def METHOD_NAME(self):
    current = np.asarray(self.group.get_current_joint_values())
    error_code1, plan1, time = self.plan(current + 0.2)
    error_code2, plan2, time = self.plan(current + 0.2)
    # both plans should have succeeded:
    error_code = MoveItErrorCodes()
    error_code.deserialize(error_code1)
    self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
    error_code = MoveItErrorCodes()
    error_code.deserialize(error_code2)
    self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
    # first plan should execute
    self.assertTrue(self.group.execute(plan1))
    # second plan should be invalid now (due to modified start point) and rejected
    self.assertFalse(self.group.execute(plan2))
    # newly planned trajectory should execute again
    error_code3, plan3, time = self.plan(current)
    self.assertTrue(self.group.execute(plan3))
    error_code = MoveItErrorCodes()
    error_code.deserialize(error_code3)
    self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)