# Goal
float64[] scan_positions_flat # Flattened six-joint poses (rad).
int32 num_scan_positions # Must match flattened pose count.
int32 scans_per_position # Captures per pose; <= 0 uses 3.
float64 timeout # Per-capture timeout (s); <= 0 uses 10.
string poses_json # Unused by scan server.
string robot_model_revision # Model cache key; empty disables cross-goal reuse.
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# Result
bool success
string error_message
int32 tags_detected # Unique tags cached.
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# Feedback
string status # Not currently published.