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Just an observation in your code. Have you tried something like below:

traj.joint_names.resize(2); traj.joint_names0; traj.joint_names1; traj.joint_names2; traj.joint_names3; traj.joint_names4; traj.joint_names5; traj.joint_names6; traj.joint_names7;

Just an observation in your code. Have you tried something like below:

~~traj.joint_names.resize(2); traj.joint_names0; traj.joint_names1; traj.joint_names2; traj.joint_names3; traj.joint_names4; traj.joint_names5; traj.joint_names6; traj.joint_names7;~~traj.joint_names.resize(2);

traj.joint_names[0]("shoulder_roll_joint");

traj.joint_names[1]("shoulder_pitch_joint");

traj.joint_names[2]("elbow_roll_joint");

traj.joint_names[3]("elbow_pitch_joint");

traj.joint_names[4]("elbow_yaw_joint");

traj.joint_names[5]("wrist_pitch_joint");

traj.joint_names[6]("wrist_roll_joint");

traj.joint_names[7]("gripper_joint");