# BT DR pp17-18; explicit optional-point/pose validity bits added in v1.
string task_id
string subtask_id
string destination_ref
string destination_description
string object_ref
string object_description
builtin_interfaces/Time capture_after
string placement_constraints_json
builtin_interfaces/Duration timeout
---
uint8 SUCCEEDED=0
uint8 FAILED=1
uint8 NO_FREE_SPACE=2
uint8 AMBIGUOUS=3
uint8 status
string destination_ref
string placement_region_ref
geometry_msgs/PointStamped placement_point
bool placement_point_valid
geometry_msgs/PoseStamped placement_pose
bool placement_pose_valid
float32 confidence
bool geometry_valid
string quality_code
string observation_id
builtin_interfaces/Time observed_at
builtin_interfaces/Time valid_until
string error_code
string message
string record_ref
---
uint8 CAPTURING=0
uint8 PROCESSING=1
builtin_interfaces/Time stamp
uint32 sequence
uint8 phase
string message