# unique id within task uint32 id # associated names string name # associated cost float32 cost # name of task stage string stage # IDs of start and end state? # Or have an array of them in Solution.msg? #uint32 start_id #uint32 end_id # trajectory moveit_msgs/RobotTrajectory trajectory visualization_msgs/MarkerArray markers # TODO: add PlanningScene diff w.r.t. previous end state?