Getting the joint values of a computed path to a pose goal

Hi everybody, I'm using moveit with an UR5. The planner I use is the RRTConnectkConfigDefault-planner. The goal for the planner is a pose. My question is now: Is there a way to retrieve the joint values of the six axes of the computed goal. Maybe out of `my_plan` from `bool success = group.plan(my_plan);`. Maybe something like `moveit_msgs::RobotTrajectory trajectory = my_plan.trajectory_;`. But I here I got stuck and couldn't find anything in the documentation. And second: Is there a way to get all possible IK-joints (all IK-solutions which also have no collisions) and choose the goal-joints out of them? Thanks in advance and regards!