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## Starts a trajectory
openrave_msgs/JointTrajectory traj
uint8 hastiming # if 1, use timestamps of trajectory points, otherwise do internal retiming
uint8 requestresult # if 1, send back the trajectory that the robot actually moved to, this makes the command blocking
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openrave_msgs/JointTrajectory traj # returned trajectory if requested
time stamp # expected time when robot will start trajectory (if non-blocking)
uint32 commandid
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