# The trajectory for which validity is to be checked trajectory_msgs/JointTrajectory trajectory
# The state of the robot. # This state message contains information on the position of the joints of the robot. # Any joint information in the path message above will overwrite corresponding information # for the same joint in the state message. # Any joint not contained in either the path or state message will be assumed to be at # the current position of the joint. motion_planning_msgs/RobotState robot_state
# Collision checks will be performed if this flag is true bool check_collisions
# Path constraints will be checked if this flag is true bool check_path_constraints
# Goal constraints will be checked if this flag is true bool check_goal_constraints
# Joint limits will be checked if this flag is true bool check_joint_limits
# If this flag is true, the entire trajectory will be checked before the node returns # The default value of this flag is false and so the node will return as soon # as the first check on the points in the trajectory fails bool check_full_trajectory
# OPTIONAL specification of a set of collision operations # Each operation (body1, body2, operation) defines whether # it is ok for two bodies to collide with each other motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations
# OPTIONAL specification of regions in space where contact between links on the robot # and the world is allowed. motion_planning_msgs/AllowedContactSpecification[] allowed_contacts
# OPTIONAL specification of a set of path constraints imposed on the robot, # e.g. joint or pose constraints. These constraints will be tested only if # check_path_constraints = true motion_planning_msgs/Constraints path_constraints
# OPTIONAL specification of a set of goal constraints imposed on the robot, # e.g. joint or pose constraints. These constraints will be tested only if # check_goal_constraints = true motion_planning_msgs/Constraints goal_constraints
# OPTIONAL specifies a set of links and paddings to change from the default # specified in the yaml file motion_planning_msgs/LinkPadding[] link_padding
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# Integer error code corresponding to the first check that was violated # The message contains both the returned error code value and a set # of possible error codes motion_planning_msgs/ArmNavigationErrorCodes error_code
# A vector of error flags for all points in the trajectory # Each error flag indicates which checks failed for the corresponding # point in the trajectory motion_planning_msgs/ArmNavigationErrorCodes[] trajectory_error_codes