moveit_task_constructor/msgs/msg/SubTrajectory.msg

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# 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