msg/UUID | The UUID of each object. |
| objects.existence\_probability | float64 | The probability that the object exists. |
| objects.classification | autoware\_adapi\_v1\_msgs/msg/ObjectClassification\[\] | The classes of the object and their probabilities. |
| objects.kinematics | autoware\_adapi\_v1\_msgs/msg/DynamicObjectKinematics | The pose, twist, and acceleration of the object, and its predicted paths. |
| objects.shape | shape\_msgs/msg/SolidPrimitive | The shape of the object with its dimensions and polygon. |