# Goal
string full_json # Task script JSON.
bool dry_run # Plan-only preview; moveto/end_effector only.
---
# Result
bool success
string error_message
int32 completed_steps
int32 total_steps
# Last detect-only pose in base_link; empty if unavailable.
float64[] detected_position # XYZ (m).
float64[] detected_orientation # Quaternion [x,y,z,w].
---
# Feedback
int32 current_step
string current_action
float32 progress_percentage
string status_message
string current_gripper