Worked on the moveit/moveit2 repository to enhance trajectory visualization within robotics applications, focusing on accurate alpha transparency and color consistency. Addressed a bug where the robot’s alpha value was not properly respected in the trajectory trail, ensuring that transparency is now handled correctly during rendering. Updated the visualization logic so that attached objects inherit the default attached object color, improving visual coherence for both developers and users. Utilized C++ and visualization techniques to refine the rendering pipeline, resulting in more reliable and predictable visual feedback during demonstrations and debugging. The work emphasized careful attention to detail in robotics visualization workflows.