#include <moveit/robot_state/conversions.h>#include <moveit/planning_interface/planning_interface.h>#include <moveit_msgs/MotionPlanRequest.h>#include <moveit/planning_scene/planning_scene.h>#include <ros/console.h>#include <Eigen/Geometry>#include <trajopt_interface/trajopt_planning_context.h>#include <trajopt_interface/trajopt_interface.h>
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