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Here is a short sketch how to do it:

Get a PlanningScene (by using LockedPlanningScene from PlanningSceneUpdater)

diff and detachFromParent (necessary?) to not spoil your "real" PlanningScene

Now you can use all of the api of PlanningScene and RobotState to check for collisions etc. Most of the trajectory planning code also allows passing in a PlanningScene to operate on