# Goal
string operation # load or dock.
string gripper # Configured gripper to load/dock.
string current_attached_gripper # Current gripper; none if detached.
int32 dock_number # Physical dock number; range not validated.
string approach_pose # Approach joint-pose key.
string poses_json # Pose name: six joint angles (deg).
string robot_model_revision # Model cache key; empty disables cross-goal reuse.
---
# Result
bool success
string error_message
---
# Feedback