# unique id within task uint32 id # associated cost float32 cost # optional associated name of sub trajectory string name # trajectory moveit_msgs/RobotTrajectory trajectory # markers, e.g. providing additional hints or illustrating failure visualization_msgs/MarkerArray markers # ID of end state uint32 end_id # planning scene of end state as diff w.r.t. start state moveit_msgs/PlanningScene scene_diff