# unique id within task uint32 id # associated cost float32 cost # optional associated name of sub trajectory string name # id of stage that created this trajectory uint32 stage_id # trajectory moveit_msgs/RobotTrajectory trajectory # markers, e.g. providing additional hints or illustrating failure visualization_msgs/Marker[] markers # planning scene of end state as diff w.r.t. start state moveit_msgs/PlanningScene scene_diff