# BT DR pp15-17; explicit optional-point/error-bound validity bits added in v1.
string task_id
string subtask_id
string target_ref
string target_description
string shelf_id
string column_id
string tier_id
string station_binding_ref
builtin_interfaces/Time capture_after
uint64 expected_geometry_epoch
builtin_interfaces/Duration timeout
---
uint8 SUCCEEDED=0
uint8 FAILED=1
uint8 NOT_FOUND=2
uint8 AMBIGUOUS=3
uint8 RGBD=0
uint8 MODEL_ESTIMATE=1
uint8 FUSED=2
uint8 status
string target_ref
string grasp_region_ref
geometry_msgs/PointStamped target_point
geometry_msgs/PointStamped grasp_point
bool grasp_point_valid
uint8 measurement_source
bool geometry_valid
string quality_code
float32 position_error_bound
bool position_error_bound_valid
string observation_id
builtin_interfaces/Time rgb_stamp
builtin_interfaces/Time depth_stamp
string calibration_id
uint64 geometry_epoch
string error_code
string message
string record_ref
---
uint8 CAPTURING=0
uint8 PROCESSING=1
builtin_interfaces/Time stamp
uint32 sequence
uint8 phase
string message