An apparatus comprising: a nozzle (500; 600) and an end effector for interfacing with the nozzle, the nozzle comprising: one or more nozzle retention features and a first nozzle inlet; and the end effector comprising: a first end comprising a receptacle, the receptacle being configured to receive the nozzle; one or more retention features (1088a, 1088b) positioned along a perimeter of the receptacle, each of the one or more retention features being movable between a first position and a second position, each of the one or more retention features being configured to lock the nozzle by securing onto a corresponding one of the one or more nozzle retention features in the first position, and to release the nozzle in the second position; one or more actuators (1068a, 1068b) configured to actuate the one or more retention features between the first position and the second position; and a first channel comprising a first inlet and a first outlet, the first outlet being positioned inside the receptacle and being configured to be coupled to the first nozzle inlet in the first position; characterized in that the nozzle comprises a first nozzle outlet perpendicular to the axial direction of the nozzle. a nozzle (500; 600) and an end effector for interfacing with the nozzle, the nozzle comprising: one or more nozzle retention features and a first nozzle inlet; and the end effector comprising: a first end comprising a receptacle, the receptacle being configured to receive the nozzle; one or more retention features (1088a, 1088b) positioned along a perimeter of the receptacle, each of the one or more retention features being movable between a first position and a second position, each of the one or more retention features being configured to lock the nozzle by securing onto a corresponding one of the one or more nozzle retention features in the first position, and to release the nozzle in the second position; one or more actuators (1068a, 1068b) configured to actuate the one or more retention features between the first position and the second position; and a first channel comprising a first inlet and a first outlet, the first outlet being positioned inside the receptacle and being configured to be coupled to the first nozzle inlet in the first position; characterized in that the nozzle comprises a first nozzle outlet perpendicular to the axial direction of the nozzle. a first end comprising a receptacle, the receptacle being configured to receive the nozzle; one or more retention features (1088a, 1088b) positioned along a perimeter of the receptacle, each of the one or more retention features being movable between a first position and a second position, each of the one or more retention features being configured to lock the nozzle by securing onto a corresponding one of the one or more nozzle retention features in the first position, and to release the nozzle in the second position; one or more actuators (1068a, 1068b) configured to actuate the one or more retention features between the first position and the second position; and a first channel comprising a first inlet and a first outlet, the first outlet being positioned inside the receptacle and being configured to be coupled to the first nozzle inlet in the first position; characterized in that the nozzle comprises a first nozzle outlet perpendicular to the axial direction of the nozzle.