# MoveToPose.srv - Synchronous move-to-pose via MoveIt gateway.
#
# Served by moveit_gateway. Called by task_dispatch for each
# MOVE_TO_POSE step. Blocks until motion completes or fails.

geometry_msgs/Pose target_pose
float64 velocity_scaling          # 0.0 = use default, otherwise 0.0-1.0
---
bool success
string message
float64 execution_time_s