#Defines a single fruit detection
Header header 

#Fruit type
string name

#Unique ID for that fruit
int32 id

#The detection confidence from 0-1
float32 probability

#The percentage fruit visible
float32 visibility

#The percentage chance we have of actually picking it
float32 pickability

#The ripeness metric where >1 is overripe and <1 is underripe
float32 ripeness

#The percentage estimate of how likely it is to be healthy (could be sold)
float32 health

#If the fruit is currently visible
bool visible

#If the fruit is currently within an arbitrary picking window
bool in_target_area

#If the fruit is within the workspace of the arm
bool sphere_reachable

#Size of fruit
geometry_msgs/Vector3 size

#Bounding Box
BoundingBox bbox

#2D Centroid of the object
geometry_msgs/Pose2D centroid

#Mask of the fruit within bounding box
sensor_msgs/Image mask_img

# Poses and covariances of fruit. NOTE: only the first 9 elements (position) of the covariance are used, the rest are zero. Use the squareState and stackState matlab functions to reshape these.
geometry_msgs/PoseWithCovariance position