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This capability is what compute_cartesian_path eventually connects to. It uses this section of RobotState, which checks here for collisions (setFromIK returns false if it does not find a collision-free pose).

You could create your own MoveGroupCapability on this basis and return the first failed pose and/or the reason for failure. A PR to add such a verbose mode would likely be welcome, since a response to "Why did this plan fail?" is very useful. Sadly, the reason for planning failures is generally not as easy to answer as in this case.