# New v1: read-only admission assessment; it must never actuate the robot.
bt_skill_interfaces/TaskTrace trace
bt_skill_interfaces/TargetBinding target_binding
bt_skill_interfaces/RobotState robot_state
string[] allowed_posture_ids
builtin_interfaces/Duration timeout
---
uint8 DIRECT=0
uint8 ADJUST_POSTURE=1
uint8 NOT_REACHABLE=2
uint8 UNKNOWN=3
uint8 decision
string posture_id
uint64 geometry_epoch
string evidence_ref
string error_code
string message
---
builtin_interfaces/Time stamp
uint32 sequence
uint8 phase
string message