#include <moveit/moveit_cpp/moveit_cpp.h>#include <moveit/move_group/move_group_capability.h>#include <moveit/robot_state/conversions.h>#include <moveit/utils/moveit_error_code.h>#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>#include <moveit/utils/logger.hpp>#include <sstream>#include <string>
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