• ARM_COLLISION_IK_NAME : get_collision_free_ik_other_base.cpp
• ARM_QUERY_NAME : get_collision_free_ik_other_base.cpp
• GET_JOINT_TRAJECTORY_VALIDITY_NAME : get_joint_trajectory_validity_service.cpp
• GET_PLANNING_SCENE_NAME : get_joint_trajectory_validity.cpp , get_state_validity_virtual_object.cpp , get_state_validity_virtual_attached_object.cpp , get_state_validity.cpp
• GET_STATE_VALIDITY_NAME : get_state_validity_service.cpp
• SET_PLANNING_SCENE_DIFF_NAME : get_collision_free_ik.cpp , get_state_validity_service.cpp , get_joint_trajectory_validity_service.cpp , get_collision_free_ik_other_base.cpp