diff --git a/lrs_util/jsonutil.py b/lrs_util/jsonutil.py
index 6b68c220afbb3512b7a6605c63bc5b77d78876b2..90d0a5c854ac42a7b4139b76ebf3782002a3e0e7 100644
--- a/lrs_util/jsonutil.py
+++ b/lrs_util/jsonutil.py
@@ -451,6 +451,28 @@ def json_basic_wait(ns, duration, use_alias=False, node_uuid=""):
     }
     return jobj
 
+def json_basic_pick_up(ns, pkg_type, use_alias=False, node_uuid=""):
+    jobj =  {
+        "children": [],
+        "common_params": get_common_params (ns, use_alias, node_uuid),
+        "name": "pick-up",
+        "params": {
+            "type": pkg_type
+        }
+    }
+    return jobj
+
+def json_basic_drop(ns, pkg_type, use_alias=False, node_uuid=""):
+    jobj =  {
+        "children": [],
+        "common_params": get_common_params (ns, use_alias, node_uuid),
+        "name": "drop",
+        "params": {
+            "type": pkg_type
+        }
+    }
+    return jobj
+
 
 def json_basic_gimbal(ns, uuid="", yaw_in_deg=0.0, pitch_in_deg=0.0, body_relative_yaw=True, priority=75, use_alias=False, node_uuid=""):
     jobj =  {