Collision checking in t_data

[sid24ss]

arm adaptive motion primitive t_data is not being collision checked.

bool CollisionSpaceMgr::isValidTransitionStates

if (onlyBaseMotion){
BodyPose body_pose = interp_base_motions[idx].body_pose();
if (!m_cspace->checkBaseMotion(l_arm, r_arm, body_pose, verbose, dist,
debug)){
return false;
}
} else if (t_data.motion_type() == MPrim_Types::ARM) {
ROS_DEBUG_NAMED(CSPACE_LOG, "skipping the intermediate points for arms because there are none.");
} else if (t_data.motion_type() == MPrim_Types::ARM_ADAPTIVE) {
BodyPose body_pose = robot_state.getContBaseState().body_pose();
if(!m_cspace->checkArmsMotion(l_arm, r_arm, body_pose,
verbose, dist, debug)) {
return false;
}
} else {
throw std::invalid_argument("not a valid motion primitive type");
}