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By checking if the trajectory contains points, in kinetic/melodic at least:

plan = move_group.plan()
if plan.joint_trajectory.points:  # True if trajectory contains points
  move_success = move_group.execute(plan)
else:
  rospy.logerr("Trajectory is empty. Planning was unsuccessful.")

Looks like this API might change, and success might be returned via a tuple in the future.

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