MoveIt seems to do some sanity checking before executing trajectories and I was wondering if using the `follow_joint_trajectory` action gets you those same checks. I sent a bad trajectory that didn't start from the current pose today in simulation and expected an error but instead I got a instantaneous jump in the robots simulated state (very bad). I was expecting an error such as [this](https://github.com/ros-planning/moveit/issues/283) but just got straight up execution.
1) Is this expected behavior?
2) Should I perhaps wrap my trajectory with a `MoveGroup::Plan` and then execute via `MoveGroup::execute(const Plan &plan)` call? Do I get other checks this way as well like collisions, joint limits, etc.?
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