uint8 EMPTY=0
uint8 HOLDING_TARGET=1
uint8 HOLDING_OTHER=2
uint8 HOLDING_UNKNOWN=3
string robot_id
builtin_interfaces/Time stamp
builtin_interfaces/Time valid_until
uint64 geometry_epoch
bool base_stopped_valid
bool base_stopped
bool posture_settled_valid
bool posture_settled
uint8 holding_state
string held_target_ref
string posture_id
geometry_msgs/PoseStamped pose
bool pose_valid
string evidence_ref