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The easiest way should be to use the StateValidationService of the move_group node, by calling the service /check_state_validity with this message. You will need the RobotState, which you can get from the /get_planning_scene service with this message.

In the definition of the StateValidationService, you also find a pretty good example of how to do the checks yourself, in case you want to avoid calling the service too often.

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