diff --git a/include/mujincontrollerclient/binpickingtask.h b/include/mujincontrollerclient/binpickingtask.h
index 231352e9..123ebb2d 100644
--- a/include/mujincontrollerclient/binpickingtask.h
+++ b/include/mujincontrollerclient/binpickingtask.h
@@ -234,6 +234,12 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
         {
             RuntimeRegistrationInfo();
 
+            struct DetectionPointCloudCorner3D
+            {
+                std::array<double, 3> cornerPoint; ///< The point in 3D where the corner is located.
+                std::array<std::array<double, 3>, 2> cornerAxes; ///< Two normalized vectors that describe the axes of the corner in 3D.
+            };
+
             struct ObjectInfo
             {
                 ObjectInfo();
@@ -249,6 +255,8 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
                 double objectWeight; ///< If non-zero, use this weight fo registration. unit is kg. zero means unknown.
                 uint64_t sensorTimeStampMS; ///< sensor timestamp of the item. If non-zero, then valid.
                 uint64_t updateTimeStampMS; ///< timestamp this request was sent. If non-zero, then valid.
+                std::vector<DetectionPointCloudCorner3D> detectionPointCloudCorners3D;  ///< a list of 3D corners in the pointcloud from which the detection was created.
+
             } objectInfo;
 
             struct EndEffectorPoseInfo
diff --git a/src/binpickingtask.cpp b/src/binpickingtask.cpp
index 7c665b73..45c8b829 100644
--- a/src/binpickingtask.cpp
+++ b/src/binpickingtask.cpp
@@ -624,6 +624,18 @@ void BinPickingTaskResource::ResultGetBinpickingState::Parse(const rapidjson::Va
     LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/quaternion", runtimeRegistrationInfo.objectInfo.quaternion);
     LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/translationInEndEffector", runtimeRegistrationInfo.objectInfo.translationInEndEffector);
     LoadJsonValueByPath(v, "/runtimeRegistrationInfo/objectInfo/quaternionInEndEffector", runtimeRegistrationInfo.objectInfo.quaternionInEndEffector);
+    runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.clear();
+    const rapidjson::Value *pChild = rapidjson::Pointer("/runtimeRegistrationInfo/objectInfo/detectionPointCloudCorners3D").Get(v);
+    if (!!pChild && !pChild->IsNull()) {
+        const rapidjson::Value& child = *pChild; 
+        runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.resize(child.Size());
+        for(int idpcc = 0; idpcc < (int)runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D.size(); ++idpcc) {
+            const rapidjson::Value& result = child[idpcc];
+            runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D[idpcc].cornerPoint = GetJsonValueByKey<std::array<double, 3> >(result, "cornerPoint");
+            runtimeRegistrationInfo.objectInfo.detectionPointCloudCorners3D[idpcc].cornerAxes = GetJsonValueByKey<std::array<std::array<double, 3>, 2> >(result, "cornerAxes");
+        }
+    }
+
     runtimeRegistrationInfo.objectInfo.unit = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/unit", "mm");
     runtimeRegistrationInfo.objectInfo.pickLocationName = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/pickLocationName", "");
     runtimeRegistrationInfo.objectInfo.registrationLocationName = GetJsonValueByPath<std::string>(v, "/runtimeRegistrationInfo/objectInfo/registrationLocationName", "");